diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 38dbf07a47..3e3fe46e7a 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -47,7 +47,7 @@ jobs:
         export PYTHONPATH=$TARGET_DIR
         cd $TARGET_DIR
         scons -j$(nproc)
-        selfdrive/car/tests/test_car_interfaces.py
+        pytest -n logical selfdrive/car/tests/test_car_interfaces.py
     - name: Push master-ci
       run: |
         unset TARGET_DIR
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index bd882210fa..445a1cf11c 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -2,7 +2,7 @@ name: repo maintenance
 
 on:
   schedule:
-    - cron: "0 12 * * 1" # every Monday at 12am UTC (4am PST)
+    - cron: "0 14 * * 1" # every Monday at 2am UTC (6am PST)
   workflow_dispatch:
 
 jobs:
@@ -11,6 +11,7 @@ jobs:
     runs-on: ubuntu-20.04
     container:
       image: ghcr.io/commaai/openpilot-base:latest
+    if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
       with:
@@ -36,6 +37,7 @@ jobs:
     runs-on: ubuntu-20.04
     container:
       image: ghcr.io/commaai/openpilot-base:latest
+    if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
     - name: poetry lock
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 964c36776e..8b1f256bfb 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -14,7 +14,6 @@ concurrency:
 env:
   PYTHONWARNINGS: error
   BASE_IMAGE: openpilot-base
-  CL_BASE_IMAGE: openpilot-base-cl
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
@@ -22,11 +21,7 @@ env:
 
   RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -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/pre-commit:/tmp/pre-commit -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/bash -c
 
-  BUILD_CL: selfdrive/test/docker_build.sh cl
-
-  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -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 $CL_BASE_IMAGE /bin/bash -c
-
-  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0
+  PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 
 jobs:
   build_release:
@@ -106,11 +101,6 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
       with:
         docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
-    - name: Build and push CL Docker image
-      if: matrix.arch == 'x86_64'
-      run: |
-        unset TARGET_ARCHITECTURE
-        eval "$BUILD_CL"
 
   docker_push_multiarch:
     name: docker push multiarch tag
@@ -182,7 +172,7 @@ jobs:
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
-                        $PYTEST --timeout 60 -m 'not slow' -n $(nproc) && \
+                        $PYTEST --timeout 60 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py"
@@ -258,15 +248,13 @@ jobs:
         key: regen-${{ 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 selfdrive/test/process_replay/test_regen.py && \
+        ${{ env.RUN }} "ONNXCPU=1 $PYTEST selfdrive/test/process_replay/test_regen.py && \
                            chmod -R 777 /tmp/comma_download_cache"
 
   test_modeld:
@@ -279,9 +267,6 @@ jobs:
     - uses: ./.github/workflows/setup-with-retry
     - name: Build base Docker image
       run: eval "$BUILD"
-    - name: Build Docker image
-      # Sim docker is needed to get the OpenCL drivers
-      run: eval "$BUILD_CL"
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
@@ -289,14 +274,14 @@ jobs:
     - name: Run model replay with ONNX
       timeout-minutes: 4
       run: |
-        ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
                            ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                            coverage combine && \
                            coverage xml"
     - name: Run unit tests
       timeout-minutes: 4
       run: |
-        ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
+        ${{ env.RUN }} "unset PYTHONWARNINGS && \
                            $PYTEST selfdrive/modeld"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v3
@@ -328,7 +313,7 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: 25
+      timeout-minutes: 10
       run: |
         ${{ env.RUN }} "$PYTEST selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index c185fd1d3c..d15ab8cd60 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -12,17 +12,12 @@ concurrency:
 
 env:
   BASE_IMAGE: openpilot-base
-  CL_BASE_IMAGE: openpilot-base-cl
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
 
   BUILD: selfdrive/test/docker_build.sh base
 
   RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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/bash -c
 
-  BUILD_CL: selfdrive/test/docker_build.sh cl
-
-  RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -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 $CL_BASE_IMAGE /bin/bash -c
-
 
 jobs:
   plotjuggler:
@@ -52,8 +47,6 @@ jobs:
       with:
         submodules: true
     - uses: ./.github/workflows/setup-with-retry
-    - name: Build base cl image
-      run: eval "$BUILD_CL"
     - name: Setup to push to repo
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
@@ -104,6 +97,6 @@ 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: Test notebooks
-      timeout-minutes: 2
+      timeout-minutes: 3
       run: |
         ${{ env.RUN }} "pip install nbmake && pytest --nbmake tools/car_porting/examples/"
\ No newline at end of file
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index fa05b5b8a2..103bb38e26 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -44,7 +44,7 @@ repos:
         - --explicit-package-bases
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.1.14
+    rev: v0.2.1
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -90,6 +90,6 @@ repos:
         args:
         - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.27.3
+    rev: 0.28.0
     hooks:
     -   id: check-github-workflows
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index d280d2c9ec..a6c4c71790 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -22,6 +22,44 @@ RUN cd /tmp && \
     rm -rf arm/ && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    lsb-core \
+    libx11-6 \
+  && rm -rf /var/lib/apt/lists/*
+
+ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
+ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
+RUN mkdir -p /tmp/opencl-driver-intel
+
+RUN cd /tmp/opencl-driver-intel && \
+    echo INTEL_DRIVER is $INTEL_DRIVER && \
+    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
+    tar -xzf $INTEL_DRIVER && \
+    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
+    dpkg -i *.deb && \
+    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
+ENV NVIDIA_VISIBLE_DEVICES all
+ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
+ENV QTWEBENGINE_DISABLE_SANDBOX 1
+
+RUN dbus-uuidgen > /etc/machine-id
+
 ARG USER=batman
 ARG USER_UID=1000
 RUN useradd -m -s /bin/bash -u $USER_UID $USER
diff --git a/Dockerfile.openpilot_base_cl b/Dockerfile.openpilot_base_cl
deleted file mode 100644
index 4c8ecfc78d..0000000000
--- a/Dockerfile.openpilot_base_cl
+++ /dev/null
@@ -1,37 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-RUN apt-get update && apt-get install -y --no-install-recommends\
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    lsb-core \
-    libx11-6 \
-  && rm -rf /var/lib/apt/lists/*
-
-# Intel OpenCL driver
-ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
-ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
-RUN mkdir -p /tmp/opencl-driver-intel
-WORKDIR /tmp/opencl-driver-intel
-RUN echo INTEL_DRIVER is $INTEL_DRIVER && \
-    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
-    tar -xzf $INTEL_DRIVER && \
-    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
-    dpkg -i *.deb && \
-    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
-    rm -rf /tmp/opencl-driver-intel
-ENV NVIDIA_VISIBLE_DEVICES all
-ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX 1
-
-RUN dbus-uuidgen > /etc/machine-id
-
diff --git a/Jenkinsfile b/Jenkinsfile
index 816c2971c0..d716510bfe 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -12,10 +12,12 @@ def retryWithDelay(int maxRetries, int delay, Closure body) {
 def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
-ssh -tt -o ConnectTimeout=30 -o ServerAliveInterval=30 -o ServerAliveCountMax=3 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
+ssh -tt -o ConnectTimeout=5 -o ServerAliveInterval=5 -o ServerAliveCountMax=2 -o BatchMode=yes -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
 
 set -e
 
+shopt -s huponexit # kill all child processes when the shell exits
+
 export CI=1
 export PYTHONWARNINGS=error
 export LOGPRINT=debug
@@ -78,17 +80,13 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
     def extra = extra_env.collect { "export ${it}" }.join('\n');
     def branch = env.BRANCH_NAME ?: 'master';
 
-    docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-      lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
+    lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
+      docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
         timeout(time: 20, unit: 'MINUTES') {
           retry (3) {
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
-            if (branch != "master" && item.size() == 3 && !hasDirectoryChanged(item[2])) {
-              println "Skipped '${item[0]}', no relevant changes were detected."
-              return;
-            }
             device(device_ip, item[0], item[1])
           }
         }
@@ -106,7 +104,7 @@ def pcStage(String stageName, Closure body) {
 
     checkout scm
 
-    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE}";
+    def dockerArgs = "--user=batman -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache -e PYTHONPATH=${env.WORKSPACE} --cpus=8 --memory 16g -e PYTEST_ADDOPTS='-n8'";
 
     def openpilot_base = retryWithDelay (3, 15) {
       return docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .")
@@ -143,20 +141,6 @@ def setupCredentials() {
   }
 }
 
-def hasDirectoryChanged(List<String> paths) {
-  for (change in currentBuild.changeSets) {
-    for (item in change.items) {
-      for (affectedPath in item.affectedPaths) {
-        for (path in paths) {
-          if (affectedPath.startsWith(path)) {
-            return true
-          }
-        }
-      }
-    }
-  }
-  return false
-}
 
 node {
   env.CI = "1"
@@ -205,17 +189,17 @@ node {
         ])
       },
       'HW + Unit Tests': {
-        deviceStage("tici", "tici-common", ["UNSAFE=1"], [
+        deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
           ["build", "cd selfdrive/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]],
-          ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
           ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
           ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
         ])
       },
       'loopback': {
-        deviceStage("tici", "tici-loopback", ["UNSAFE=1"], [
+        deviceStage("loopback", "tici-loopback", ["UNSAFE=1"], [
           ["build openpilot", "cd selfdrive/manager && ./build.py"],
           ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
         ])
@@ -243,7 +227,7 @@ node {
         ])
       },
       'replay': {
-        deviceStage("tici", "tici-replay", ["UNSAFE=1"], [
+        deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
           ["build", "cd selfdrive/manager && ./build.py"],
           ["model replay", "selfdrive/test/process_replay/model_replay.py"],
         ])
@@ -252,31 +236,13 @@ node {
         deviceStage("tizi", "tizi", ["UNSAFE=1"], [
           ["build openpilot", "cd selfdrive/manager && ./build.py"],
           ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py", ["panda/", "selfdrive/boardd/"]],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", ["system/qcomgpsd/"]],
+          ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
         ])
       },
 
-      // *** PC tests ***
-      'PC tests': {
-        pcStage("PC tests") {
-          // tests that our build system's dependencies are configured properly,
-          // needs a machine with lots of cores
-          sh label: "test multi-threaded build",
-             script: '''#!/bin/bash
-                        scons --no-cache --random -j$(nproc)'''
-        }
-      },
-      'car tests': {
-        pcStage("car tests") {
-          sh label: "build", script: "selfdrive/manager/build.py"
-          sh label: "run car tests", script: "cd selfdrive/car/tests && MAX_EXAMPLES=300 INTERNAL_SEG_CNT=300 FILEREADER_CACHE=1 \
-              INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt pytest test_models.py test_car_interfaces.py"
-        }
-      },
-
     )
     }
   } catch (Exception e) {
diff --git a/RELEASES.md b/RELEASES.md
index aa3a80d56d..215b975974 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,4 +1,4 @@
-Version 0.9.6 (2024-02-XX)
+Version 0.9.6 (2024-02-22)
 ========================
 * New driving model
   * Vision model trained on more data
@@ -9,8 +9,11 @@ Version 0.9.6 (2024-02-XX)
 * AGNOS 9
 * comma body streaming and controls over WebRTC
 * Improved fuzzy fingerprinting for many makes and models
+* Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
+* Dodge Duranago 2020-21 support
 * Hyundai Staria 2023 support thanks to sunnyhaibin!
 * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Lexus LC 2024 support thanks to nelsonjchen!
 * Toyota RAV4 2023-24 support
 * Toyota RAV4 Hybrid 2023-24 support
 
diff --git a/cereal b/cereal
index d6beb2482e..8e00786e2a 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit d6beb2482e471538e05e701ee770b443b423a908
+Subproject commit 8e00786e2a6065e475daaa801e56033e8753f8a9
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 873836b725..7864a6355a 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -41,6 +41,15 @@ public:
     if (char* dongle_id = getenv("DONGLE_ID")) {
       ctx_j["dongle_id"] = dongle_id;
     }
+    if (char* git_origin = getenv("GIT_ORIGIN")) {
+      ctx_j["origin"] = git_origin;
+    }
+    if (char* git_branch = getenv("GIT_BRANCH")) {
+      ctx_j["branch"] = git_branch;
+    }
+    if (char* git_commit = getenv("GIT_COMMIT")) {
+      ctx_j["commit"] = git_commit;
+    }
     if (char* daemon_name = getenv("MANAGER_DAEMON")) {
       ctx_j["daemon"] = daemon_name;
     }
diff --git a/conftest.py b/conftest.py
index c4eb259a35..e4dc6640c0 100644
--- a/conftest.py
+++ b/conftest.py
@@ -1,10 +1,11 @@
+import gc
 import os
 import pytest
 import random
 
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.selfdrive.manager import manager
-from openpilot.system.hardware import TICI
+from openpilot.system.hardware import TICI, HARDWARE
 
 
 def pytest_sessionstart(session):
@@ -45,6 +46,11 @@ def openpilot_function_fixture(request):
   # cleanup any started processes
   manager.manager_cleanup()
 
+  # some processes disable gc for performance, re-enable here
+  if not gc.isenabled():
+    gc.enable()
+    gc.collect()
+
 # 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)
@@ -57,12 +63,23 @@ def openpilot_class_fixture():
   os.environ.update(starting_env)
 
 
+@pytest.fixture(scope="function")
+def tici_setup_fixture(openpilot_function_fixture):
+  """Ensure a consistent state for tests on-device. Needs the openpilot function fixture to run first."""
+  HARDWARE.initialize_hardware()
+  HARDWARE.set_power_save(False)
+  os.system("pkill -9 -f athena")
+
+
 @pytest.hookimpl(tryfirst=True)
 def pytest_collection_modifyitems(config, items):
   skipper = pytest.mark.skip(reason="Skipping tici test on PC")
   for item in items:
-    if not TICI and "tici" in item.keywords:
-      item.add_marker(skipper)
+    if "tici" in item.keywords:
+      if not TICI:
+        item.add_marker(skipper)
+      else:
+        item.fixturenames.append('tici_setup_fixture')
 
     if "xdist_group_class_property" in item.keywords:
       class_property_name = item.get_closest_marker('xdist_group_class_property').args[0]
diff --git a/docs/CARS.md b/docs/CARS.md
index 5620bc703c..48e2e77e62 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 275 Supported Cars
+# 279 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -23,6 +23,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Cadillac|Escalade ESV 2019[<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 2019">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 comma 3X<br>- 1 harness box<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 comma 3X<br>- 1 harness box<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|Equinox 2019-22|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 comma 3X<br>- 1 harness box<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=Equinox 2019-22">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 comma 3X<br>- 1 harness box<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 comma 3X<br>- 1 harness box<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>|
@@ -33,6 +34,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
 |Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
+|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
 |Ford|Bronco Sport 2021-22|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 2020-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 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 2020-23">Buy Here</a></sub></details>||
@@ -72,7 +74,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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>||
+|Honda|Ridgeline 2017-24|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 2017-24">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 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 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=Azera Hybrid 2019">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>||
@@ -138,6 +140,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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|Niro Plug-in Hybrid 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 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 2021">Buy Here</a></sub></details>||
 |Kia|Niro 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 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 Plug-in Hybrid 2022">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>||
@@ -161,6 +164,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|GS F 2016|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=GS F 2016">Buy Here</a></sub></details>||
 |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|LC 2024|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=LC 2024">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>||
@@ -267,8 +271,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>1,13</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>1,13</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>1,13</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>1,13</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|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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 2021-24">Buy Here</a></sub></details>||
 |Volkswagen|Passat 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</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>1,13</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>1,13</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>||
diff --git a/launch_env.sh b/launch_env.sh
index d86ec63593..0c72c54581 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="9.3"
+  export AGNOS_VERSION="9.6"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/opendbc b/opendbc
index aff840356a..4d004e78dd 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit aff840356a2ecf5e82a04e91a5aade3a3b4cf9a3
+Subproject commit 4d004e78dd2847ef9f3a4798eb10b8f3448dee8b
diff --git a/panda b/panda
index ea01b5148a..a48b419df4 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ea01b5148adcb5c15dc14b0c8a1b6fdb72aa9721
+Subproject commit a48b419df47702272581856d9b2333ffa8c03be4
diff --git a/poetry.lock b/poetry.lock
index 4cd6f5062e..4333f01267 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -2,87 +2,87 @@
 
 [[package]]
 name = "aiohttp"
-version = "3.9.2"
+version = "3.9.3"
 description = "Async http client/server framework (asyncio)"
 optional = false
 python-versions = ">=3.8"
 files = [
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 [package.dependencies]
@@ -255,13 +255,13 @@ files = [
 
 [[package]]
 name = "azure-core"
-version = "1.29.7"
+version = "1.30.0"
 description = "Microsoft Azure Core Library for Python"
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.dependencies]
@@ -395,13 +395,13 @@ numpy = "*"
 
 [[package]]
 name = "certifi"
-version = "2023.11.17"
+version = "2024.2.2"
 description = "Python package for providing Mozilla's CA Bundle."
 optional = false
 python-versions = ">=3.6"
 files = [
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 [package.dependencies]
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 [[package]]
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 [[package]]
@@ -2592,35 +2608,36 @@ reference = ["Pillow", "google-re2"]
 
 [[package]]
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-version = "1.16.3"
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 description = "ONNX Runtime is a runtime accelerator for Machine Learning models"
 optional = false
 python-versions = "*"
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+version = "1.17.0"
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 python-versions = "*"
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 [package.dependencies]
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 [[package]]
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 python-versions = ">=3.8"
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 [[package]]
 name = "pluggy"
@@ -3066,13 +3085,13 @@ files = [
 
 [[package]]
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 ]
 
 [package.dependencies]
@@ -6630,13 +6649,13 @@ files = [
 
 [[package]]
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+version = "2024.1"
 description = "World timezone definitions, modern and historical"
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [[package]]
@@ -6905,28 +6924,28 @@ docs = ["furo (==2023.9.10)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx
 
 [[package]]
 name = "ruff"
-version = "0.1.14"
+version = "0.2.1"
 description = "An extremely fast Python linter and code formatter, written in Rust."
 optional = false
 python-versions = ">=3.7"
 files = [
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-    {file = "ruff-0.1.14-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:1c8eca1a47b4150dc0fbec7fe68fc91c695aed798532a18dbb1424e61e9b721f"},
-    {file = "ruff-0.1.14-py3-none-musllinux_1_2_i686.whl", hash = "sha256:62ce2ae46303ee896fc6811f63d6dabf8d9c389da0f3e3f2bce8bc7f15ef5488"},
-    {file = "ruff-0.1.14-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:b2027dde79d217b211d725fc833e8965dc90a16d0d3213f1298f97465956661b"},
-    {file = "ruff-0.1.14-py3-none-win32.whl", hash = "sha256:722bafc299145575a63bbd6b5069cb643eaa62546a5b6398f82b3e4403329cab"},
-    {file = "ruff-0.1.14-py3-none-win_amd64.whl", hash = "sha256:e3d241aa61f92b0805a7082bd89a9990826448e4d0398f0e2bc8f05c75c63d99"},
-    {file = "ruff-0.1.14-py3-none-win_arm64.whl", hash = "sha256:269302b31ade4cde6cf6f9dd58ea593773a37ed3f7b97e793c8594b262466b67"},
-    {file = "ruff-0.1.14.tar.gz", hash = "sha256:ad3f8088b2dfd884820289a06ab718cde7d38b94972212cc4ba90d5fbc9955f3"},
+    {file = "ruff-0.2.1-py3-none-macosx_10_12_x86_64.macosx_11_0_arm64.macosx_10_12_universal2.whl", hash = "sha256:dd81b911d28925e7e8b323e8d06951554655021df8dd4ac3045d7212ac4ba080"},
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+    {file = "ruff-0.2.1-py3-none-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c92db7101ef5bfc18e96777ed7bc7c822d545fa5977e90a585accac43d22f18a"},
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+    {file = "ruff-0.2.1-py3-none-manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:a11567e20ea39d1f51aebd778685582d4c56ccb082c1161ffc10f79bebe6df35"},
+    {file = "ruff-0.2.1-py3-none-manylinux_2_17_ppc64.manylinux2014_ppc64.whl", hash = "sha256:00a818e2db63659570403e44383ab03c529c2b9678ba4ba6c105af7854008105"},
+    {file = "ruff-0.2.1-py3-none-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:be60592f9d218b52f03384d1325efa9d3b41e4c4d55ea022cd548547cc42cd2b"},
+    {file = "ruff-0.2.1-py3-none-manylinux_2_17_s390x.manylinux2014_s390x.whl", hash = "sha256:fbd2288890b88e8aab4499e55148805b58ec711053588cc2f0196a44f6e3d855"},
+    {file = "ruff-0.2.1-py3-none-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:f3ef052283da7dec1987bba8d8733051c2325654641dfe5877a4022108098683"},
+    {file = "ruff-0.2.1-py3-none-musllinux_1_2_aarch64.whl", hash = "sha256:7022d66366d6fded4ba3889f73cd791c2d5621b2ccf34befc752cb0df70f5fad"},
+    {file = "ruff-0.2.1-py3-none-musllinux_1_2_armv7l.whl", hash = "sha256:0a725823cb2a3f08ee743a534cb6935727d9e47409e4ad72c10a3faf042ad5ba"},
+    {file = "ruff-0.2.1-py3-none-musllinux_1_2_i686.whl", hash = "sha256:0034d5b6323e6e8fe91b2a1e55b02d92d0b582d2953a2b37a67a2d7dedbb7acc"},
+    {file = "ruff-0.2.1-py3-none-musllinux_1_2_x86_64.whl", hash = "sha256:e5cb5526d69bb9143c2e4d2a115d08ffca3d8e0fddc84925a7b54931c96f5c02"},
+    {file = "ruff-0.2.1-py3-none-win32.whl", hash = "sha256:6b95ac9ce49b4fb390634d46d6ece32ace3acdd52814671ccaf20b7f60adb232"},
+    {file = "ruff-0.2.1-py3-none-win_amd64.whl", hash = "sha256:e3affdcbc2afb6f5bd0eb3130139ceedc5e3f28d206fe49f63073cb9e65988e0"},
+    {file = "ruff-0.2.1-py3-none-win_arm64.whl", hash = "sha256:efababa8e12330aa94a53e90a81eb6e2d55f348bc2e71adbf17d9cad23c03ee6"},
+    {file = "ruff-0.2.1.tar.gz", hash = "sha256:3b42b5d8677cd0c72b99fcaf068ffc62abb5a19e71b4a3b9cfa50658a0af02f1"},
 ]
 
 [[package]]
@@ -7008,13 +7027,13 @@ stats = ["scipy (>=1.7)", "statsmodels (>=0.12)"]
 
 [[package]]
 name = "sentry-sdk"
-version = "1.39.2"
+version = "1.40.3"
 description = "Python client for Sentry (https://sentry.io)"
 optional = false
 python-versions = "*"
 files = [
-    {file = "sentry-sdk-1.39.2.tar.gz", hash = "sha256:24c83b0b41c887d33328a9166f5950dc37ad58f01c9f2fbff6b87a6f1094170c"},
-    {file = "sentry_sdk-1.39.2-py2.py3-none-any.whl", hash = "sha256:acaf597b30258fc7663063b291aa99e58f3096e91fe1e6634f4b79f9c1943e8e"},
+    {file = "sentry-sdk-1.40.3.tar.gz", hash = "sha256:3c2b027979bb400cd65a47970e64f8cef8acda86b288a27f42a98692505086cd"},
+    {file = "sentry_sdk-1.40.3-py2.py3-none-any.whl", hash = "sha256:73383f28311ae55602bb6cc3b013830811135ba5521e41333a6e68f269413502"},
 ]
 
 [package.dependencies]
@@ -7040,7 +7059,7 @@ huey = ["huey (>=2)"]
 loguru = ["loguru (>=0.5)"]
 opentelemetry = ["opentelemetry-distro (>=0.35b0)"]
 opentelemetry-experimental = ["opentelemetry-distro (>=0.40b0,<1.0)", "opentelemetry-instrumentation-aiohttp-client (>=0.40b0,<1.0)", "opentelemetry-instrumentation-django (>=0.40b0,<1.0)", "opentelemetry-instrumentation-fastapi (>=0.40b0,<1.0)", "opentelemetry-instrumentation-flask (>=0.40b0,<1.0)", "opentelemetry-instrumentation-requests (>=0.40b0,<1.0)", "opentelemetry-instrumentation-sqlite3 (>=0.40b0,<1.0)", "opentelemetry-instrumentation-urllib (>=0.40b0,<1.0)"]
-pure-eval = ["asttokens", "executing", "pure_eval"]
+pure-eval = ["asttokens", "executing", "pure-eval"]
 pymongo = ["pymongo (>=3.1)"]
 pyspark = ["pyspark (>=2.4.4)"]
 quart = ["blinker (>=1.1)", "quart (>=0.16.1)"]
@@ -7153,18 +7172,18 @@ test = ["pytest"]
 
 [[package]]
 name = "setuptools"
-version = "69.0.3"
+version = "69.1.0"
 description = "Easily download, build, install, upgrade, and uninstall Python packages"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "setuptools-69.0.3-py3-none-any.whl", hash = "sha256:385eb4edd9c9d5c17540511303e39a147ce2fc04bc55289c322b9e5904fe2c05"},
-    {file = "setuptools-69.0.3.tar.gz", hash = "sha256:be1af57fc409f93647f2e8e4573a142ed38724b8cdd389706a867bb4efcf1e78"},
+    {file = "setuptools-69.1.0-py3-none-any.whl", hash = "sha256:c054629b81b946d63a9c6e732bc8b2513a7c3ea645f11d0139a2191d735c60c6"},
+    {file = "setuptools-69.1.0.tar.gz", hash = "sha256:850894c4195f09c4ed30dba56213bf7c3f21d86ed6bdaafb5df5972593bfc401"},
 ]
 
 [package.extras]
 docs = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "pygments-github-lexers (==0.0.5)", "rst.linker (>=1.9)", "sphinx (<7.2.5)", "sphinx (>=3.5)", "sphinx-favicon", "sphinx-inline-tabs", "sphinx-lint", "sphinx-notfound-page (>=1,<2)", "sphinx-reredirects", "sphinxcontrib-towncrier"]
-testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
+testing = ["build[virtualenv]", "filelock (>=3.4.0)", "flake8-2020", "ini2toml[lite] (>=0.9)", "jaraco.develop (>=7.21)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "pip (>=19.1)", "pytest (>=6)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-home (>=0.5)", "pytest-mypy (>=0.9.1)", "pytest-perf", "pytest-ruff (>=0.2.1)", "pytest-timeout", "pytest-xdist", "tomli-w (>=1.0.0)", "virtualenv (>=13.0.0)", "wheel"]
 testing-integration = ["build[virtualenv] (>=1.0.3)", "filelock (>=3.4.0)", "jaraco.envs (>=2.2)", "jaraco.path (>=3.2.0)", "packaging (>=23.1)", "pytest", "pytest-enabler", "pytest-xdist", "tomli", "virtualenv (>=13.0.0)", "wheel"]
 
 [[package]]
@@ -7523,13 +7542,13 @@ doc = ["reno", "sphinx", "tornado (>=4.5)"]
 
 [[package]]
 name = "timezonefinder"
-version = "6.2.0"
-description = "fast python package for finding the timezone of any point on earth (coordinates) offline"
+version = "6.4.0"
+description = "python package for finding the timezone of any point on earth (coordinates) offline"
 optional = false
-python-versions = ">=3.8,<4"
+python-versions = ">=3.9,<4"
 files = [
-    {file = "timezonefinder-6.2.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:06aa5926ed31687ea9eb00ab53203631f09a78f307285b4929da4ac4e2889240"},
-    {file = "timezonefinder-6.2.0.tar.gz", hash = "sha256:d41fd2650bb4221fae5a61f9c2767158f9727c4aaca95e24da86394feb704220"},
+    {file = "timezonefinder-6.4.0-cp310-cp310-manylinux_2_35_x86_64.whl", hash = "sha256:b4d4cefcdfcd46ffc04858d12cb23b58faca06dad05f68b6b704421be9fc70bc"},
+    {file = "timezonefinder-6.4.0.tar.gz", hash = "sha256:7d82ebbc822d5fa012dbfbde510999afce0d7d1482794838e6c4daf6cc327f97"},
 ]
 
 [package.dependencies]
@@ -7539,7 +7558,7 @@ numpy = ">=1.18,<2"
 setuptools = ">=65.5"
 
 [package.extras]
-numba = ["numba (>=0.56,<1)"]
+numba = ["numba (>=0.59,<1)"]
 pytz = ["pytz (>=2022.7.1)"]
 
 [[package]]
@@ -7555,13 +7574,13 @@ files = [
 
 [[package]]
 name = "tqdm"
-version = "4.66.1"
+version = "4.66.2"
 description = "Fast, Extensible Progress Meter"
 optional = false
 python-versions = ">=3.7"
 files = [
-    {file = "tqdm-4.66.1-py3-none-any.whl", hash = "sha256:d302b3c5b53d47bce91fea46679d9c3c6508cf6332229aa1e7d8653723793386"},
-    {file = "tqdm-4.66.1.tar.gz", hash = "sha256:d88e651f9db8d8551a62556d3cff9e3034274ca5d66e93197cf2490e2dcb69c7"},
+    {file = "tqdm-4.66.2-py3-none-any.whl", hash = "sha256:1ee4f8a893eb9bef51c6e35730cebf234d5d0b6bd112b0271e10ed7c24a02bd9"},
+    {file = "tqdm-4.66.2.tar.gz", hash = "sha256:6cd52cdf0fef0e0f543299cfc96fec90d7b8a7e88745f411ec33eb44d5ed3531"},
 ]
 
 [package.dependencies]
@@ -7611,28 +7630,29 @@ files = [
 
 [[package]]
 name = "tzdata"
-version = "2023.4"
+version = "2024.1"
 description = "Provider of IANA time zone data"
 optional = false
 python-versions = ">=2"
 files = [
-    {file = "tzdata-2023.4-py2.py3-none-any.whl", hash = "sha256:aa3ace4329eeacda5b7beb7ea08ece826c28d761cda36e747cfbf97996d39bf3"},
-    {file = "tzdata-2023.4.tar.gz", hash = "sha256:dd54c94f294765522c77399649b4fefd95522479a664a0cec87f41bebc6148c9"},
+    {file = "tzdata-2024.1-py2.py3-none-any.whl", hash = "sha256:9068bc196136463f5245e51efda838afa15aaeca9903f49050dfa2679db4d252"},
+    {file = "tzdata-2024.1.tar.gz", hash = "sha256:2674120f8d891909751c38abcdfd386ac0a5a1127954fbc332af6b5ceae07efd"},
 ]
 
 [[package]]
 name = "urllib3"
-version = "2.1.0"
+version = "2.2.0"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "urllib3-2.1.0-py3-none-any.whl", hash = "sha256:55901e917a5896a349ff771be919f8bd99aff50b79fe58fec595eb37bbc56bb3"},
-    {file = "urllib3-2.1.0.tar.gz", hash = "sha256:df7aa8afb0148fa78488e7899b2c59b5f4ffcfa82e6c54ccb9dd37c1d7b52d54"},
+    {file = "urllib3-2.2.0-py3-none-any.whl", hash = "sha256:ce3711610ddce217e6d113a2732fafad960a03fd0318c91faa79481e35c11224"},
+    {file = "urllib3-2.2.0.tar.gz", hash = "sha256:051d961ad0c62a94e50ecf1af379c3aba230c66c710493493560c0c223c49f20"},
 ]
 
 [package.extras]
 brotli = ["brotli (>=1.0.9)", "brotlicffi (>=0.8.0)"]
+h2 = ["h2 (>=4,<5)"]
 socks = ["pysocks (>=1.5.6,!=1.5.7,<2.0)"]
 zstd = ["zstandard (>=0.18.0)"]
 
@@ -7809,4 +7829,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
 [metadata]
 lock-version = "2.0"
 python-versions = "~3.11"
-content-hash = "8af315a175ab43dbc5a777f68fca6d76af1443b5b574ab8570ef5dad59f288fc"
+content-hash = "cb63112bfe7ee2b3fc194a422479f788c9a8027d445ea51a31f4ee20299beb53"
diff --git a/pyproject.toml b/pyproject.toml
index 116c034bc9..51396ca39b 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -126,7 +126,7 @@ inputs = "*"
 Jinja2 = "*"
 lru-dict = "*"
 matplotlib = "*"
-metadrive-simulator = { version = "0.4.2.2", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
+metadrive-simulator = { version = "0.4.2.3", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -167,8 +167,8 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
-ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
+lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
+lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
 exclude = [
@@ -180,8 +180,8 @@ exclude = [
   "teleoprtc_repo",
   "third_party",
 ]
-flake8-implicit-str-concat.allow-multiline=false
-[tool.ruff.flake8-tidy-imports.banned-api]
+lint.flake8-implicit-str-concat.allow-multiline=false
+[tool.ruff.lint.flake8-tidy-imports.banned-api]
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
 "system".msg = "Use openpilot.system"
diff --git a/release/files_common b/release/files_common
index d0335d7bdc..c425bbc05b 100644
--- a/release/files_common
+++ b/release/files_common
@@ -95,7 +95,7 @@ selfdrive/car/ecu_addrs.py
 selfdrive/car/isotp_parallel_query.py
 selfdrive/car/tests/__init__.py
 selfdrive/car/tests/test_car_interfaces.py
-selfdrive/car/torque_data/*.toml
+selfdrive/car/torque_data/*
 
 selfdrive/car/body/*.py
 selfdrive/car/chrysler/*.py
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 0a5c9b7999..833bf841f5 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -36,7 +36,7 @@ from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
+from openpilot.system.version import get_commit, get_normalized_origin, get_short_branch, get_version
 from openpilot.system.hardware.hw import Paths
 
 
@@ -316,9 +316,9 @@ def getMessage(service: str, timeout: int = 1000) -> dict:
 def getVersion() -> Dict[str, str]:
   return {
     "version": get_version(),
-    "remote": get_origin(''),
-    "branch": get_short_branch(''),
-    "commit": get_commit(default=''),
+    "remote": get_normalized_origin(),
+    "branch": get_short_branch(),
+    "commit": get_commit(),
   }
 
 
diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py
index 2a4a12e559..486e426911 100755
--- a/selfdrive/athena/manage_athenad.py
+++ b/selfdrive/athena/manage_athenad.py
@@ -6,7 +6,8 @@ from multiprocessing import Process
 from openpilot.common.params import Params
 from openpilot.selfdrive.manager.process import launcher
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_version, is_dirty
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.version import get_version, get_normalized_origin, get_short_branch, get_commit, is_dirty
 
 ATHENA_MGR_PID_PARAM = "AthenadPid"
 
@@ -14,7 +15,13 @@ ATHENA_MGR_PID_PARAM = "AthenadPid"
 def main():
   params = Params()
   dongle_id = params.get("DongleId").decode('utf-8')
-  cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty())
+  cloudlog.bind_global(dongle_id=dongle_id,
+                       version=get_version(),
+                       origin=get_normalized_origin(),
+                       branch=get_short_branch(),
+                       commit=get_commit(),
+                       dirty=is_dirty(),
+                       device=HARDWARE.get_device_type())
 
   try:
     while 1:
diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py
index dfce0e3710..148ce9a25d 100755
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@@ -32,7 +32,7 @@ class TestBoardd(unittest.TestCase):
 
     with Timeout(90, "boardd didn't start"):
       sm = messaging.SubMaster(['pandaStates'])
-      while sm.rcv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
+      while sm.recv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
           any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
         sm.update(1000)
 
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 47290c89ee..7654475358 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -141,9 +141,10 @@ def fingerprint(logcan, sendcan, num_pandas):
       cached = True
     else:
       cloudlog.warning("Getting VIN & FW versions")
-      # enable OBD multiplexing for Vin query, also allows time for sendcan subscriber to connect
+      # enable OBD multiplexing for VIN query
+      # NOTE: this takes ~0.1s and is relied on to allow sendcan subscriber to connect in time
       set_obd_multiplexing(params, True)
-      # Vin query only reliably works through OBDII
+      # VIN query only reliably works through OBDII
       vin_rx_addr, vin_rx_bus, vin = get_vin(logcan, sendcan, (0, 1))
       ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
       car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
@@ -187,7 +188,7 @@ def fingerprint(logcan, sendcan, num_pandas):
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
                  fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus,
-                 fingerprints=finger, fw_query_time=fw_query_time, error=True)
+                 fingerprints=repr(finger), fw_query_time=fw_query_time, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
@@ -195,7 +196,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None:
-    cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True)
+    cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True)
     candidate = "mock"
 
   CarInterface, CarController, CarState = interfaces[candidate]
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 940d73c249..952a297e8f 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -67,6 +67,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'68267018AO ',
       b'68267020AJ ',
+      b'68303534AJ ',
       b'68340762AD ',
       b'68340764AD ',
       b'68352652AE ',
@@ -299,6 +300,7 @@ FW_VERSIONS = {
   CAR.JEEP_GRAND_CHEROKEE_2019: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68402703AB',
+      b'68402704AB',
       b'68402708AB',
       b'68402971AD',
       b'68454144AD',
@@ -326,6 +328,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x75a, None): [
       b'68417279AA',
       b'68417280AA',
+      b'68417281AA',
       b'68453431AA',
       b'68453433AA',
       b'68453435AA',
@@ -336,6 +339,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'05035674AB ',
       b'68412635AG ',
+      b'68412660AD ',
       b'68422860AB',
       b'68449435AE ',
       b'68496223AA ',
@@ -346,6 +350,7 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x7e1, None): [
       b'05035707AA',
       b'68419672AC',
+      b'68419678AB',
       b'68423905AB',
       b'68449258AC',
       b'68495807AA',
@@ -359,6 +364,7 @@ FW_VERSIONS = {
       b'68294051AG',
       b'68294051AI',
       b'68294052AG',
+      b'68294052AH',
       b'68294063AG',
       b'68294063AH',
       b'68294063AI',
@@ -474,14 +480,17 @@ FW_VERSIONS = {
       b'05149591AD ',
       b'05149591AE ',
       b'05149592AE ',
+      b'05149599AE ',
       b'05149600AD ',
       b'05149605AE ',
       b'05149846AA ',
       b'05149848AA ',
+      b'05149848AC ',
       b'05190341AD',
       b'68378695AJ ',
       b'68378696AJ ',
       b'68378701AI ',
+      b'68378702AI ',
       b'68378710AL ',
       b'68378748AL ',
       b'68378758AM ',
@@ -603,4 +612,34 @@ FW_VERSIONS = {
       b'M2421132MB',
     ],
   },
+  CAR.DODGE_DURANGO: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68454261AD',
+      b'68471535AE',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68355362AB',
+      b'68492238AD',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68408639AD',
+      b'68499978AB',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'68440581AE',
+      b'68456722AC',
+    ],
+    (Ecu.eps, 0x75a, None): [
+      b'68453435AA',
+      b'68498477AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05035786AE ',
+      b'68449476AE ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'05035826AC',
+      b'68449265AC',
+    ],
+  },
 }
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 8ace31856d..4e645e0ad3 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -28,13 +28,13 @@ class CarInterface(CarInterfaceBase):
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     if candidate not in RAM_CARS:
       # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
-      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019)
+      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_GRAND_CHEROKEE_2019, CAR.DODGE_DURANGO)
       new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
       if new_eps_platform or new_eps_firmware:
         ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
 
     # Chrysler
-    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020):
+    if candidate in (CAR.PACIFICA_2017_HYBRID, CAR.PACIFICA_2018, CAR.PACIFICA_2018_HYBRID, CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.DODGE_DURANGO):
       ret.mass = 2242.
       ret.wheelbase = 3.089
       ret.steerRatio = 16.2  # Pacifica Hybrid 2017
@@ -80,6 +80,7 @@ class CarInterface(CarInterfaceBase):
 
     if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
       # TODO: allow these cars to steer down to 13 m/s if already engaged.
+      # TODO: Durango 2020 may be able to steer to zero once above 38 kph
       ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
 
     ret.centerToFront = ret.wheelbase * 0.44
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index a1d29e9520..5537a10672 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -23,6 +23,9 @@ class CAR(StrEnum):
   PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
   PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
 
+  # Dodge
+  DODGE_DURANGO = "DODGE DURANGO 2021"
+
   # Jeep
   JEEP_GRAND_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
   JEEP_GRAND_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
@@ -74,6 +77,7 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   ],
   CAR.JEEP_GRAND_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
   CAR.JEEP_GRAND_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+  CAR.DODGE_DURANGO: ChryslerCarInfo("Dodge Durango 2020-21"),
   CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])),
   CAR.RAM_HD: [
     ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])),
@@ -128,6 +132,7 @@ DBC = {
   CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.DODGE_DURANGO: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.JEEP_GRAND_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.JEEP_GRAND_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
   CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 9230d16ef9..ef56d23d79 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -54,7 +54,7 @@ class CarState(CarStateBase):
     ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
     ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
     ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
-    # ret.espDisabled = False  # TODO: find traction control signal
+    ret.espDisabled = cp.vl["Cluster_Info1_FD1"]["DrvSlipCtlMde_D_Rq"] != 0  # 0 is default mode
 
     if self.CP.carFingerprint in CANFD_CAR:
       # this signal is always 0 on non-CAN FD cars
diff --git a/selfdrive/car/ford/fingerprints.py b/selfdrive/car/ford/fingerprints.py
index 0085b6b9c6..a5d465849a 100644
--- a/selfdrive/car/ford/fingerprints.py
+++ b/selfdrive/car/ford/fingerprints.py
@@ -24,6 +24,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x730, None): [
       b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index a18e6f461e..c080e02299 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -119,6 +119,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
   ],
   extra_ecus=[
+    # We are unlikely to get a response from the PCM from behind the gateway
     (Ecu.engine, 0x7e0, None),
     (Ecu.shiftByWire, 0x732, None),
   ],
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index 8ff0bd47c4..ed886a69db 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -14,7 +14,10 @@ EcuAddrSubAddr = Tuple[int, int, Optional[int]]
 LiveFwVersions = Dict[AddrType, Set[bytes]]
 OfflineFwVersions = Dict[str, Dict[EcuAddrSubAddr, List[bytes]]]
 
-STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x18da10f1, 0x18da0ef1]  # engine, VMCU, 29-bit engine, PGM-FI
+# A global list of addresses we will only ever consider for VIN responses
+# engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI
+# TODO: move these to each brand's FW query config
+STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c4, 0x18da10f1, 0x18da0ef1]
 
 
 def p16(val):
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 44607d8357..6c02e69503 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 from collections import defaultdict
-from typing import Any, DefaultDict, Dict, List, Optional, Set
+from typing import Any, DefaultDict, Dict, Iterator, List, Optional, Set, TypeVar
 from tqdm import tqdm
 import capnp
 
@@ -24,8 +24,10 @@ VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
 MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
 REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
 
+T = TypeVar('T')
 
-def chunks(l, n=128):
+
+def chunks(l: List[T], n: int = 128) -> Iterator[List[T]]:
   for i in range(0, len(l), n):
     yield l[i:i + n]
 
diff --git a/selfdrive/car/gm/fingerprints.py b/selfdrive/car/gm/fingerprints.py
index c349ee2856..73a205a250 100644
--- a/selfdrive/car/gm/fingerprints.py
+++ b/selfdrive/car/gm/fingerprints.py
@@ -2,6 +2,7 @@
 from openpilot.selfdrive.car.gm.values import CAR
 
 # Trailblazer also matches as a SILVERADO, TODO: split with fw versions
+# FIXME: There are Equinox users with different message lengths, specifically 304 and 320
 
 
 FINGERPRINTS = {
@@ -52,6 +53,9 @@ FINGERPRINTS = {
   }],
   CAR.EQUINOX: [{
     190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
+  },
+  {
+    190: 6, 201: 8, 211: 2, 717: 5, 241: 6, 451: 8, 298: 8, 452: 8, 453: 6, 479: 3, 485: 8, 249: 8, 500: 6, 587: 8, 1611: 8, 289: 8, 481: 7, 193: 8, 197: 8, 209: 7, 455: 7, 489: 8, 309: 8, 413: 8, 501: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 311: 8, 510: 8, 528: 5, 532: 6, 715: 8, 560: 8, 562: 8, 707: 8, 789: 5, 869: 4, 880: 6, 761: 7, 840: 5, 842: 5, 844: 8, 313: 8, 381: 8, 386: 8, 810: 8, 322: 7, 384: 4, 800: 6, 1033: 7, 1034: 7, 1296: 4, 753: 5, 388: 8, 288: 5, 497: 8, 463: 3, 304: 3, 977: 8, 1001: 8, 1280: 4, 320: 4, 352: 5, 563: 5, 565: 5, 1221: 5, 1011: 6, 1017: 8, 1020: 8, 1249: 8, 1300: 8, 328: 1, 1217: 8, 1233: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1930: 7, 1271: 8
   }],
 }
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 0c78b0061d..05caa28510 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -137,7 +137,7 @@ 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.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} or \
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL} or \
                       (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 583e11c9a7..172557f7a7 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -719,6 +719,7 @@ FW_VERSIONS = {
       b'36802-TLA-A040\x00\x00',
       b'36802-TLA-A050\x00\x00',
       b'36802-TLA-A060\x00\x00',
+      b'36802-TLA-A070\x00\x00',
       b'36802-TMC-Q040\x00\x00',
       b'36802-TMC-Q070\x00\x00',
       b'36802-TNY-A030\x00\x00',
@@ -873,6 +874,7 @@ FW_VERSIONS = {
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-5MR-3050\x00\x00',
       b'37805-5MR-3250\x00\x00',
+      b'37805-5MR-4070\x00\x00',
       b'37805-5MR-4080\x00\x00',
       b'37805-5MR-4180\x00\x00',
       b'37805-5MR-A240\x00\x00',
@@ -918,6 +920,7 @@ FW_VERSIONS = {
       b'28102-5MX-A900\x00\x00',
       b'28102-5MX-A910\x00\x00',
       b'28102-5MX-C001\x00\x00',
+      b'28102-5MX-C910\x00\x00',
       b'28102-5MX-D001\x00\x00',
       b'28102-5MX-D710\x00\x00',
       b'28102-5MX-K610\x00\x00',
@@ -955,6 +958,7 @@ FW_VERSIONS = {
       b'78109-THR-C320\x00\x00',
       b'78109-THR-C330\x00\x00',
       b'78109-THR-CE20\x00\x00',
+      b'78109-THR-CL10\x00\x00',
       b'78109-THR-DA20\x00\x00',
       b'78109-THR-DA30\x00\x00',
       b'78109-THR-DA40\x00\x00',
@@ -1024,6 +1028,7 @@ FW_VERSIONS = {
       b'37805-RLV-F120\x00\x00',
       b'37805-RLV-L080\x00\x00',
       b'37805-RLV-L090\x00\x00',
+      b'37805-RLV-L150\x00\x00',
       b'37805-RLV-L160\x00\x00',
       b'37805-RLV-L180\x00\x00',
       b'37805-RLV-L350\x00\x00',
@@ -1244,6 +1249,7 @@ FW_VERSIONS = {
       b'39990-T6Z-A020\x00\x00',
       b'39990-T6Z-A030\x00\x00',
       b'39990-T6Z-A050\x00\x00',
+      b'39990-T6Z-A110\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-T6Z-A020\x00\x00',
@@ -1251,6 +1257,7 @@ FW_VERSIONS = {
       b'36161-T6Z-A420\x00\x00',
       b'36161-T6Z-A520\x00\x00',
       b'36161-T6Z-A620\x00\x00',
+      b'36161-T6Z-A720\x00\x00',
       b'36161-TJZ-A120\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
@@ -1258,6 +1265,7 @@ FW_VERSIONS = {
       b'38897-T6Z-A110\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
+      b'78108-T6Z-AF10\x00\x00',
       b'78109-T6Z-A420\x00\x00',
       b'78109-T6Z-A510\x00\x00',
       b'78109-T6Z-A710\x00\x00',
@@ -1275,6 +1283,7 @@ FW_VERSIONS = {
       b'57114-T6Z-A120\x00\x00',
       b'57114-T6Z-A130\x00\x00',
       b'57114-T6Z-A520\x00\x00',
+      b'57114-T6Z-A610\x00\x00',
       b'57114-TJZ-A520\x00\x00',
     ],
   },
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 2f7cf7ca49..e539f74228 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -159,7 +159,7 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
     HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
     HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
   ],
-  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.CLARITY: HondaCarInfo("Honda Clarity 2018-22"),
@@ -207,10 +207,19 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.UDS_VERSION_RESPONSE],
       bus=1,
-      logging=True,
       obd_multiplexing=False,
     ),
   ],
+  # We lose these ECUs without the comma power on these cars.
+  # Note that we still attempt to match with them when they are present
+  non_essential_ecus={
+    Ecu.programmedFuelInjection: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.transmission: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.vsa: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.combinationMeter: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.gateway: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+    Ecu.electricBrakeBooster: [CAR.CIVIC_BOSCH, CAR.CRV_5G],
+  },
   extra_ecus=[
     # The only other ECU on PT bus accessible by camera on radarless Civic
     (Ecu.unknown, 0x18DAB3F1, None),
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index f7bd68d10f..0671dbe181 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -914,12 +914,14 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
       b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
+      b'\xf1\x87VDHMD16446682DD3WwwxxvGw\x88\x88\x87\x88\x88whxx\x87\x87\x87\x85fUfwu_\xffT\xf8\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00HI__ SCC F-CUP      1.00 1.01 96400-D2100         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2020 160302',
+      b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2030 170208',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x810000000000\x00',
@@ -971,6 +973,7 @@ FW_VERSIONS = {
       b'\xf1\x00BD  MDPS C 1.00 1.02 56310-XX000 4BD2C102',
       b'\xf1\x00BD  MDPS C 1.00 1.08 56310/M6300 4BDDC108',
       b'\xf1\x00BD  MDPS C 1.00 1.08 56310M6300\x00 4BDDC108',
+      b'\xf1\x00BDm MDPS C A.01 1.01 56310M7800\x00 4BPMC101',
       b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
@@ -987,11 +990,13 @@ FW_VERSIONS = {
       b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00',
+      b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x90@\xc6\xae',
       b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00',
       b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3",
     ],
@@ -1198,16 +1203,19 @@ FW_VERSIONS = {
   },
   CAR.KIA_NIRO_PHEV_2022: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00',
+      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL3\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 99211-G5500 210428',
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.06 99211-G5000 201028',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DEhe SCC F-CUP      1.00 1.00 99110-G5600         ',
@@ -1347,22 +1355,28 @@ FW_VERSIONS = {
   CAR.ELANTRA_GT_I30: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00PD  LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
+      b'\xf1\x00PD  LKAS AT USA LHD 1.00 1.02 95740-G3000 A51',
       b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk',
+      b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DPD0T16NS4\x00\x00\x00\x00',
+      b'\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DPD0T16NS4\xda\x7f\xd6\xa7',
       b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00PD  MDPS C 1.00 1.00 56310G3300\x00 4PDDC100',
+      b'\xf1\x00PD  MDPS C 1.00 1.03 56310/G3300 4PDDC103',
       b'\xf1\x00PD  MDPS C 1.00 1.04 56310/G3300 4PDDC104',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350',
+      b'\xf1\x00PD ESC \x0b 103\x17\x110 58920-G3350',
       b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00PD__ SCC F-CUP      1.00 1.00 96400-G3300         ',
+      b'\xf1\x00PD__ SCC F-CUP      1.01 1.00 96400-G3100         ',
       b'\xf1\x00PD__ SCC FNCUP      1.01 1.00 96400-G3000         ',
     ],
   },
@@ -1542,6 +1556,7 @@ FW_VERSIONS = {
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
+      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
     ],
   },
   CAR.IONIQ_6: {
@@ -1555,6 +1570,7 @@ FW_VERSIONS = {
   },
   CAR.TUCSON_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
@@ -1567,6 +1583,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
       b'\xf1\x00NX4__               1.00 1.01 99110-N9000         ',
+      b'\xf1\x00NX4__               1.00 1.02 99110-N9000         ',
       b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
     ],
   },
@@ -1625,6 +1642,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00MQ4_ SCC F-CUP      1.00 1.06 99110-P2000         ',
+      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.00 99110-R5000         ',
       b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.06 99110-P2000         ',
       b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.08 99110-P2000         ',
     ],
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index fd48d6d76f..7c010f21ba 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -11,7 +11,6 @@ from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 Ecu = car.CarParams.Ecu
-SafetyModel = car.CarParams.SafetyModel
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
@@ -19,17 +18,6 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
                 Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
 
 
-def set_safety_config_hyundai(candidate, CAN, can_fd=False):
-  platform = SafetyModel.hyundaiCanfd if can_fd else \
-             SafetyModel.hyundaiLegacy if candidate in LEGACY_SAFETY_MODE_CAR else \
-             SafetyModel.hyundai
-  cfgs = [get_safety_config(platform), ]
-  if CAN.ECAN >= 4:
-    cfgs.insert(0, get_safety_config(SafetyModel.noOutput))
-
-  return cfgs
-
-
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -55,6 +43,7 @@ class CarInterface(CarInterfaceBase):
 
       # detect HDA2 with ADAS Driving ECU
       if hda2:
+        ret.flags |= HyundaiFlags.CANFD_HDA2.value
         if 0x110 in fingerprint[CAN.CAM]:
           ret.flags |= HyundaiFlags.CANFD_HDA2_ALT_STEERING.value
       else:
@@ -314,22 +303,33 @@ class CarInterface(CarInterfaceBase):
         ret.spFlags |= HyundaiFlagsSP.SP_NAV_MSG.value
 
     # *** panda safety config ***
-    ret.safetyConfigs = set_safety_config_hyundai(candidate, CAN, can_fd=(candidate in CANFD_CAR))
-
-    if hda2:
-      ret.flags |= HyundaiFlags.CANFD_HDA2.value
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
-
     if candidate in CANFD_CAR:
-      if hda2 and ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
-        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
+      cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
+      if CAN.ECAN >= 4:
+        cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+      ret.safetyConfigs = cfgs
+
+      if ret.flags & HyundaiFlags.CANFD_HDA2:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+        if ret.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING:
+          ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2_ALT_STEERING
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
         ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
+      if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+    else:
+      if candidate in LEGACY_SAFETY_MODE_CAR:
+        # these cars require a special panda safety mode due to missing counters and checksums in the messages
+        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundaiLegacy)]
+      else:
+        ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hyundai, 0)]
+
+      if candidate in CAMERA_SCC_CAR:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+
+      if ret.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_ESCC
 
-    if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC or candidate in CAMERA_SCC_CAR:
-      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
-    if ret.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_ESCC
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_LONG
     if ret.flags & HyundaiFlags.HYBRID:
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index b641996e94..85cd8df7a8 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -260,7 +260,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
     HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
   ],
-  CAR.KIA_NIRO_PHEV_2022: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+  CAR.KIA_NIRO_PHEV_2022: [
+    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
+    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+  ],
   CAR.KIA_NIRO_HEV_2021: [
     HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])),
     HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])),
@@ -413,6 +416,9 @@ HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
   p16(0xf100)
 
+HYUNDAI_ECU_MANUFACTURING_DATE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.ECU_MANUFACTURING_DATE)
+
 HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
 
 # Regex patterns for parsing platform code, FW date, and part number from FW versions
@@ -431,6 +437,8 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
+ALL_HYUNDAI_ECUS = [Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.engine, Ecu.parkingAdas, Ecu.transmission, Ecu.adas, Ecu.hvac, Ecu.cornerRadar]
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
@@ -464,13 +472,52 @@ FW_QUERY_CONFIG = FwQueryConfig(
       obd_multiplexing=False,
     ),
 
-    # CAN-FD debugging queries
+    # CAN & CAN FD query to understand the three digit date code
+    # HDA2 cars usually use 6 digit date codes, so skip bus 1
+    Request(
+      [HYUNDAI_ECU_MANUFACTURING_DATE],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.fwdCamera],
+      bus=0,
+      auxiliary=True,
+      logging=True,
+    ),
+
+    # CAN & CAN FD logging queries (from camera)
+    Request(
+      [HYUNDAI_VERSION_REQUEST_LONG],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=ALL_HYUNDAI_ECUS,
+      bus=0,
+      auxiliary=True,
+      logging=True,
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_MULTI],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=ALL_HYUNDAI_ECUS,
+      bus=0,
+      auxiliary=True,
+      logging=True,
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_LONG],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=ALL_HYUNDAI_ECUS,
+      bus=1,
+      auxiliary=True,
+      obd_multiplexing=False,
+      logging=True,
+    ),
+
+    # CAN-FD alt request logging queries
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
       [HYUNDAI_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=0,
       auxiliary=True,
+      logging=True,
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_ALT],
@@ -478,6 +525,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
       whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
       bus=1,
       auxiliary=True,
+      logging=True,
       obd_multiplexing=False,
     ),
   ],
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index acdf9077fa..7ca60bcfab 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -1,6 +1,5 @@
 import json
 import os
-import time
 import numpy as np
 import tomllib
 from abc import abstractmethod, ABC
@@ -323,13 +322,14 @@ class RadarInterfaceBase(ABC):
     self.pts = {}
     self.delay = 0
     self.radar_ts = CP.radarTimeStep
+    self.frame = 0
     self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
 
   def update(self, can_strings):
-    ret = car.RadarData.new_message()
-    if not self.no_radar_sleep:
-      time.sleep(self.radar_ts)  # radard runs on RI updates
-    return ret
+    self.frame += 1
+    if (self.frame % int(100 * self.radar_ts)) == 0:
+      return car.RadarData.new_message()
+    return None
 
 
 class CarStateBase(ABC):
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 696935fd35..678fe9ea46 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -5,11 +5,14 @@ from functools import partial
 import cereal.messaging as messaging
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.car.fw_query_definitions import AddrType
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 
 
 class IsoTpParallelQuery:
-  def __init__(self, sendcan, logcan, bus, addrs, request, response, response_offset=0x8, functional_addrs=None, debug=False, response_pending_timeout=10):
+  def __init__(self, sendcan: messaging.PubSocket, logcan: messaging.SubSocket, bus: int, addrs: list[int] | list[AddrType],
+               request: list[bytes], response: list[bytes], response_offset: int = 0x8,
+               functional_addrs: list[int] | None = None, debug: bool = False, response_pending_timeout: float = 10) -> None:
     self.sendcan = sendcan
     self.logcan = logcan
     self.bus = bus
@@ -24,7 +27,7 @@ class IsoTpParallelQuery:
       assert tx_addr not in FUNCTIONAL_ADDRS, f"Functional address should be defined in functional_addrs: {hex(tx_addr)}"
 
     self.msg_addrs = {tx_addr: get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset) for tx_addr in real_addrs}
-    self.msg_buffer = defaultdict(list)
+    self.msg_buffer: dict[int, list[tuple[int, int, bytes, int]]] = defaultdict(list)
 
   def rx(self):
     """Drain can socket and sort messages into buffers based on address"""
@@ -63,7 +66,7 @@ class IsoTpParallelQuery:
     messaging.drain_sock_raw(self.logcan)
     self.msg_buffer = defaultdict(list)
 
-  def _create_isotp_msg(self, tx_addr, sub_addr, rx_addr):
+  def _create_isotp_msg(self, tx_addr: int, sub_addr: int | None, rx_addr: int):
     can_client = CanClient(self._can_tx, partial(self._can_rx, rx_addr, sub_addr=sub_addr), tx_addr, rx_addr,
                            self.bus, sub_addr=sub_addr, debug=self.debug)
 
@@ -73,7 +76,7 @@ class IsoTpParallelQuery:
     # as well as reduces chances we process messages from previous queries
     return IsoTpMessage(can_client, timeout=0, separation_time=0.01, debug=self.debug, max_len=max_len)
 
-  def get_data(self, timeout, total_timeout=60.):
+  def get_data(self, timeout: float, total_timeout: float = 60.) -> dict[AddrType, bytes]:
     self._drain_rx()
 
     # Create message objects
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 1f7846ca06..c0819592d4 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -32,7 +32,7 @@ class CarState(CarStateBase):
 
     # Match panda speed reading
     speed_kph = cp.vl["ENGINE_DATA"]["SPEED"]
-    ret.standstill = speed_kph < .1
+    ret.standstill = speed_kph <= .1
 
     can_gear = int(cp.vl["GEAR"]["GEAR"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index c7821bdb97..2e4ac43033 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -22,7 +22,7 @@ class CarInterface(CarInterfaceBase):
 
   def _update(self, c):
     self.sm.update(0)
-    gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
+    gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
 
     ret = car.CarState.new_message()
     ret.vEgo = self.sm[gps_sock].speed
diff --git a/selfdrive/car/nissan/fingerprints.py b/selfdrive/car/nissan/fingerprints.py
index 69e88be898..6cd0df4c9b 100644
--- a/selfdrive/car/nissan/fingerprints.py
+++ b/selfdrive/car/nissan/fingerprints.py
@@ -45,15 +45,28 @@ FW_VERSIONS = {
   },
   CAR.LEAF: {
     (Ecu.abs, 0x740, None): [
+      b'476605SA1C',
+      b'476605SC2D',
+      b'476606WK7B',
       b'476606WK9B',
     ],
     (Ecu.eps, 0x742, None): [
+      b'5SA2A\x99A\x05\x02N123F\x15b\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SA2A\xb7A\x05\x02N123F\x15\xa2\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SN2A\xb7A\x05\x02N123F\x15\xa2\x00\x00\x00\x00\x00\x00\x00\x80',
       b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80',
     ],
     (Ecu.fwdCamera, 0x707, None): [
+      b'5SA0ADB\x04\x18\x00\x00\x00\x00\x00_*6\x04\x94a\x00\x00\x00\x80',
+      b'5SA2ADB\x04\x18\x00\x00\x00\x00\x00_*6\x04\x94a\x00\x00\x00\x80',
+      b'6WK2ADB\x04\x18\x00\x00\x00\x00\x00R;1\x18\x99\x10\x00\x00\x00\x80',
+      b'6WK2BDB\x04\x18\x00\x00\x00\x00\x00R;1\x18\x99\x10\x00\x00\x00\x80',
       b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80',
     ],
     (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U25SA3C',
+      b'284U25SP1C',
+      b'284U26WK0A',
       b'284U26WK0C',
     ],
   },
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 290737c3e6..86d39ff885 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -13,6 +13,15 @@ def create_steering_control(packer, apply_steer, steer_req):
   return packer.make_can_msg("ES_LKAS", 0, values)
 
 
+def create_steering_control_angle(packer, apply_steer, steer_req):
+  values = {
+    "LKAS_Output": apply_steer,
+    "LKAS_Request": steer_req,
+    "SET_3": 3
+  }
+  return packer.make_can_msg("ES_LKAS_ANGLE", 0, values)
+
+
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
diff --git a/selfdrive/car/tests/big_cars_test.sh b/selfdrive/car/tests/big_cars_test.sh
new file mode 100755
index 0000000000..af45c9cd14
--- /dev/null
+++ b/selfdrive/car/tests/big_cars_test.sh
@@ -0,0 +1,12 @@
+#!/bin/bash
+
+SCRIPT_DIR=$(dirname "$0")
+BASEDIR=$(realpath "$SCRIPT_DIR/../../../")
+cd $BASEDIR
+
+MAX_EXAMPLES=300
+INTERNAL_SEG_CNT=300
+FILEREADER_CACHE=1
+INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt
+
+cd selfdrive/car/tests && pytest test_models.py test_car_interfaces.py
\ No newline at end of file
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 8db950ced0..b874e31b6a 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -20,7 +20,6 @@ non_tested_cars = [
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.MALIBU,
-  GM.EQUINOX,
   HYUNDAI.GENESIS_G90,
   HONDA.ODYSSEY_CHN,
   VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
@@ -46,6 +45,7 @@ routes = [
   CarTestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
   CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
   CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
+  CarTestRoute("3379c85aeedc8285|2023-12-07--17-49-39", CHRYSLER.DODGE_DURANGO),
 
   CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
   CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
@@ -59,6 +59,7 @@ routes = [
   CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
   CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
   CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE),
+  CarTestRoute("e746f59bc96fd789|2024-01-31--22-25-58", GM.EQUINOX),
   CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE),
   CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
   CarTestRoute("168f8b3be57f66ae|2023-09-12--21-44-42", GM.ESCALADE_ESV_2019),
@@ -207,6 +208,7 @@ routes = [
   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_NX_TSS2),  # hybrid
+  CarTestRoute("4765fbbf59e3cd88|2024-02-06--17-45-32", TOYOTA.LEXUS_LC_TSS2),
   CarTestRoute("0a302ffddbb3e3d3|2020-02-08--16-19-08", TOYOTA.HIGHLANDER_TSS2),
   CarTestRoute("437e4d2402abf524|2021-05-25--07-58-50", TOYOTA.HIGHLANDER_TSS2),  # hybrid
   CarTestRoute("3183cd9b021e89ce|2021-05-25--10-34-44", TOYOTA.HIGHLANDER),
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index a920bd45da..f2625abe57 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -14,6 +14,10 @@ from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS
 from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
 
 ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()})
@@ -42,11 +46,6 @@ def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
 
 
 class TestCarInterfaces(unittest.TestCase):
-
-  @classmethod
-  def setUpClass(cls):
-    os.environ['NO_RADAR_SLEEP'] = '1'
-
   # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
   #  many generated examples to overrun when max_examples > ~20, don't use it
   @parameterized.expand([(car,) for car in sorted(all_known_cars())])
@@ -105,6 +104,17 @@ class TestCarInterfaces(unittest.TestCase):
       car_interface.apply(CC, now_nanos)
       now_nanos += DT_CTRL * 1e9  # 10ms
 
+    # Test controller initialization
+    # TODO: wait until card refactor is merged to run controller a few times,
+    #  hypothesis also slows down significantly with just one more message draw
+    LongControl(car_params)
+    if car_params.steerControlType == car.CarParams.SteerControlType.angle:
+      LatControlAngle(car_params, car_interface)
+    elif car_params.lateralTuning.which() == 'pid':
+      LatControlPID(car_params, car_interface)
+    elif car_params.lateralTuning.which() == 'torque':
+      LatControlTorque(car_params, car_interface)
+
     # Test radar interface
     RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface
     radar_interface = RadarInterface(car_params)
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 064f2e5651..fa006e51a6 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import pytest
 import random
 import time
 import unittest
@@ -226,7 +225,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
 
   def test_startup_timing(self):
     # Tests worse-case VIN query time and typical present ECU query time
-    vin_ref_times = {'worst': 1.5, 'best': 0.5}  # best assumes we go through all queries to get a match
+    vin_ref_times = {'worst': 1.0, 'best': 0.5}  # best assumes we go through all queries to get a match
     present_ecu_ref_time = 0.75
 
     def fake_get_ecu_addrs(*_, timeout):
@@ -252,9 +251,8 @@ class TestFwFingerprintTiming(unittest.TestCase):
         self._assert_timing(self.total_time / self.N, vin_ref_times[name])
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
-  @pytest.mark.timeout(60)
   def test_fw_query_timing(self):
-    total_ref_time = 6.8
+    total_ref_time = {1: 5.95, 2: 6.85}
     brand_ref_times = {
       1: {
         'gm': 0.5,
@@ -262,7 +260,7 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'chrysler': 0.3,
         'ford': 0.1,
         'honda': 0.55,
-        'hyundai': 0.65,
+        'hyundai': 1.05,
         'mazda': 0.1,
         'nissan': 0.8,
         'subaru': 0.45,
@@ -272,28 +270,31 @@ class TestFwFingerprintTiming(unittest.TestCase):
       },
       2: {
         'ford': 0.2,
-        'hyundai': 1.05,
+        'hyundai': 1.85,
       }
     }
 
-    total_time = 0
+    total_times = {1: 0.0, 2: 0.0}
     for num_pandas in (1, 2):
       for brand, config in FW_QUERY_CONFIGS.items():
         with self.subTest(brand=brand, num_pandas=num_pandas):
-          multi_panda_requests = [r for r in config.requests if r.bus > 3]
-          if not len(multi_panda_requests) and num_pandas > 1:
-            raise unittest.SkipTest("No multi-panda FW queries")
-
           avg_time = self._benchmark_brand(brand, num_pandas)
-          total_time += avg_time
+          total_times[num_pandas] += avg_time
           avg_time = round(avg_time, 2)
-          self._assert_timing(avg_time, brand_ref_times[num_pandas][brand])
+
+          ref_time = brand_ref_times[num_pandas].get(brand)
+          if ref_time is None:
+            # ref time should be same as 1 panda if no aux queries
+            ref_time = brand_ref_times[num_pandas - 1][brand]
+
+          self._assert_timing(avg_time, ref_time)
           print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
 
-    with self.subTest(brand='all_brands'):
-      total_time = round(total_time, 2)
-      self._assert_timing(total_time, total_ref_time)
-      print(f'all brands, total FW query time={total_time} seconds')
+    for num_pandas in (1, 2):
+      with self.subTest(brand='all_brands', num_pandas=num_pandas):
+        total_time = round(total_times[num_pandas], 2)
+        self._assert_timing(total_time, total_ref_time[num_pandas])
+        print(f'all brands, total FW query time={total_time} seconds')
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 537214d14c..3592fd0baa 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -23,9 +23,8 @@ from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTes
 from openpilot.selfdrive.controls.controlsd import Controls
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
-from openpilot.tools.lib.comma_car_segments import get_url
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.route import Route, SegmentName, RouteName
+from openpilot.tools.lib.logreader import LogReader, internal_source, openpilotci_source
+from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
 
@@ -37,7 +36,7 @@ NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
 INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
 INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0"))
-MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "50"))
+MAX_EXAMPLES = int(os.environ.get("MAX_EXAMPLES", "300"))
 CI = os.environ.get("CI", None) is not None
 
 
@@ -75,14 +74,6 @@ class TestCarModelBase(unittest.TestCase):
   elm_frame: Optional[int]
   car_safety_mode_frame: Optional[int]
 
-  @classmethod
-  def get_logreader(cls, seg):
-    if len(INTERNAL_SEG_LIST):
-      route_name = RouteName(cls.test_route.route)
-      return LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2")
-    else:
-      return LogReader(get_url(cls.test_route.route, seg))
-
   @classmethod
   def get_testing_data_from_logreader(cls, lr):
     car_fw = []
@@ -133,22 +124,26 @@ class TestCarModelBase(unittest.TestCase):
     if cls.test_route.segment is not None:
       test_segs = (cls.test_route.segment,)
 
-    # Try the primary method first (CI or internal)
+    is_internal = len(INTERNAL_SEG_LIST)
+
     for seg in test_segs:
+      segment_range = f"{cls.test_route.route}/{seg}"
+
       try:
-        lr = cls.get_logreader(seg)
+        lr = LogReader(segment_range, default_source=internal_source if is_internal else openpilotci_source)
         return cls.get_testing_data_from_logreader(lr)
       except Exception:
         pass
 
     # Route is not in CI bucket, assume either user has access (private), or it is public
     # test_route_on_ci_bucket will fail when running in CI
-    if not len(INTERNAL_SEG_LIST):
+    if not is_internal:
       cls.test_route_on_bucket = False
 
       for seg in test_segs:
+        segment_range = f"{cls.test_route.route}/{seg}"
         try:
-          lr = LogReader(Route(cls.test_route.route).log_paths()[seg])
+          lr = LogReader(segment_range)
           return cls.get_testing_data_from_logreader(lr)
         except Exception:
           pass
@@ -239,7 +234,6 @@ class TestCarModelBase(unittest.TestCase):
     self.assertEqual(can_invalid_cnt, 0)
 
   def test_radar_interface(self):
-    os.environ['NO_RADAR_SLEEP'] = "1"
     RadarInterface = importlib.import_module(f'selfdrive.car.{self.CP.carName}.radar_interface').RadarInterface
     RI = RadarInterface(self.CP)
     assert RI
diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml
index 1e0b877bae..9a868d3dec 100644
--- a/selfdrive/car/torque_data/override.toml
+++ b/selfdrive/car/torque_data/override.toml
@@ -42,7 +42,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET BOLT EUV 2022" = [2.0, 2.0, 0.05]
 "CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112]
 "CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16]
-"CHEVROLET EQUINOX 2019" = [2.0, 2.0, 0.05]
+"CHEVROLET EQUINOX 2019" = [2.5, 2.5, 0.05]
 "VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1]
 "HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1]
diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml
index bab10bc062..6822ef437b 100644
--- a/selfdrive/car/torque_data/substitute.toml
+++ b/selfdrive/car/torque_data/substitute.toml
@@ -5,12 +5,15 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "MAZDA CX-5 2022" = "MAZDA CX-9 2021"
 "MAZDA CX-9" = "MAZDA CX-9 2021"
 
+"DODGE DURANGO 2021" = "CHRYSLER PACIFICA 2020"
+
 "TOYOTA ALPHARD 2020" = "TOYOTA SIENNA 2018"
 "TOYOTA PRIUS v 2017" = "TOYOTA PRIUS 2017"
 "LEXUS IS 2018" = "LEXUS NX 2018"
 "LEXUS CT HYBRID 2018" = "LEXUS NX 2018"
 "LEXUS ES 2018" = "TOYOTA CAMRY 2018"
 "LEXUS RC 2020" = "LEXUS NX 2020"
+"LEXUS LC 2024" = "LEXUS NX 2020"
 
 "KIA OPTIMA 4TH GEN" = "HYUNDAI SONATA 2020"
 "KIA OPTIMA 4TH GEN FACELIFT" = "HYUNDAI SONATA 2020"
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index b99a1091f6..b2d6baed94 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -59,10 +59,10 @@ class CarController:
     apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
 
     # >100 degree/sec steering fault prevention
-    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, CC.latActive,
+    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
                                                                       self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
 
-    if not CC.latActive:
+    if not lat_active:
       apply_steer = 0
 
     # *** steer angle ***
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 4d9779b21d..7529d624b0 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -104,6 +104,9 @@ class CarState(CarStateBase):
     ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 2
 
+    if self.CP.carFingerprint != CAR.MIRAI:
+      ret.engineRpm = cp.vl["ENGINE_RPM"]["RPM"]
+
     ret.steeringTorque = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
     ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
     # we could use the override bit from dbc, but it's triggered at too high torque values
@@ -274,6 +277,9 @@ class CarState(CarStateBase):
       ("STEER_TORQUE_SENSOR", 50),
     ]
 
+    if CP.carFingerprint != CAR.MIRAI:
+      messages.append(("ENGINE_RPM", 42))
+
     if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       messages.append(("DSU_CRUISE", 5))
       messages.append(("PCM_CRUISE_ALT", 1))
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index fc24f0e72c..12a1d46aaf 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -38,6 +38,7 @@ FW_VERSIONS = {
       b'F152607180\x00\x00\x00\x00\x00\x00',
       b'F152641040\x00\x00\x00\x00\x00\x00',
       b'F152641050\x00\x00\x00\x00\x00\x00',
+      b'F152641060\x00\x00\x00\x00\x00\x00',
       b'F152641061\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
@@ -55,10 +56,12 @@ FW_VERSIONS = {
       b'\x01896630725100\x00\x00\x00\x00',
       b'\x01896630725200\x00\x00\x00\x00',
       b'\x01896630725300\x00\x00\x00\x00',
+      b'\x01896630725400\x00\x00\x00\x00',
       b'\x01896630735100\x00\x00\x00\x00',
       b'\x01896630738000\x00\x00\x00\x00',
       b'\x02896630724000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x02896630728000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
+      b'\x02896630734000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x02896630737000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -1361,16 +1364,19 @@ FW_VERSIONS = {
       b'\x018966378G3000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'\x0237881000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       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'F152678200\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'8965B78110\x00\x00\x00\x00\x00\x00',
       b'8965B78120\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -1383,6 +1389,23 @@ FW_VERSIONS = {
       b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
+  CAR.LEXUS_LC_TSS2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0131130000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152611390\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B11091\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F6201400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F1105200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+    ],
+  },
   CAR.LEXUS_RC: {
     (Ecu.engine, 0x700, None): [
       b'\x01896632461100\x00\x00\x00\x00',
@@ -1417,6 +1440,7 @@ FW_VERSIONS = {
   },
   CAR.LEXUS_RX: {
     (Ecu.engine, 0x700, None): [
+      b'\x01896630E36100\x00\x00\x00\x00',
       b'\x01896630E36200\x00\x00\x00\x00',
       b'\x01896630E36300\x00\x00\x00\x00',
       b'\x01896630E37100\x00\x00\x00\x00',
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index aaca8724b4..7add9baaa7 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -182,6 +182,12 @@ class CarInterface(CarInterfaceBase):
       ret.tireStiffnessFactor = 0.444  # not optimized yet
       ret.mass = 4070 * CV.LB_TO_KG
 
+    elif candidate == CAR.LEXUS_LC_TSS2:
+      ret.wheelbase = 2.87
+      ret.steerRatio = 13.0
+      ret.tireStiffnessFactor = 0.444  # not optimized yet
+      ret.mass = 4500 * CV.LB_TO_KG
+
     elif candidate == CAR.PRIUS_TSS2:
       ret.wheelbase = 2.70002  # from toyota online sepc.
       ret.steerRatio = 13.4   # True steerRatio from older prius
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 02a9e142d2..ed2b022f43 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -81,6 +81,7 @@ class CAR(StrEnum):
   LEXUS_IS_TSS2 = "LEXUS IS 2023"
   LEXUS_NX = "LEXUS NX 2018"
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
+  LEXUS_LC_TSS2 = "LEXUS LC 2024"
   LEXUS_RC = "LEXUS RC 2020"
   LEXUS_RX = "LEXUS RX 2016"
   LEXUS_RX_TSS2 = "LEXUS RX 2020"
@@ -206,6 +207,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Lexus NX 2020-21"),
     ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
   ],
+  CAR.LEXUS_LC_TSS2: ToyotaCarInfo("Lexus LC 2024"),
   CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"),
   CAR.LEXUS_RX: [
     ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
@@ -444,6 +446,7 @@ DBC = {
   CAR.PRIUS: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.PRIUS_V: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_LC_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -480,7 +483,8 @@ EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_I
 # 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.LEXUS_ES_TSS2,
             CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2,
-            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.CHR_TSS2}
+            CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_LC_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2,
+            CAR.CHR_TSS2}
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY}
 
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index f69771546f..184455af17 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -15,7 +15,7 @@ def is_valid_vin(vin: str):
   return re.fullmatch(VIN_RE, vin) is not None
 
 
-def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
+def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
   for i in range(retry):
     for bus in buses:
       for request, response, valid_buses, vin_addrs, functional_addrs, rx_offset in (
@@ -26,8 +26,14 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
         if bus not in valid_buses:
           continue
 
+        # When querying functional addresses, ideally we respond to everything that sends a first frame to avoid leaving the
+        # ECU in a temporary bad state. Note that we may not cover all ECUs and response offsets. TODO: query physical addrs
+        tx_addrs = vin_addrs
+        if functional_addrs is not None:
+          tx_addrs = [a for a in range(0x700, 0x800) if a != 0x7DF] + list(range(0x18DA00F1, 0x18DB00F1, 0x100))
+
         try:
-          query = IsoTpParallelQuery(sendcan, logcan, bus, vin_addrs, [request, ], [response, ], response_offset=rx_offset,
+          query = IsoTpParallelQuery(sendcan, logcan, bus, tx_addrs, [request, ], [response, ], response_offset=rx_offset,
                                      functional_addrs=functional_addrs, debug=debug)
           results = query.get_data(timeout)
 
@@ -42,8 +48,8 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=3, debug=False):
               if vin.startswith(b'\x11'):
                 vin = vin[1:18]
 
-              cloudlog.warning(f"got vin with {request=}")
-              return get_rx_addr_for_tx_addr(addr), bus, vin.decode()
+              cloudlog.error(f"got vin with {request=}")
+              return get_rx_addr_for_tx_addr(addr, rx_offset=rx_offset), bus, vin.decode()
         except Exception:
           cloudlog.exception("VIN query exception")
 
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index dcdb2e62bf..8e5a0667bd 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -320,6 +320,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906024L \xf1\x895595',
       b'\xf1\x8704E906024L \xf1\x899970',
       b'\xf1\x8704E906027MS\xf1\x896223',
+      b'\xf1\x8705E906013DB\xf1\x893361',
       b'\xf1\x875G0906259T \xf1\x890003',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -327,6 +328,7 @@ FW_VERSIONS = {
       b'\xf1\x8709S927158BS\xf1\x893642',
       b'\xf1\x8709S927158BS\xf1\x893694',
       b'\xf1\x8709S927158CK\xf1\x893770',
+      b'\xf1\x8709S927158JC\xf1\x894113',
       b'\xf1\x8709S927158R \xf1\x893552',
       b'\xf1\x8709S927158R \xf1\x893587',
       b'\xf1\x870GC300020N \xf1\x892803',
@@ -340,9 +342,11 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BR\xf1\x890403\xf1\x82\x1319170031313300314240011550159333463100',
       b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314642021650169333613100',
       b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1314171231313500314643021650169333613100',
+      b'\xf1\x875Q0959655CB\xf1\x890421\xf1\x82\x1317171231313500314642023050309333613100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A10A11A1',
+      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x000_A1080_OM',
       b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A10A01A1',
       b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521B00404A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A00642A1',
@@ -350,6 +354,7 @@ FW_VERSIONS = {
       b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A10A11A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x875Q0907572N \xf1\x890681',
       b'\xf1\x875Q0907572P \xf1\x890682',
       b'\xf1\x875Q0907572R \xf1\x890771',
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index f4809e4523..35cb3607ec 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -223,8 +223,8 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
     VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
   ],
   CAR.JETTA_MK7: [
-    VWCarInfo("Volkswagen Jetta 2018-22"),
-    VWCarInfo("Volkswagen Jetta GLI 2021-22"),
+    VWCarInfo("Volkswagen Jetta 2018-24"),
+    VWCarInfo("Volkswagen Jetta GLI 2021-24"),
   ],
   CAR.PASSAT_MK8: [
     VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.PASSAT]),
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index b1b1586237..70dc847212 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -60,7 +60,7 @@ class Controls:
     config_realtime_process(4, Priority.CTRL_HIGH)
 
     # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
-    self.branch = get_short_branch("")
+    self.branch = get_short_branch()
 
     # Setup sockets
     self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
@@ -80,7 +80,8 @@ class Controls:
                                    'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
                                    'testJoystick', 'longitudinalPlanSP', 'modelV2SP'] + self.camera_packets + self.sensor_packets,
-                                  ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'], ignore_valid=['testJoystick', ])
+                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
+                                  frequency=int(1/DT_CTRL))
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -330,7 +331,7 @@ class Controls:
     num_events = len(self.events)
 
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
-    if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
+    if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
       self.events.add(EventName.processNotRunning)
       if not_running != self.not_running_prev:
         cloudlog.event("process_not_running", not_running=not_running, error=True)
@@ -387,7 +388,7 @@ class Controls:
         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):
+    if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
       self.events.add(EventName.sensorDataInvalid)
 
     if not REPLAY:
@@ -452,6 +453,17 @@ class Controls:
         self.set_initial_state()
         self.params.put_bool_nonblocking("ControlsReady", True)
 
+        cloudlog.event(
+          "controlsd.initialized",
+          dt=self.sm.frame*DT_CTRL,
+          timeout=timed_out,
+          canValid=CS.canValid,
+          invalid=[s for s, valid in self.sm.valid.items() if not valid],
+          not_alive=[s for s, alive in self.sm.alive.items() if not alive],
+          not_freq_ok=[s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
+          error=True,
+        )
+
     # Check for CAN timeout
     if not can_strs:
       self.can_rcv_timeout_counter += 1
@@ -610,7 +622,7 @@ class Controls:
     if not self.joystick_mode:
       # accel PID loop
       pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
-      t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL
+      t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
       actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
 
       # Steering PID loop and lateral MPC
@@ -621,9 +633,9 @@ class Controls:
                                                                              self.sm['liveLocationKalman'])
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
-      if self.sm.rcv_frame['testJoystick'] > 0:
+      if self.sm.recv_frame['testJoystick'] > 0:
         # reset joystick if it hasn't been received in a while
-        should_reset_joystick = (self.sm.frame - self.sm.rcv_frame['testJoystick'])*DT_CTRL > 0.2
+        should_reset_joystick = (self.sm.frame - self.sm.recv_frame['testJoystick'])*DT_CTRL > 0.2
         if not should_reset_joystick:
           joystick_axes = self.sm['testJoystick'].axes
         else:
@@ -698,7 +710,7 @@ class Controls:
 
     CC.cruiseControl.override = self.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
     CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
-    if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
+    if self.joystick_mode and self.sm.recv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
 
     speeds = self.sm['longitudinalPlan'].speeds
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 84109e6059..80a04bb878 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -224,7 +224,7 @@ def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
   return func
 
 def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  branch = get_short_branch("")  # Ensure get_short_branch is cached to avoid lags on startup
+  branch = get_short_branch()  # Ensure get_short_branch is cached to avoid lags on startup
   if "REPLAY" in os.environ:
     branch = "replay"
 
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 0965aa23ea..798ac754fe 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -29,11 +29,10 @@ def plannerd_thread():
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan', 'longitudinalPlanSP'])
   sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
-                           poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
+                           poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
     sm.update()
-
     if sm.updated['modelV2']:
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 4acadee7a7..b0b9350dec 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -8,7 +8,7 @@ import capnp
 from cereal import messaging, log, car
 from openpilot.common.numpy_fast import interp
 from openpilot.common.params import Params
-from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process
+from openpilot.common.realtime import DT_CTRL, Ratekeeper, Priority, config_realtime_process
 from openpilot.common.swaglog import cloudlog
 
 from openpilot.common.simple_kalman import KF1D
@@ -201,6 +201,7 @@ class RadarD:
 
     self.v_ego = 0.0
     self.v_ego_hist = deque([0.0], maxlen=delay+1)
+    self.last_v_ego_frame = -1
 
     self.radar_state: Optional[capnp._DynamicStructBuilder] = None
     self.radar_state_valid = False
@@ -208,6 +209,7 @@ class RadarD:
     self.ready = False
 
   def update(self, sm: messaging.SubMaster, rr: Optional[car.RadarData]):
+    self.ready = sm.seen['modelV2']
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
     radar_points = []
@@ -216,11 +218,10 @@ class RadarD:
       radar_points = rr.points
       radar_errors = rr.errors
 
-    if sm.updated['carState']:
+    if sm.recv_frame['carState'] != self.last_v_ego_frame:
       self.v_ego = sm['carState'].vEgo
       self.v_ego_hist.append(self.v_ego)
-    if sm.updated['modelV2']:
-      self.ready = True
+      self.last_v_ego_frame = sm.recv_frame['carState']
 
     ar_pts = {}
     for pt in radar_points:
@@ -282,7 +283,7 @@ class RadarD:
 
 
 # fuses camera and radar data for best lead detection
-def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: Optional[messaging.SubSocket] = None):
+def main():
   config_realtime_process(5, Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
@@ -296,12 +297,9 @@ def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messagi
   RadarInterface = importlib.import_module(f'selfdrive.car.{CP.carName}.radar_interface').RadarInterface
 
   # *** setup messaging
-  if can_sock is None:
-    can_sock = messaging.sub_sock('can')
-  if sm is None:
-    sm = messaging.SubMaster(['modelV2', 'carState'], ignore_avg_freq=['modelV2', 'carState'])  # Can't check average frequency, since radar determines timing
-  if pm is None:
-    pm = messaging.PubMaster(['radarState', 'liveTracks'])
+  can_sock = messaging.sub_sock('can')
+  sm = messaging.SubMaster(['modelV2', 'carState'], frequency=int(1./DT_CTRL))
+  pm = messaging.PubMaster(['radarState', 'liveTracks'])
 
   RI = RadarInterface(CP)
 
@@ -311,21 +309,15 @@ def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messagi
   while 1:
     can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
     rr = RI.update(can_strings)
-
+    sm.update(0)
     if rr is None:
       continue
 
-    sm.update(0)
-
     RD.update(sm, rr)
     RD.publish(pm, -rk.remaining*1000.0)
 
     rk.monitor_time()
 
 
-def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: messaging.SubSocket = None):
-  radard_thread(sm, pm, can_sock)
-
-
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py
index db18f4c622..787e9bc738 100755
--- a/selfdrive/debug/dump.py
+++ b/selfdrive/debug/dump.py
@@ -1,14 +1,14 @@
 #!/usr/bin/env python3
-import os
 import sys
 import argparse
 import json
 import codecs
-import cereal.messaging as messaging
 
 from hexdump import hexdump
 from cereal import log
 from cereal.services import SERVICE_LIST
+from openpilot.tools.lib.live_logreader import raw_live_logreader
+
 
 codecs.register_error("strict", codecs.backslashreplace_errors)
 
@@ -22,32 +22,20 @@ if __name__ == "__main__":
   parser.add_argument('--no-print', action='store_true')
   parser.add_argument('--addr', default='127.0.0.1')
   parser.add_argument('--values', help='values to monitor (instead of entire event)')
-  parser.add_argument("socket", type=str, nargs='*', help="socket names to dump. defaults to all services defined in cereal")
+  parser.add_argument("socket", type=str, nargs='*', default=list(SERVICE_LIST.keys()), help="socket names to dump. defaults to all services defined in cereal")
   args = parser.parse_args()
 
-  if args.addr != "127.0.0.1":
-    os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
-
-  poller = messaging.Poller()
-
-  for m in args.socket if len(args.socket) > 0 else SERVICE_LIST:
-    messaging.sub_sock(m, poller, addr=args.addr)
+  lr = raw_live_logreader(args.socket, args.addr)
 
   values = None
   if args.values:
     values = [s.strip().split(".") for s in args.values.split(",")]
 
-  while 1:
-    polld = poller.poll(100)
-    for sock in polld:
-      msg = sock.receive()
-      with log.Event.from_bytes(msg) as log_evt:
-        evt = log_evt
-
+  for msg in lr:
+    with log.Event.from_bytes(msg) as evt:
       if not args.no_print:
         if args.pipe:
-          sys.stdout.write(msg)
+          sys.stdout.write(str(msg))
           sys.stdout.flush()
         elif args.raw:
           hexdump(msg)
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 06be9f031a..da1c4ec37b 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -260,7 +260,7 @@ def main() -> NoReturn:
   set_realtime_priority(1)
 
   pm = messaging.PubMaster(['liveCalibration'])
-  sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
+  sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll='cameraOdometry')
 
   calibrator = Calibrator(param_put=True)
 
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 183a8666e8..d124eb5f05 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -124,7 +124,7 @@ def main():
   REPLAY = bool(int(os.getenv("REPLAY", "0")))
 
   pm = messaging.PubMaster(['liveParameters'])
-  sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
+  sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll='liveLocationKalman')
 
   params_reader = Params()
   # wait for stats about the car to come in from controls
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index f2c0248afa..51418f9c1e 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -218,7 +218,7 @@ def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveTorqueParameters'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll=['liveLocationKalman'])
+  sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
 
   params = Params()
   with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py
index 1b6f8df1ef..047d0ac2d6 100644
--- a/selfdrive/manager/helpers.py
+++ b/selfdrive/manager/helpers.py
@@ -1,9 +1,10 @@
+import errno
+import fcntl
 import os
 import sys
-import fcntl
-import errno
-import signal
+import pathlib
 import shutil
+import signal
 import subprocess
 import tempfile
 import threading
@@ -52,11 +53,13 @@ def write_onroad_params(started, params):
 def save_bootlog():
   # copy current params
   tmp = tempfile.mkdtemp()
-  shutil.copytree(Params().get_param_path() + "/..", tmp, dirs_exist_ok=True)
+  params_dirname = pathlib.Path(Params().get_param_path()).name
+  params_dir = os.path.join(tmp, params_dirname)
+  shutil.copytree(Params().get_param_path(), params_dir, dirs_exist_ok=True)
 
   def fn(tmpdir):
     env = os.environ.copy()
-    env['PARAMS_ROOT'] = tmpdir
+    env['PARAMS_COPY_PATH'] = tmpdir
     subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), env=env)
     shutil.rmtree(tmpdir)
   t = threading.Thread(target=fn, args=(tmp, ))
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 535edf6880..aaa88df6d0 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -125,9 +125,9 @@ def manager_init() -> None:
   params.put("Version", get_version())
   params.put("TermsVersion", terms_version)
   params.put("TrainingVersion", training_version)
-  params.put("GitCommit", get_commit(default=""))
-  params.put("GitBranch", get_short_branch(default=""))
-  params.put("GitRemote", get_origin(default=""))
+  params.put("GitCommit", get_commit())
+  params.put("GitBranch", get_short_branch())
+  params.put("GitRemote", get_origin())
   params.put_bool("IsTestedBranch", is_tested_branch())
   params.put_bool("IsReleaseBranch", is_release_branch())
 
@@ -139,6 +139,9 @@ def manager_init() -> None:
     serial = params.get("HardwareSerial")
     raise Exception(f"Registration failed for device {serial}")
   os.environ['DONGLE_ID'] = dongle_id  # Needed for swaglog
+  os.environ['GIT_ORIGIN'] = get_normalized_origin() # Needed for swaglog
+  os.environ['GIT_BRANCH'] = get_short_branch() # Needed for swaglog
+  os.environ['GIT_COMMIT'] = get_commit() # Needed for swaglog
 
   if not is_dirty():
     os.environ['CLEAN'] = '1'
@@ -184,7 +187,7 @@ def manager_thread() -> None:
     ignore.append("pandad")
   ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
 
-  sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
+  sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
   pm = messaging.PubMaster(['managerState'])
 
   write_onroad_params(False, params)
@@ -193,7 +196,7 @@ def manager_thread() -> None:
   started_prev = False
 
   while True:
-    sm.update()
+    sm.update(1000)
 
     started = sm['deviceState'].started
 
diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py
index fbeb932a86..1ae94b26a1 100755
--- a/selfdrive/manager/test/test_manager.py
+++ b/selfdrive/manager/test/test_manager.py
@@ -5,6 +5,8 @@ import signal
 import time
 import unittest
 
+from parameterized import parameterized
+
 from cereal import car
 from openpilot.common.params import Params
 import openpilot.selfdrive.manager.manager as manager
@@ -38,13 +40,13 @@ class TestManager(unittest.TestCase):
     # TODO: ensure there are blacklisted procs until we have a dedicated test
     self.assertTrue(len(BLACKLIST_PROCS), "No blacklisted procs to test not_run")
 
-  def test_startup_time(self):
-    for _ in range(10):
-      start = time.monotonic()
-      os.environ['PREPAREONLY'] = '1'
-      manager.main()
-      t = time.monotonic() - start
-      assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
+  @parameterized.expand([(i,) for i in range(10)])
+  def test_startup_time(self, index):
+    start = time.monotonic()
+    os.environ['PREPAREONLY'] = '1'
+    manager.main()
+    t = time.monotonic() - start
+    assert t < MAX_STARTUP_TIME, f"startup took {t}s, expected <{MAX_STARTUP_TIME}s"
 
   @unittest.skip("this test is flaky the way it's currently written, should be moved to test_onroad")
   def test_clean_exit(self):
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 6347c8111d..0606dd6979 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -16,7 +16,7 @@ def dmonitoringd_thread():
 
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState', 'driverMonitoringStateSP'])
-  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
+  sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll='driverStateV2')
 
   driver_status = DriverStatus(rhd_saved=params.get_bool("IsRhdDetected"))
   hands_on_wheel_status = HandsOnWheelStatus()
@@ -50,7 +50,7 @@ def dmonitoringd_thread():
     # Get data from dmonitoringmodeld
     events = Events()
 
-    if sm.all_checks():
+    if sm.all_checks() and len(sm['liveCalibration'].rpyCalib):
       driver_status.update_states(sm['driverStateV2'], sm['liveCalibration'].rpyCalib, sm['carState'].vEgo, sm['controlsState'].enabled)
 
     # Block engaging after max number of distrations
diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py
index e2a5944c2b..61be6cc387 100755
--- a/selfdrive/navd/tests/test_navd.py
+++ b/selfdrive/navd/tests/test_navd.py
@@ -4,6 +4,8 @@ import random
 import unittest
 import numpy as np
 
+from parameterized import parameterized
+
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.selfdrive.manager.process_config import managed_processes
@@ -24,7 +26,7 @@ class TestNavd(unittest.TestCase):
     managed_processes['navd'].start()
     for _ in range(30):
       self.sm.update(1000)
-      if all(f > 0 for f in self.sm.rcv_frame.values()):
+      if all(f > 0 for f in self.sm.recv_frame.values()):
         break
     else:
       raise Exception("didn't get a route")
@@ -50,11 +52,11 @@ class TestNavd(unittest.TestCase):
     }
     self._check_route(start, end)
 
-  def test_random(self):
-    for _ in range(10):
-      start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
-      end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
-      self._check_route(start, end, check_coords=False)
+  @parameterized.expand([(i,) for i in range(10)])
+  def test_random(self, index):
+    start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
+    end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
+    self._check_route(start, end, check_coords=False)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py
index 6b14b6bbd6..5b63a9fe2d 100644
--- a/selfdrive/sentry.py
+++ b/selfdrive/sentry.py
@@ -44,7 +44,7 @@ def set_tag(key: str, value: str) -> 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="")
+  comma_remote = is_comma_remote() and "commaai" in get_origin()
   if not comma_remote or not is_registered_device() or PC:
     return False
 
diff --git a/selfdrive/test/docker_common.sh b/selfdrive/test/docker_common.sh
index 92da71ba66..f8a423762d 100644
--- a/selfdrive/test/docker_common.sh
+++ b/selfdrive/test/docker_common.sh
@@ -7,9 +7,6 @@ elif [ "$1" = "sim" ]; then
 elif [ "$1" = "prebuilt" ]; then
   export DOCKER_IMAGE=openpilot-prebuilt
   export DOCKER_FILE=Dockerfile.openpilot
-elif [ "$1" = "cl" ]; then
-  export DOCKER_IMAGE=openpilot-base-cl
-  export DOCKER_FILE=Dockerfile.openpilot_base_cl
 else
   echo "Invalid docker build image: '$1'"
   exit 1
diff --git a/selfdrive/test/loop_until_fail.sh b/selfdrive/test/loop_until_fail.sh
new file mode 100755
index 0000000000..b73009dba6
--- /dev/null
+++ b/selfdrive/test/loop_until_fail.sh
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -e
+
+# Loop something forever until it fails, for verifying new tests
+
+while true; do
+  $@
+done
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index a6b2771668..77ac3f551e 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -762,7 +762,6 @@ def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> Dict[str
   if log_dir is not None:
     environ_dict["LOG_ROOT"] = log_dir
 
-  environ_dict["NO_RADAR_SLEEP"] = "1"
   environ_dict["REPLAY"] = "1"
 
   # Regen or python process
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index bc79d3be9e..49e3461756 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-d9a3a0d4e806b49ec537233d30926bec70308485
\ No newline at end of file
+7d25b1f7d0bd3b506fa4e72ff893728894eb1a45
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 46fa93ba4d..5323a5280f 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -58,7 +58,7 @@ segments = [
   ("VOLKSWAGEN", "regen8BDFE7307A0|2023-10-30--23-19-36--0"),
   ("MAZDA", "regen2E9F1A15FD5|2023-10-30--23-20-36--0"),
   ("FORD", "regen6D39E54606E|2023-10-30--23-20-54--0"),
-  ]
+]
 
 # dashcamOnly makes don't need to be tested until a full port is done
 excluded_interfaces = ["mock", "tesla"]
@@ -107,7 +107,9 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
     if not check_openpilot_enabled(log_msgs):
-      return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
+      # FIXME: these segments should work, but the replay enabling logic is too brittle
+      if segment not in ("regen6CA24BC3035|2023-10-30--23-14-28--0", "regen7D2D3F82D5B|2023-10-30--23-15-55--0"):
+        return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
 
   try:
     return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
@@ -160,7 +162,7 @@ if __name__ == "__main__":
     sys.exit(1)
 
   cur_commit = get_commit()
-  if cur_commit is None:
+  if not cur_commit:
     raise Exception("Couldn't get current commit")
 
   print(f"***** testing against commit {ref_commit} *****")
diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py
index 6d0cc204c5..6571825418 100755
--- a/selfdrive/test/profiling/profiler.py
+++ b/selfdrive/test/profiling/profiler.py
@@ -80,12 +80,10 @@ def profile(proc, func, car='toyota'):
 
 if __name__ == '__main__':
   from openpilot.selfdrive.controls.controlsd import main as controlsd_thread
-  from openpilot.selfdrive.controls.radard import radard_thread
   from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
   from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
 
   procs = {
-    'radard': radard_thread,
     'controlsd': controlsd_thread,
     'paramsd': paramsd_thread,
     'plannerd': plannerd_thread,
diff --git a/selfdrive/test/scons_build_test.sh b/selfdrive/test/scons_build_test.sh
new file mode 100755
index 0000000000..a3b33f797a
--- /dev/null
+++ b/selfdrive/test/scons_build_test.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+
+SCRIPT_DIR=$(dirname "$0")
+BASEDIR=$(realpath "$SCRIPT_DIR/../../")
+cd $BASEDIR
+
+# tests that our build system's dependencies are configured properly, 
+# needs a machine with lots of cores
+scons --clean
+scons --no-cache --random -j$(nproc)
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 335da73232..c9064df870 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -39,7 +39,7 @@ PROCS = {
   "./ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
   "./sensord": 7.0,
-  "selfdrive.controls.radard": 4.5,
+  "selfdrive.controls.radard": 7.0,
   "selfdrive.modeld.modeld": 13.0,
   "selfdrive.modeld.dmonitoringmodeld": 8.0,
   "selfdrive.modeld.navmodeld": 1.0,
@@ -57,7 +57,7 @@ PROCS = {
   "selfdrive.boardd.pandad": 0,
   "selfdrive.statsd": 0.4,
   "selfdrive.navd.navd": 0.4,
-  "system.loggerd.uploader": (0.5, 10.0),
+  "system.loggerd.uploader": (0.5, 15.0),
   "system.loggerd.deleter": 0.1,
 }
 
@@ -112,17 +112,11 @@ class TestOnroad(unittest.TestCase):
 
     # setup env
     params = Params()
-    if "CI" in os.environ:
-      params.clear_all()
     params.remove("CurrentRoute")
     set_params_enabled()
     os.environ['TESTING_CLOSET'] = '1'
     if os.path.exists(Paths.log_root()):
       shutil.rmtree(Paths.log_root())
-    os.system("rm /dev/shm/*")
-
-    # Make sure athena isn't running
-    os.system("pkill -9 -f athena")
 
     # start manager and run openpilot for a minute
     proc = None
@@ -132,7 +126,7 @@ class TestOnroad(unittest.TestCase):
 
       sm = messaging.SubMaster(['carState'])
       with Timeout(150, "controls didn't start"):
-        while sm.rcv_frame['carState'] < 0:
+        while sm.recv_frame['carState'] < 0:
           sm.update(1000)
 
       # make sure we get at least two full segments
@@ -429,4 +423,4 @@ class TestOnroad(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  unittest.main()
+  pytest.main()
diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py
index aec49cb13a..9288188a77 100755
--- a/selfdrive/test/test_time_to_onroad.py
+++ b/selfdrive/test/test_time_to_onroad.py
@@ -29,12 +29,15 @@ def test_time_to_onroad():
         time.sleep(1)
 
     # wait for engageability
-    with Timeout(10, "timed out waiting for engageable"):
-      while True:
-        sm.update(1000)
-        if sm['controlsState'].engageable:
-          break
-        time.sleep(1)
+    try:
+      with Timeout(10, "timed out waiting for engageable"):
+        while True:
+          sm.update(1000)
+          if sm['controlsState'].engageable:
+            break
+          time.sleep(1)
+    finally:
+      print(f"onroad events: {sm['onroadEvents']}")
     print(f"engageable after {time.monotonic() - start_time:.2f}s")
 
     # once we're enageable, must be for the next few seconds
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index ab30b1579f..bfca2ccabb 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -166,7 +166,7 @@ def hw_state_thread(end_event, hw_queue):
 
 def thermald_thread(end_event, hw_queue) -> None:
   pm = messaging.PubMaster(['deviceState'])
-  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll=["pandaStates"])
+  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates")
 
   count = 0
 
@@ -233,7 +233,7 @@ def thermald_thread(end_event, hw_queue) -> None:
         if TICI:
           fan_controller = TiciFanController()
 
-    elif (time.monotonic() - sm.rcv_time['pandaStates']) > DISCONNECT_TIMEOUT:
+    elif (time.monotonic() - sm.recv_time['pandaStates']) > DISCONNECT_TIMEOUT:
       if onroad_conditions["ignition"]:
         onroad_conditions["ignition"] = False
         cloudlog.error("panda timed out onroad")
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
index 5a81e93b28..ba3582d130 100755
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -124,7 +124,7 @@ def report_tombstone_apport(fn):
   clean_path = path.replace('/', '_')
   date = datetime.datetime.now().strftime("%Y-%m-%d--%H-%M-%S")
 
-  new_fn = f"{date}_{get_commit(default='nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
+  new_fn = f"{date}_{(get_commit() or 'nocommit')[:8]}_{safe_fn(clean_path)}"[:MAX_TOMBSTONE_FN_LEN]
 
   crashlog_dir = os.path.join(Paths.log_root(), "crash")
   os.makedirs(crashlog_dir, exist_ok=True)
diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore
index 99f9097905..104357f396 100644
--- a/selfdrive/ui/.gitignore
+++ b/selfdrive/ui/.gitignore
@@ -4,6 +4,7 @@ moc_*
 translations/main_test_en.*
 
 ui
+mui
 watch3
 installer/installers/*
 qt/text
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 4c866332f9..92b43a82b0 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -92,6 +92,9 @@ if GetOption('extras') and arch != "Darwin":
   # build updater UI
   qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
 
+  # build mui
+  qt_env.Program("mui", ["mui.cc"], LIBS=qt_libs)
+
   # build installers
   senv = qt_env.Clone()
   senv['LINKFLAGS'].append('-Wl,-strip-debug')
diff --git a/selfdrive/ui/mui.cc b/selfdrive/ui/mui.cc
new file mode 100644
index 0000000000..98029ee311
--- /dev/null
+++ b/selfdrive/ui/mui.cc
@@ -0,0 +1,50 @@
+#include <QApplication>
+#include <QtWidgets>
+#include <QTimer>
+
+#include "cereal/messaging/messaging.h"
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/qt_window.h"
+
+int main(int argc, char *argv[]) {
+  QApplication a(argc, argv);
+  QWidget w;
+  setMainWindow(&w);
+
+  w.setStyleSheet("background-color: black;");
+
+  // our beautiful UI
+  QVBoxLayout *layout = new QVBoxLayout(&w);
+  QLabel *label = new QLabel("〇");
+  layout->addWidget(label, 0, Qt::AlignCenter);
+
+  QTimer timer;
+  QObject::connect(&timer, &QTimer::timeout, [=]() {
+    static SubMaster sm({"deviceState", "controlsState"});
+
+    bool onroad_prev = sm.allAliveAndValid({"deviceState"}) &&
+                       sm["deviceState"].getDeviceState().getStarted();
+    sm.update(0);
+
+    bool onroad = sm.allAliveAndValid({"deviceState"}) &&
+                  sm["deviceState"].getDeviceState().getStarted();
+
+    if (onroad) {
+      label->setText("〇");
+      auto cs = sm["controlsState"].getControlsState();
+      UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
+      label->setStyleSheet(QString("color: %1; font-size: 250px;").arg(bg_colors[status].name()));
+    } else {
+      label->setText("offroad");
+      label->setStyleSheet("color: grey; font-size: 40px;");
+    }
+
+    if ((onroad != onroad_prev) || sm.frame < 2) {
+      Hardware::set_brightness(50);
+      Hardware::set_display_power(onroad);
+    }
+  });
+  timer.start(50);
+
+  return a.exec();
+}
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index d4fcee55ce..b1219055fd 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -199,7 +199,7 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
   TermsPage* terms = new TermsPage(this);
   addWidget(terms);
   connect(terms, &TermsPage::acceptedTerms, [=]() {
-    Params().put("HasAcceptedTerms", current_terms_version);
+    params.put("HasAcceptedTerms", current_terms_version);
     accepted_terms = true;
     updateActiveScreen();
   });
@@ -209,7 +209,7 @@ OnboardingWindow::OnboardingWindow(QWidget *parent) : QStackedWidget(parent) {
   addWidget(tr);
   connect(tr, &TrainingGuide::completedTraining, [=]() {
     training_done = true;
-    Params().put("CompletedTrainingVersion", current_training_version);
+    params.put("CompletedTrainingVersion", current_training_version);
     updateActiveScreen();
   });
 
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 4dcead0272..c1351a5fe8 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -290,7 +290,7 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   const auto nav_instruction = sm["navInstruction"].getNavInstruction();
 
   // Handle older routes where vCruiseCluster is not set
-  float v_cruise =  cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
+  float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
   setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
   is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
   if (is_cruise_set && !s.scene.is_metric) {
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 01148ec199..11caf809d1 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -42,7 +42,7 @@ sound_list: Dict[int, Tuple[str, Optional[int], float]] = {
 }
 
 def check_controls_timeout_alert(sm):
-  controls_missing = time.monotonic() - sm.rcv_time['controlsState']
+  controls_missing = time.monotonic() - sm.recv_time['controlsState']
 
   if controls_missing > CONTROLS_TIMEOUT:
     if sm['controlsState'].enabled and (controls_missing - CONTROLS_TIMEOUT) < 10:
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index 4ac21eb292..b410555f4a 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -413,96 +413,96 @@ def main() -> None:
     cloudlog.warning("updates are disabled by the DisableUpdates param")
     exit(0)
 
-  ov_lock_fd = open(LOCK_FILE, 'w')
-  try:
-    fcntl.flock(ov_lock_fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
-  except OSError as e:
-    raise RuntimeError("couldn't get overlay lock; is another instance running?") from e
-
-  # Set low io priority
-  proc = psutil.Process()
-  if psutil.LINUX:
-    proc.ionice(psutil.IOPRIO_CLASS_BE, value=7)
-
-  # Check if we just performed an update
-  if Path(os.path.join(STAGING_ROOT, "old_openpilot")).is_dir():
-    cloudlog.event("update installed")
-
-  if not params.get("InstallDate"):
-    t = datetime.datetime.utcnow().isoformat()
-    params.put("InstallDate", t.encode('utf8'))
-
-  updater = Updater()
-  update_failed_count = 0 # TODO: Load from param?
-  wait_helper = WaitTimeHelper()
-
-  # invalidate old finalized update
-  set_consistent_flag(False)
-
-  # set initial state
-  params.put("UpdaterState", "idle")
-
-  # Run the update loop
-  first_run = True
-  while True:
-    wait_helper.ready_event.clear()
-
-    # Attempt an update
-    exception = None
+  with open(LOCK_FILE, 'w') as ov_lock_fd:
     try:
-      # TODO: reuse overlay from previous updated instance if it looks clean
-      init_overlay()
+      fcntl.flock(ov_lock_fd, fcntl.LOCK_EX | fcntl.LOCK_NB)
+    except OSError as e:
+      raise RuntimeError("couldn't get overlay lock; is another instance running?") from e
 
-      # ensure we have some params written soon after startup
-      updater.set_params(False, update_failed_count, exception)
+    # Set low io priority
+    proc = psutil.Process()
+    if psutil.LINUX:
+      proc.ionice(psutil.IOPRIO_CLASS_BE, value=7)
 
-      if not system_time_valid() or first_run:
-        first_run = False
-        wait_helper.sleep(60)
-        continue
+    # Check if we just performed an update
+    if Path(os.path.join(STAGING_ROOT, "old_openpilot")).is_dir():
+      cloudlog.event("update installed")
 
-      update_failed_count += 1
+    if not params.get("InstallDate"):
+      t = datetime.datetime.utcnow().isoformat()
+      params.put("InstallDate", t.encode('utf8'))
 
-      # check for update
-      params.put("UpdaterState", "checking...")
-      updater.check_for_update()
+    updater = Updater()
+    update_failed_count = 0 # TODO: Load from param?
+    wait_helper = WaitTimeHelper()
 
-      # download update
-      last_fetch = read_time_from_param(params, "UpdaterLastFetchTime")
-      timed_out = last_fetch is None or (datetime.datetime.utcnow() - last_fetch > datetime.timedelta(days=3))
-      user_requested_fetch = wait_helper.user_request == UserRequest.FETCH
-      if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch:
-        cloudlog.info("skipping fetch, connection metered")
-      elif wait_helper.user_request == UserRequest.CHECK:
-        cloudlog.info("skipping fetch, only checking")
-      else:
-        updater.fetch_update()
-        write_time_to_param(params, "UpdaterLastFetchTime")
-      update_failed_count = 0
-    except subprocess.CalledProcessError as e:
-      cloudlog.event(
-        "update process failed",
-        cmd=e.cmd,
-        output=e.output,
-        returncode=e.returncode
-      )
-      exception = f"command failed: {e.cmd}\n{e.output}"
-      OVERLAY_INIT.unlink(missing_ok=True)
-    except Exception as e:
-      cloudlog.exception("uncaught updated exception, shouldn't happen")
-      exception = str(e)
-      OVERLAY_INIT.unlink(missing_ok=True)
+    # invalidate old finalized update
+    set_consistent_flag(False)
 
-    try:
-      params.put("UpdaterState", "idle")
-      update_successful = (update_failed_count == 0)
-      updater.set_params(update_successful, update_failed_count, exception)
-    except Exception:
-      cloudlog.exception("uncaught updated exception while setting params, shouldn't happen")
+    # set initial state
+    params.put("UpdaterState", "idle")
 
-    # infrequent attempts if we successfully updated recently
-    wait_helper.user_request = UserRequest.NONE
-    wait_helper.sleep(5*60 if update_failed_count > 0 else 1.5*60*60)
+    # Run the update loop
+    first_run = True
+    while True:
+      wait_helper.ready_event.clear()
+
+      # Attempt an update
+      exception = None
+      try:
+        # TODO: reuse overlay from previous updated instance if it looks clean
+        init_overlay()
+
+        # ensure we have some params written soon after startup
+        updater.set_params(False, update_failed_count, exception)
+
+        if not system_time_valid() or first_run:
+          first_run = False
+          wait_helper.sleep(60)
+          continue
+
+        update_failed_count += 1
+
+        # check for update
+        params.put("UpdaterState", "checking...")
+        updater.check_for_update()
+
+        # download update
+        last_fetch = read_time_from_param(params, "UpdaterLastFetchTime")
+        timed_out = last_fetch is None or (datetime.datetime.utcnow() - last_fetch > datetime.timedelta(days=3))
+        user_requested_fetch = wait_helper.user_request == UserRequest.FETCH
+        if params.get_bool("NetworkMetered") and not timed_out and not user_requested_fetch:
+          cloudlog.info("skipping fetch, connection metered")
+        elif wait_helper.user_request == UserRequest.CHECK:
+          cloudlog.info("skipping fetch, only checking")
+        else:
+          updater.fetch_update()
+          write_time_to_param(params, "UpdaterLastFetchTime")
+        update_failed_count = 0
+      except subprocess.CalledProcessError as e:
+        cloudlog.event(
+          "update process failed",
+          cmd=e.cmd,
+          output=e.output,
+          returncode=e.returncode
+        )
+        exception = f"command failed: {e.cmd}\n{e.output}"
+        OVERLAY_INIT.unlink(missing_ok=True)
+      except Exception as e:
+        cloudlog.exception("uncaught updated exception, shouldn't happen")
+        exception = str(e)
+        OVERLAY_INIT.unlink(missing_ok=True)
+
+      try:
+        params.put("UpdaterState", "idle")
+        update_successful = (update_failed_count == 0)
+        updater.set_params(update_successful, update_failed_count, exception)
+      except Exception:
+        cloudlog.exception("uncaught updated exception while setting params, shouldn't happen")
+
+      # infrequent attempts if we successfully updated recently
+      wait_helper.user_request = UserRequest.NONE
+      wait_helper.sleep(5*60 if update_failed_count > 0 else 1.5*60*60)
 
 
 if __name__ == "__main__":
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index e17203a7dd..3191b821ac 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -606,6 +606,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   LOGD("start csiphy: %d", ret);
   ret = device_control(multi_cam_state->isp_fd, CAM_START_DEV, session_handle, isp_dev_handle);
   LOGD("start isp: %d", ret);
+  assert(ret == 0);
 
   // TODO: this is unneeded, should we be doing the start i2c in a different way?
   //ret = device_control(sensor_fd, CAM_START_DEV, session_handle, sensor_dev_handle);
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index a87f3d278d..b4408d2140 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,9 +1,9 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f.img.xz",
-    "hash": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f",
-    "hash_raw": "1cc21f31a7c09772fd759e6f2a614974bf4f2fc320c91a799ffadd11abc1f85f",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe.img.xz",
+    "hash": "f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe",
+    "hash_raw": "f0de74e139b8b99224738d4e72a5b1831758f20b09ff6bb28f3aaaae1c4c1ebe",
     "size": 15636480,
     "sparse": false,
     "full_check": true,
@@ -61,17 +61,17 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz",
-    "hash": "5dc1718e21c49e4fa910fbb3b2321381f497b38335a0cf3ca923157d589abe89",
-    "hash_raw": "38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db.img.xz",
+    "hash": "10ac02f18c5f1cde5a888a3411d3701b929c3488753467e77aad6085db058eb9",
+    "hash_raw": "3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
     "alt": {
-      "hash": "1809e36d8e376e0a0c8348e3f684aba4100fe0382042c051efd0e946af1ce696",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-38402b90b65729f8a4feb729c8a862cdf306659a85f27431d3ff7e52d4027082.img.xz",
-      "size": 4077270244
+      "hash": "a7db41b93b587f8f9c3f83a3313f186445c4bdf07283cd6a5421dfbc0286c9db",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-3bfb0f3a6bf677bdc8a6227f49ce3258025e1886dc81533e3fbacb356b5601db.img.xz",
+      "size": 4548131508
     }
   }
 ]
\ No newline at end of file
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index f6ea86b002..e553a665a8 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -72,6 +72,7 @@ public:
     std::map<std::string, std::string> ret = {
       {"/BUILD", util::read_file("/BUILD")},
       {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")},
+      {"SOM ID", util::read_file("/sys/devices/platform/vendor/vendor:gpio-som-id/som_id")},
     };
 
     std::string bs = util::check_output("abctl --boot_slot");
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 3431718e22..f606422028 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -457,24 +457,37 @@ class Tici(HardwareBase):
   def configure_modem(self):
     sim_id = self.get_sim_info().get('sim_id', '')
 
-    # configure modem as data-centric
-    cmds = [
-      'AT+QNVW=5280,0,"0102000000000000"',
-      'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
-      'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
-    ]
     modem = self.get_modem()
+    try:
+      manufacturer = str(modem.Get(MM_MODEM, 'Manufacturer', dbus_interface=DBUS_PROPS, timeout=TIMEOUT))
+    except Exception:
+      manufacturer = None
+
+    cmds = []
+    if manufacturer == 'Cavli Inc.':
+      cmds += [
+        # use sim slot
+        'AT^SIMSWAP=1',
+
+        # configure ECM mode
+        'AT$QCPCFG=usbNet,1'
+      ]
+    else:
+      cmds += [
+        # configure modem as data-centric
+        'AT+QNVW=5280,0,"0102000000000000"',
+        'AT+QNVFW="/nv/item_files/ims/IMS_enable",00',
+        'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01',
+      ]
+
+      # clear out old blue prime initial APN
+      os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="')
     for cmd in cmds:
       try:
         modem.Command(cmd, math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
       except Exception:
         pass
 
-    # blue prime
-    blue_prime = sim_id.startswith('8901410')
-    initial_apn = "Broadband" if blue_prime else ""
-    os.system(f'mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn={initial_apn}"')
-
     # eSIM prime
     if sim_id.startswith('8985235'):
       dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py
index 4abc86107b..0c436595ee 100755
--- a/system/hardware/tici/tests/test_hardware.py
+++ b/system/hardware/tici/tests/test_hardware.py
@@ -12,11 +12,6 @@ HARDWARE = Tici()
 @pytest.mark.tici
 class TestHardware(unittest.TestCase):
 
-  @classmethod
-  def setUpClass(cls):
-    HARDWARE.initialize_hardware()
-    HARDWARE.set_power_save(False)
-
   def test_power_save_time(self):
     ts = []
     for _ in range(5):
@@ -30,4 +25,4 @@ class TestHardware(unittest.TestCase):
 
 
 if __name__ == "__main__":
-  unittest.main()
+  pytest.main()
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 0518eec543..f6c0cf21a4 100755
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+from collections import defaultdict, deque
+import sys
 import pytest
 import unittest
 import time
@@ -11,29 +13,32 @@ import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.common.mock import mock_messages
 from openpilot.selfdrive.car.car_helpers import write_car_param
-from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.tici.power_monitor import get_power
 from openpilot.selfdrive.manager.process_config import managed_processes
 from openpilot.selfdrive.manager.manager import manager_cleanup
 
-SAMPLE_TIME = 8   # seconds to sample power
+SAMPLE_TIME = 8       # seconds to sample power
+MAX_WARMUP_TIME = 30  # seconds to wait for SAMPLE_TIME consecutive valid samples
 
 @dataclass
 class Proc:
-  name: str
+  procs: List[str]
   power: float
   msgs: List[str]
   rtol: float = 0.05
   atol: float = 0.12
-  warmup: float = 6.
+
+  @property
+  def name(self):
+    return '+'.join(self.procs)
+
 
 PROCS = [
-  Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
-  Proc('modeld', 1.12, atol=0.2, msgs=['modelV2']),
-  Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']),
-  Proc('encoderd', 0.23, msgs=[]),
-  Proc('mapsd', 0.05, msgs=['mapRenderState']),
-  Proc('navmodeld', 0.05, msgs=['navModel']),
+  Proc(['camerad'], 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
+  Proc(['dmonitoringmodeld'], 0.4, msgs=['driverStateV2']),
+  Proc(['encoderd'], 0.23, msgs=[]),
+  Proc(['mapsd', 'navmodeld'], 0.05, msgs=['mapRenderState', 'navModel']),
 ]
 
 
@@ -41,8 +46,6 @@ PROCS = [
 class TestPowerDraw(unittest.TestCase):
 
   def setUp(self):
-    HARDWARE.initialize_hardware()
-    HARDWARE.set_power_save(False)
     write_car_param()
 
     # wait a bit for power save to disable
@@ -51,41 +54,83 @@ class TestPowerDraw(unittest.TestCase):
   def tearDown(self):
     manager_cleanup()
 
+  def get_expected_messages(self, proc):
+    return int(sum(SAMPLE_TIME * SERVICE_LIST[msg].frequency for msg in proc.msgs))
+
+  def valid_msg_count(self, proc, msg_counts):
+    msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
+    msgs_expected = self.get_expected_messages(proc)
+    return np.core.numeric.isclose(msgs_expected, msgs_received, rtol=.02, atol=2)
+
+  def valid_power_draw(self, proc, used):
+    return np.core.numeric.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol)
+
+  def tabulate_msg_counts(self, msgs_and_power):
+    msg_counts = defaultdict(lambda: 0)
+    for _, counts in msgs_and_power:
+      for msg, count in counts.items():
+        msg_counts[msg] += count
+    return msg_counts
+
+  def get_power_with_warmup_for_target(self, proc, prev):
+    socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
+    for sock in socks.values():
+      messaging.drain_sock_raw(sock)
+
+    msgs_and_power = deque([], maxlen=SAMPLE_TIME)
+
+    start_time = time.monotonic()
+
+    while (time.monotonic() - start_time) < MAX_WARMUP_TIME:
+      power = get_power(1)
+      iteration_msg_counts = {}
+      for msg,sock in socks.items():
+        iteration_msg_counts[msg] = len(messaging.drain_sock_raw(sock))
+      msgs_and_power.append((power, iteration_msg_counts))
+
+      if len(msgs_and_power) < SAMPLE_TIME:
+        continue
+
+      msg_counts = self.tabulate_msg_counts(msgs_and_power)
+      now = np.mean([m[0] for m in msgs_and_power])
+
+      if self.valid_msg_count(proc, msg_counts) and self.valid_power_draw(proc, now - prev):
+        break
+
+    return now, msg_counts, time.monotonic() - start_time - SAMPLE_TIME
+
   @mock_messages(['liveLocationKalman'])
   def test_camera_procs(self):
     baseline = get_power()
 
     prev = baseline
     used = {}
+    warmup_time = {}
     msg_counts = {}
-    for proc in PROCS:
-      socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
-      managed_processes[proc.name].start()
-      time.sleep(proc.warmup)
-      for sock in socks.values():
-        messaging.drain_sock_raw(sock)
 
-      now = get_power(SAMPLE_TIME)
+    for proc in PROCS:
+      for p in proc.procs:
+        managed_processes[p].start()
+      now, local_msg_counts, warmup_time[proc.name] = self.get_power_with_warmup_for_target(proc, prev)
+      msg_counts.update(local_msg_counts)
+
       used[proc.name] = now - prev
       prev = now
-      for msg,sock in socks.items():
-        msg_counts[msg] = len(messaging.drain_sock_raw(sock))
 
     manager_cleanup()
 
-    tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received']]
+    tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received', "warmup time (s)"]]
     for proc in PROCS:
       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))
-      tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
+      tab.append([proc.name, round(expected, 2), round(cur, 2), self.get_expected_messages(proc), msgs_received, round(warmup_time[proc.name], 2)])
       with self.subTest(proc=proc.name):
-        np.testing.assert_allclose(msgs_expected, msgs_received, rtol=.02, atol=2)
-        np.testing.assert_allclose(cur, expected, rtol=proc.rtol, atol=proc.atol)
+        self.assertTrue(self.valid_msg_count(proc, msg_counts), f"expected {self.get_expected_messages(proc)} msgs, got {msgs_received} msgs")
+        self.assertTrue(self.valid_power_draw(proc, cur), f"expected {expected:.2f}W, got {cur:.2f}W")
     print(tabulate(tab))
     print(f"Baseline {baseline:.2f}W\n")
 
 
 if __name__ == "__main__":
-  unittest.main()
+  pytest.main(sys.argv)
diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc
index 0aba4b8b49..c4bd91bcf7 100644
--- a/system/loggerd/encoder/encoder.cc
+++ b/system/loggerd/encoder/encoder.cc
@@ -2,6 +2,10 @@
 
 VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
     : encoder_info(encoder_info), in_width(in_width), in_height(in_height) {
+
+  out_width = encoder_info.frame_width > 0 ? encoder_info.frame_width : in_width;
+  out_height = encoder_info.frame_height > 0 ? encoder_info.frame_height : in_height;
+
   pm.reset(new PubMaster({encoder_info.publish_name}));
 }
 
@@ -25,6 +29,8 @@ void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t
   edata.setFlags(flags);
   edata.setLen(dat.size());
   edat.setData(dat);
+  edat.setWidth(out_width);
+  edat.setHeight(out_height);
   if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
 
   uint32_t bytes_size = capnp::computeSerializedSizeInWords(msg) * sizeof(capnp::word);
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
index 9c23928cc6..7c203f9193 100644
--- a/system/loggerd/encoder/encoder.h
+++ b/system/loggerd/encoder/encoder.h
@@ -22,10 +22,11 @@ public:
   virtual void encoder_open(const char* path) = 0;
   virtual void encoder_close() = 0;
 
-  static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
+  void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
 
 protected:
   int in_width, in_height;
+  int out_width, out_height;
   const EncoderInfo encoder_info;
 
 private:
diff --git a/system/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
index f44f2fbed7..9d992f088d 100644
--- a/system/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -29,16 +29,16 @@ FfmpegEncoder::FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int
   frame = av_frame_alloc();
   assert(frame);
   frame->format = AV_PIX_FMT_YUV420P;
-  frame->width = encoder_info.frame_width;
-  frame->height = encoder_info.frame_height;
-  frame->linesize[0] = encoder_info.frame_width;
-  frame->linesize[1] = encoder_info.frame_width/2;
-  frame->linesize[2] = encoder_info.frame_width/2;
+  frame->width = out_width;
+  frame->height = out_height;
+  frame->linesize[0] = out_width;
+  frame->linesize[1] = out_width/2;
+  frame->linesize[2] = out_width/2;
 
   convert_buf.resize(in_width * in_height * 3 / 2);
 
-  if (in_width != encoder_info.frame_width || in_height != encoder_info.frame_height) {
-    downscale_buf.resize(encoder_info.frame_width * encoder_info.frame_height * 3 / 2);
+  if (in_width != out_width || in_height != out_height) {
+    downscale_buf.resize(out_width * out_height * 3 / 2);
   }
 }
 
diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
index 571f5979e2..2bd2863126 100644
--- a/system/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -164,8 +164,8 @@ V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_hei
     .fmt = {
       .pix_mp = {
         // downscales are free with v4l
-        .width = (unsigned int)encoder_info.frame_width,
-        .height = (unsigned int)encoder_info.frame_height,
+        .width = (unsigned int)(out_width),
+        .height = (unsigned int)(out_height),
         .pixelformat = (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
         .field = V4L2_FIELD_ANY,
         .colorspace = V4L2_COLORSPACE_DEFAULT,
diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc
index bb829df6ed..2fc6492ad4 100644
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -40,7 +40,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   init.setOsVersion(util::read_file("/VERSION"));
 
   // log params
-  auto params = Params();
+  auto params = Params(util::getenv("PARAMS_COPY_PATH", ""));
   std::map<std::string, std::string> params_map = params.readAll();
 
   init.setGitCommit(params_map["GitCommit"]);
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index 27dfa187c4..3c0ffc1667 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -116,7 +116,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
           assert(encoder_info.filename != NULL);
           re.writer.reset(new VideoWriter(s->logger.segmentPath().c_str(),
             encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
-            encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType()));
+            edata.getWidth(), edata.getHeight(), encoder_info.fps, idx.getType()));
           // write the header
           auto header = edata.getHeader();
           re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index cfc06c28d3..ea288f4861 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -35,8 +35,8 @@ public:
   const char *publish_name;
   const char *filename = NULL;
   bool record = true;
-  int frame_width = 1928;
-  int frame_height = 1208;
+  int frame_width = -1;
+  int frame_height = -1;
   int fps = MAIN_FPS;
   int bitrate = MAIN_BITRATE;
   cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS
diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc
index 36d9b4a13e..9cbc24864d 100644
--- a/system/sensord/sensors_qcom2.cc
+++ b/system/sensord/sensors_qcom2.cc
@@ -134,7 +134,13 @@ int sensor_loop(I2CBus *i2c_bus_imu) {
   // increase interrupt quality by pinning interrupt and process to core 1
   setpriority(PRIO_PROCESS, 0, -18);
   util::set_core_affinity({1});
-  std::system("sudo su -c 'echo 1 > /proc/irq/336/smp_affinity_list'");
+
+  // TODO: get the IRQ number from gpiochip
+  std::string irq_path = "/proc/irq/336/smp_affinity_list";
+  if (!util::file_exists(irq_path)) {
+    irq_path = "/proc/irq/335/smp_affinity_list";
+  }
+  std::system(util::string_format("sudo su -c 'echo 1 > %s'", irq_path.c_str()).c_str());
 
   // thread for reading events via interrupts
   threads.emplace_back(&interrupt_loop, std::ref(sensors_init));
diff --git a/system/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py
index f2ab43bbb7..742e20bb90 100755
--- a/system/sensord/tests/test_pigeond.py
+++ b/system/sensord/tests/test_pigeond.py
@@ -40,7 +40,7 @@ class TestPigeond(unittest.TestCase):
         sm.update(1 * 1000)
         if sm.updated['ubloxRaw']:
           break
-      assert sm.rcv_frame['ubloxRaw'] > 0, "pigeond didn't start outputting messages in time"
+      assert sm.recv_frame['ubloxRaw'] > 0, "pigeond didn't start outputting messages in time"
 
       et = time.monotonic() - start_time
       assert et < 5, f"pigeond took {et:.1f}s to start"
diff --git a/system/timed.py b/system/timed.py
index 21fb47b680..39acb2ba12 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -65,10 +65,15 @@ def main() -> NoReturn:
     cloudlog.debug("Restoring timezone from param")
     set_timezone(tz)
 
+  pm = messaging.PubMaster(['clocks'])
   sm = messaging.SubMaster(['liveLocationKalman'])
   while True:
     sm.update(1000)
 
+    msg = messaging.new_message('clocks', valid=True)
+    msg.clocks.wallTimeNanos = time.time_ns()
+    pm.send('clocks', msg)
+
     llk = sm['liveLocationKalman']
     if not llk.gpsOK or (time.monotonic() - sm.logMonoTime['liveLocationKalman']/1e9) > 0.2:
       continue
diff --git a/system/version.py b/system/version.py
index 6bcae5f3fa..980a4fcc7c 100755
--- a/system/version.py
+++ b/system/version.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 import subprocess
-from typing import List, Optional
+from typing import List, Optional, Callable, TypeVar
 from functools import lru_cache
 
 from openpilot.common.basedir import BASEDIR
@@ -13,8 +13,8 @@ TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging']
 training_version: bytes = b"0.2.0"
 terms_version: bytes = b"2"
 
-
-def cache(user_function, /):
+_RT = TypeVar("_RT")
+def cache(user_function: Callable[..., _RT], /) -> Callable[..., _RT]:
   return lru_cache(maxsize=None)(user_function)
 
 
@@ -30,41 +30,37 @@ def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[s
 
 
 @cache
-def get_commit(branch: str = "HEAD", default: Optional[str] = None) -> Optional[str]:
-  return run_cmd_default(["git", "rev-parse", branch], default=default)
+def get_commit(branch: str = "HEAD") -> str:
+  return run_cmd_default(["git", "rev-parse", branch]) or ""
 
 
 @cache
-def get_short_branch(default: Optional[str] = None) -> Optional[str]:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], default=default)
+def get_short_branch() -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"]) or ""
 
 
 @cache
-def get_branch(default: Optional[str] = None) -> Optional[str]:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], default=default)
+def get_branch() -> str:
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"]) or ""
 
 
 @cache
-def get_origin(default: Optional[str] = None) -> Optional[str]:
+def get_origin() -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"])
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"])
     return run_cmd(["git", "config", "remote." + tracking_remote + ".url"])
   except subprocess.CalledProcessError:  # Not on a branch, fallback
-    return run_cmd_default(["git", "config", "--get", "remote.origin.url"], default=default)
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"]) or ""
 
 
 @cache
-def get_normalized_origin(default: Optional[str] = None) -> Optional[str]:
-  origin: Optional[str] = get_origin()
-
-  if origin is None:
-    return default
-
-  return origin.replace("git@", "", 1) \
-               .replace(".git", "", 1) \
-               .replace("https://", "", 1) \
-               .replace(":", "/", 1)
+def get_normalized_origin() -> str:
+  return get_origin() \
+    .replace("git@", "", 1) \
+    .replace(".git", "", 1) \
+    .replace("https://", "", 1) \
+    .replace(":", "/", 1)
 
 
 @cache
@@ -75,7 +71,7 @@ def get_version() -> str:
 
 @cache
 def get_short_version() -> str:
-  return get_version().split('-')[0]  # type: ignore
+  return get_version().split('-')[0]
 
 @cache
 def is_prebuilt() -> bool:
@@ -86,12 +82,7 @@ def is_prebuilt() -> bool:
 def is_comma_remote() -> bool:
   # note to fork maintainers, this is used for release metrics. please do not
   # touch this to get rid of the orange startup alert. there's better ways to do that
-  origin: Optional[str] = get_origin()
-  if origin is None:
-    return False
-
-  return origin.startswith(('git@github.com:commaai', 'https://github.com/commaai'))
-
+  return get_normalized_origin() == "github.com/commaai/openpilot"
 
 @cache
 def is_tested_branch() -> bool:
@@ -105,7 +96,7 @@ def is_release_branch() -> bool:
 def is_dirty() -> bool:
   origin = get_origin()
   branch = get_branch()
-  if (origin is None) or (branch is None):
+  if not origin or not branch:
     return True
 
   dirty = False
diff --git a/system/webrtc/device/video.py b/system/webrtc/device/video.py
index 1ecb6dbd74..314f812834 100644
--- a/system/webrtc/device/video.py
+++ b/system/webrtc/device/video.py
@@ -5,7 +5,6 @@ import av
 from teleoprtc.tracks import TiciVideoStreamTrack
 
 from cereal import messaging
-from openpilot.tools.lib.framereader import FrameReader
 from openpilot.common.realtime import DT_MDL, DT_DMON
 
 
@@ -43,27 +42,3 @@ class LiveStreamVideoStreamTrack(TiciVideoStreamTrack):
 
   def codec_preference(self) -> Optional[str]:
     return "H264"
-
-
-class FrameReaderVideoStreamTrack(TiciVideoStreamTrack):
-  def __init__(self, input_file: str, dt: float = DT_MDL, camera_type: str = "driver"):
-    super().__init__(camera_type, dt)
-
-    frame_reader = FrameReader(input_file)
-    self._frames = [frame_reader.get(i, pix_fmt="rgb24") for i in range(frame_reader.frame_count)]
-    self._frame_count = len(self.frames)
-    self._frame_index = 0
-    self._pts = 0
-
-  async def recv(self):
-    self.log_debug("track sending frame %s", self._pts)
-    img = self._frames[self._frame_index]
-
-    new_frame = av.VideoFrame.from_ndarray(img, format="rgb24")
-    new_frame.pts = self._pts
-    new_frame.time_base = self._time_base
-
-    self._frame_index = (self._frame_index + 1) % self._frame_count
-    self._pts = await self.next_pts(self._pts)
-
-    return new_frame
diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py
index b48bf6bc19..e92958cc92 100755
--- a/system/webrtc/tests/test_webrtcd.py
+++ b/system/webrtc/tests/test_webrtcd.py
@@ -24,7 +24,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase):
   async def test_webrtcd(self):
     mock_request = MagicMock()
     async def connect(offer):
-      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': []}
+      body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': ['carState']}
       mock_request.json.side_effect = AsyncMock(return_value=body)
       response = await get_stream(mock_request)
       response_json = json.loads(response.text)
diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py
index 12f9328532..cc26d50daf 100755
--- a/system/webrtc/webrtcd.py
+++ b/system/webrtc/webrtcd.py
@@ -6,34 +6,27 @@ import json
 import uuid
 import logging
 from dataclasses import dataclass, field
-from typing import Any, List, Optional, Union
+from typing import Any, List, Optional, Union, TYPE_CHECKING
 
 # aiortc and its dependencies have lots of internal warnings :(
 import warnings
 warnings.filterwarnings("ignore", category=DeprecationWarning)
 
-import aiortc
-from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack
-from aiortc.contrib.media import MediaBlackhole
-from aiortc.exceptions import InvalidStateError
-from aiohttp import web
 import capnp
-from teleoprtc import WebRTCAnswerBuilder
-from teleoprtc.info import parse_info_from_offer
+from aiohttp import web
+if TYPE_CHECKING:
+  from aiortc.rtcdatachannel import RTCDataChannel
 
-from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
-from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker
 from openpilot.system.webrtc.schema import generate_field
-
 from cereal import messaging, log
 
 
 class CerealOutgoingMessageProxy:
   def __init__(self, sm: messaging.SubMaster):
     self.sm = sm
-    self.channels: List[aiortc.RTCDataChannel] = []
+    self.channels: List['RTCDataChannel'] = []
 
-  def add_channel(self, channel: aiortc.RTCDataChannel):
+  def add_channel(self, channel: 'RTCDataChannel'):
     self.channels.append(channel)
 
   def to_json(self, msg_content: Any):
@@ -96,6 +89,8 @@ class CerealProxyRunner:
     self.task = None
 
   async def run(self):
+    from aiortc.exceptions import InvalidStateError
+
     while True:
       try:
         self.proxy.update()
@@ -109,6 +104,13 @@ class CerealProxyRunner:
 
 class StreamSession:
   def __init__(self, sdp: str, cameras: List[str], incoming_services: List[str], outgoing_services: List[str], debug_mode: bool = False):
+    from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack
+    from aiortc.contrib.media import MediaBlackhole
+    from openpilot.system.webrtc.device.video import LiveStreamVideoStreamTrack
+    from openpilot.system.webrtc.device.audio import AudioInputStreamTrack, AudioOutputSpeaker
+    from teleoprtc import WebRTCAnswerBuilder
+    from teleoprtc.info import parse_info_from_offer
+
     config = parse_info_from_offer(sdp)
     builder = WebRTCAnswerBuilder(sdp)
 
@@ -192,7 +194,7 @@ class StreamRequestBody:
   bridge_services_out: List[str] = field(default_factory=list)
 
 
-async def get_stream(request: web.Request):
+async def get_stream(request: 'web.Request'):
   stream_dict, debug_mode = request.app['streams'], request.app['debug']
   raw_body = await request.json()
   body = StreamRequestBody(**raw_body)
@@ -206,7 +208,7 @@ async def get_stream(request: web.Request):
   return web.json_response({"sdp": answer.sdp, "type": answer.type})
 
 
-async def get_schema(request: web.Request):
+async def get_schema(request: 'web.Request'):
   services = request.query["services"].split(",")
   services = [s for s in services if s]
   assert all(s in log.Event.schema.fields and not s.endswith("DEPRECATED") for s in services), "Invalid service name"
@@ -214,7 +216,7 @@ async def get_schema(request: web.Request):
   return web.json_response(schema_dict)
 
 
-async def on_shutdown(app: web.Application):
+async def on_shutdown(app: 'web.Application'):
   for session in app['streams'].values():
     session.stop()
   del app['streams']
diff --git a/tools/README.md b/tools/README.md
index 315db3a75f..361a27deda 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -68,6 +68,7 @@ Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md
 ├── ubuntu_setup.sh     # Setup script for Ubuntu
 ├── mac_setup.sh        # Setup script for macOS
 ├── cabana/             # View and plot CAN messages from drives or in realtime
+├── camerastream/       # Cameras stream over the network
 ├── joystick/           # Control your car with a joystick
 ├── lib/                # Libraries to support the tools and reading openpilot logs
 ├── plotjuggler/        # A tool to plot openpilot logs
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
index 53077af67e..b1fb9525db 100644
--- a/tools/bodyteleop/web.py
+++ b/tools/bodyteleop/web.py
@@ -6,9 +6,10 @@ import os
 import ssl
 import subprocess
 
-from aiohttp import web, ClientSession
 import pyaudio
 import wave
+from aiohttp import web
+from aiohttp import ClientSession
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.system.webrtc.webrtcd import StreamRequestBody
@@ -22,7 +23,7 @@ WEBRTCD_HOST, WEBRTCD_PORT = "localhost", 5001
 
 
 ## UTILS
-async def play_sound(sound):
+async def play_sound(sound: str):
   SOUNDS = {
     "engage": "selfdrive/assets/sounds/engage.wav",
     "disengage": "selfdrive/assets/sounds/disengage.wav",
@@ -51,7 +52,7 @@ async def play_sound(sound):
     p.terminate()
 
 ## SSL
-def create_ssl_cert(cert_path, key_path):
+def create_ssl_cert(cert_path: str, key_path: str):
   try:
     proc = subprocess.run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \
                           -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"',
@@ -75,17 +76,17 @@ def create_ssl_context():
   return ssl_context
 
 ## ENDPOINTS
-async def index(request):
+async def index(request: 'web.Request'):
   with open(os.path.join(TELEOPDIR, "static", "index.html"), "r") as f:
     content = f.read()
     return web.Response(content_type="text/html", text=content)
 
 
-async def ping(request):
+async def ping(request: 'web.Request'):
   return web.Response(text="pong")
 
 
-async def sound(request):
+async def sound(request: 'web.Request'):
   params = await request.json()
   sound_to_play = params["sound"]
 
@@ -93,7 +94,7 @@ async def sound(request):
   return web.json_response({"status": "ok"})
 
 
-async def offer(request):
+async def offer(request: 'web.Request'):
   params = await request.json()
   body = StreamRequestBody(params["sdp"], ["driver"], ["testJoystick"], ["carState"])
   body_json = json.dumps(dataclasses.asdict(body))
diff --git a/tools/camerastream/README.md b/tools/camerastream/README.md
new file mode 100644
index 0000000000..76133f07cd
--- /dev/null
+++ b/tools/camerastream/README.md
@@ -0,0 +1,66 @@
+# Camera stream
+
+`compressed_vipc.py` connects to a remote device running openpilot, decodes the video streams, and republishes them over VisionIPC. 
+
+## Usage
+
+### On the device 
+SSH into the device and run following in separate terminals:
+
+`cd /data/openpilot/cereal/messaging && ./bridge`
+
+`cd /data/openpilot/system/loggerd && ./encoderd`
+
+`cd /data/openpilot/system/camerad && ./camerad`
+
+Note that both the device and your PC must be on the same openpilot commit.
+
+Alternatively paste this as a single command:
+```
+(
+  cd /data/openpilot/cereal/messaging/
+  ./bridge &
+
+  cd /data/openpilot/system/camerad/
+  ./camerad &
+
+  cd /data/openpilot/system/loggerd/
+  ./encoderd &
+
+  wait
+) ; trap 'kill $(jobs -p)' SIGINT
+```
+Ctrl+C will stop all three processes. 
+
+### On the PC
+Decode the stream with `compressed_vipc.py`:
+
+```cd ~/openpilot/tools/camerastream && ./compressed_vipc.py <ip>```
+
+To actually display the stream, run `watch3` in separate terminal:
+
+```cd ~/openpilot/selfdrive/ui/ && ./watch3```
+
+## compressed_vipc.py usage
+```
+$ python compressed_vipc.py -h
+usage: compressed_vipc.py [-h] [--nvidia] [--cams CAMS] [--silent] addr
+
+Decode video streams and broadcast on VisionIPC
+
+positional arguments:
+  addr         Address of comma three
+
+options:
+  -h, --help   show this help message and exit
+  --nvidia     Use nvidia instead of ffmpeg
+  --cams CAMS  Cameras to decode
+  --silent     Suppress debug output
+```
+
+
+## Example:
+```
+cd ~/openpilot/tools/camerastream && ./compressed_vipc.py comma-ffffffff --cams 0
+cd ~/openpilot/selfdrive/ui/ && ./watch3
+```
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index ac7ca2520b..f4b8862a84 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -10,19 +10,23 @@ import time
 import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcServer, VisionStreamType
 
-W, H = 1928, 1208
 V4L2_BUF_FLAG_KEYFRAME = 8
 
+# start encoderd
+# also start cereal messaging bridge
+# then run this "./compressed_vipc.py <ip>"
+
 ENCODE_SOCKETS = {
   VisionStreamType.VISION_STREAM_ROAD: "roadEncodeData",
   VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData",
   VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
 }
 
-def decoder(addr, vipc_server, vst, nvidia, debug=False):
+def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
   sock_name = ENCODE_SOCKETS[vst]
   if debug:
     print("start decoder for %s" % sock_name)
+
   if nvidia:
     os.environ["NV_LOW_LATENCY"] = "3"    # both bLowLatency and CUVID_PKT_ENDOFPICTURE
     sys.path += os.environ["LD_LIBRARY_PATH"].split(":")
@@ -99,16 +103,28 @@ def decoder(addr, vipc_server, vst, nvidia, debug=False):
               % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency,
                  process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
 
+
 class CompressedVipc:
   def __init__(self, addr, vision_streams, nvidia=False, debug=False):
+    print("getting frame sizes")
+    os.environ["ZMQ"] = "1"
+    messaging.context = messaging.Context()
+    sm = messaging.SubMaster([ENCODE_SOCKETS[s] for s in vision_streams], addr=addr)
+    while min(sm.recv_frame.values()) == 0:
+      sm.update(100)
+    os.environ.pop("ZMQ")
+    messaging.context = messaging.Context()
+
     self.vipc_server = VisionIpcServer("camerad")
     for vst in vision_streams:
-      self.vipc_server.create_buffers(vst, 4, False, W, H)
+      ed = sm[ENCODE_SOCKETS[vst]]
+      self.vipc_server.create_buffers(vst, 4, False, ed.width, ed.height)
     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))
+      ed = sm[ENCODE_SOCKETS[vst]]
+      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug, ed.width, ed.height))
       p.start()
       self.procs.append(p)
 
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index 6753afffb9..f7ba316480 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -75,12 +75,8 @@ pyenv rehash
 
 [ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run"
 
-if [ "$(uname)" != "Darwin" ]; then
+if [ "$(uname)" != "Darwin" ] && [ -e "$ROOT/.git" ]; then
   echo "pre-commit hooks install..."
-  shopt -s nullglob
-  for f in .pre-commit-config.yaml */.pre-commit-config.yaml; do
-    if [ -e "$ROOT/$(dirname $f)/.git" ]; then
-      $RUN pre-commit install -c "$f"
-    fi
-  done
+  $RUN pre-commit install
+  $RUN git submodule foreach pre-commit install
 fi
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 1db3207e4b..e9b8b4b2ce 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -1,20 +1,36 @@
 import os
+import socket
+from urllib.parse import urlparse
 
 from openpilot.tools.lib.url_file import URLFile
 
 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
 
+
+def internal_source_available():
+  try:
+    hostname = urlparse(DATA_ENDPOINT).hostname
+    if hostname:
+      socket.gethostbyname(hostname)
+      return True
+  except socket.gaierror:
+    pass
+  return False
+
+
 def resolve_name(fn):
   if fn.startswith("cd:/"):
     return fn.replace("cd:/", DATA_ENDPOINT)
   return fn
 
+
 def file_exists(fn):
   fn = resolve_name(fn)
   if fn.startswith(("http://", "https://")):
     return URLFile(fn).get_length_online() != -1
   return os.path.exists(fn)
 
+
 def FileReader(fn, debug=False):
   fn = resolve_name(fn)
   if fn.startswith(("http://", "https://")):
diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py
index 423f207b4d..f0af3d03c5 100644
--- a/tools/lib/helpers.py
+++ b/tools/lib/helpers.py
@@ -3,18 +3,19 @@ import datetime
 
 TIME_FMT = "%Y-%m-%d--%H-%M-%S"
 
+
 # regex patterns
 class RE:
-  DONGLE_ID =  r'(?P<dongle_id>[a-z0-9]{16})'
+  DONGLE_ID = r'(?P<dongle_id>[a-f0-9]{16})'
   TIMESTAMP = r'(?P<timestamp>[0-9]{4}-[0-9]{2}-[0-9]{2}--[0-9]{2}-[0-9]{2}-[0-9]{2})'
-  LOG_ID_V2 = r'(?P<count>[a-z0-9]{8})--(?P<uid>[a-z0-9]{10})'
+  LOG_ID_V2 = r'(?P<count>[a-f0-9]{8})--(?P<uid>[a-z0-9]{10})'
   LOG_ID = r'(?P<log_id>(?:{}|{}))'.format(TIMESTAMP, LOG_ID_V2)
   ROUTE_NAME = r'(?P<route_name>{}[|_/]{})'.format(DONGLE_ID, LOG_ID)
   SEGMENT_NAME = r'{}(?:--|/)(?P<segment_num>[0-9]+)'.format(ROUTE_NAME)
 
   INDEX = r'-?[0-9]+'
   SLICE = r'(?P<start>{})?:?(?P<end>{})?:?(?P<step>{})?'.format(INDEX, INDEX, INDEX)
-  SEGMENT_RANGE = r'{}(?:--|/)?(?P<slice>({}))?/?(?P<selector>([qras]))?'.format(ROUTE_NAME, SLICE)
+  SEGMENT_RANGE = r'{}(?:(--|/)(?P<slice>({})))?(?:/(?P<selector>([qras])))?'.format(ROUTE_NAME, SLICE)
 
   BOOTLOG_NAME = ROUTE_NAME
 
diff --git a/tools/lib/live_logreader.py b/tools/lib/live_logreader.py
new file mode 100644
index 0000000000..0678fd1d00
--- /dev/null
+++ b/tools/lib/live_logreader.py
@@ -0,0 +1,31 @@
+import os
+from typing import List
+from cereal import log as capnp_log, messaging
+from cereal.services import SERVICE_LIST
+
+from openpilot.tools.lib.logreader import LogIterable, RawLogIterable
+
+
+ALL_SERVICES = list(SERVICE_LIST.keys())
+
+def raw_live_logreader(services: List[str] = ALL_SERVICES, addr: str = '127.0.0.1') -> RawLogIterable:
+  if addr != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.context = messaging.Context()
+
+  poller = messaging.Poller()
+
+  for m in services:
+    messaging.sub_sock(m, poller, addr=addr)
+
+  while True:
+    polld = poller.poll(100)
+    for sock in polld:
+      msg = sock.receive()
+      yield msg
+
+
+def live_logreader(services: List[str] = ALL_SERVICES, addr: str = '127.0.0.1') -> LogIterable:
+  for m in raw_live_logreader(services, addr):
+    with capnp_log.Event.from_bytes(m) as evt:
+      yield evt
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index decffccd66..af2c23ef48 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -4,28 +4,26 @@ from functools import partial
 import multiprocessing
 import capnp
 import enum
-import numpy as np
 import os
 import pathlib
-import re
 import sys
 import tqdm
 import urllib.parse
 import warnings
 
-from typing import Dict, Iterable, Iterator, List, Type
+from typing import Callable, Dict, Iterable, Iterator, List, Optional, Type
 from urllib.parse import parse_qs, urlparse
 
 from cereal import log as capnp_log
 from openpilot.common.swaglog import cloudlog
 from openpilot.tools.lib.comma_car_segments import get_url as get_comma_segments_url
 from openpilot.tools.lib.openpilotci import get_url
-from openpilot.tools.lib.filereader import FileReader, file_exists
-from openpilot.tools.lib.helpers import RE
+from openpilot.tools.lib.filereader import FileReader, file_exists, internal_source_available
 from openpilot.tools.lib.route import Route, SegmentRange
 
 LogMessage = Type[capnp._DynamicStructReader]
 LogIterable = Iterable[LogMessage]
+RawLogIterable = Iterable[bytes]
 
 
 class _LogFileReader:
@@ -71,28 +69,23 @@ class _LogFileReader:
 
 
 class ReadMode(enum.StrEnum):
-  RLOG = "r" # only read rlogs
-  QLOG = "q" # only read qlogs
-  SANITIZED = "s" # read from the commaCarSegments database
-  AUTO = "a" # default to rlogs, fallback to qlogs
-  AUTO_INTERACIVE = "i" # default to rlogs, fallback to qlogs with a prompt from the user
+  RLOG = "r"  # only read rlogs
+  QLOG = "q"  # only read qlogs
+  SANITIZED = "s"  # read from the commaCarSegments database
+  AUTO = "a"  # default to rlogs, fallback to qlogs
+  AUTO_INTERACIVE = "i"  # default to rlogs, fallback to qlogs with a prompt from the user
 
-def create_slice_from_string(s: str):
-  m = re.fullmatch(RE.SLICE, s)
-  assert m is not None, f"Invalid slice: {s}"
-  start, end, step = m.groups()
-  start = int(start) if start is not None else None
-  end = int(end) if end is not None else None
-  step = int(step) if step is not None else None
 
-  if start is not None and ":" not in s and end is None and step is None:
-    return start
-  return slice(start, end, step)
+LogPath = Optional[str]
+LogPaths = List[LogPath]
+ValidFileCallable = Callable[[LogPath], bool]
+Source = Callable[[SegmentRange, ReadMode], LogPaths]
 
-def default_valid_file(fn):
+def default_valid_file(fn: LogPath) -> bool:
   return fn is not None and file_exists(fn)
 
-def auto_strategy(rlog_paths, qlog_paths, interactive, valid_file):
+
+def auto_strategy(rlog_paths: LogPaths, qlog_paths: LogPaths, interactive: bool, valid_file: ValidFileCallable) -> LogPaths:
   # auto select logs based on availability
   if any(rlog is None or not valid_file(rlog) for rlog in rlog_paths):
     if interactive:
@@ -101,11 +94,12 @@ def auto_strategy(rlog_paths, qlog_paths, interactive, valid_file):
     else:
       cloudlog.warning("Some rlogs were not found, falling back to qlogs for those segments...")
 
-    return [rlog if (valid_file(rlog)) else (qlog if (valid_file(qlog)) else None)
-                        for (rlog, qlog) in zip(rlog_paths, qlog_paths, strict=True)]
+    return [rlog if valid_file(rlog) else (qlog if valid_file(qlog) else None)
+            for (rlog, qlog) in zip(rlog_paths, qlog_paths, strict=True)]
   return rlog_paths
 
-def apply_strategy(mode: ReadMode, rlog_paths, qlog_paths, valid_file=default_valid_file):
+
+def apply_strategy(mode: ReadMode, rlog_paths: LogPaths, qlog_paths: LogPaths, valid_file: ValidFileCallable = default_valid_file) -> LogPaths:
   if mode == ReadMode.RLOG:
     return rlog_paths
   elif mode == ReadMode.QLOG:
@@ -114,27 +108,14 @@ def apply_strategy(mode: ReadMode, rlog_paths, qlog_paths, valid_file=default_va
     return auto_strategy(rlog_paths, qlog_paths, False, valid_file)
   elif mode == ReadMode.AUTO_INTERACIVE:
     return auto_strategy(rlog_paths, qlog_paths, True, valid_file)
+  raise Exception(f"invalid mode: {mode}")
 
-def parse_slice(sr: SegmentRange):
-  s = create_slice_from_string(sr._slice)
-  if isinstance(s, slice):
-    if s.stop is None or s.stop < 0 or (s.start is not None and s.start < 0): # we need the number of segments in order to parse this slice
-      segs = np.arange(sr.get_max_seg_number()+1)
-    else:
-      segs = np.arange(s.stop + 1)
-    return segs[s]
-  else:
-    if s < 0:
-      s = sr.get_max_seg_number() + s + 1
-    return [s]
-
-def comma_api_source(sr: SegmentRange, mode: ReadMode):
-  segs = parse_slice(sr)
 
+def comma_api_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
   route = Route(sr.route_name)
 
-  rlog_paths = [route.log_paths()[seg] for seg in segs]
-  qlog_paths = [route.qlog_paths()[seg] for seg in segs]
+  rlog_paths = [route.log_paths()[seg] for seg in sr.seg_idxs]
+  qlog_paths = [route.qlog_paths()[seg] for seg in sr.seg_idxs]
 
   # comma api will have already checked if the file exists
   def valid_file(fn):
@@ -142,79 +123,84 @@ def comma_api_source(sr: SegmentRange, mode: ReadMode):
 
   return apply_strategy(mode, rlog_paths, qlog_paths, valid_file=valid_file)
 
-def internal_source(sr: SegmentRange, mode: ReadMode):
-  segs = parse_slice(sr)
+
+def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
+  if not internal_source_available():
+    raise Exception("Internal source not available")
 
   def get_internal_url(sr: SegmentRange, seg, file):
     return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2"
 
-  rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in segs]
-  qlog_paths = [get_internal_url(sr, seg, "qlog")  for seg in segs]
+  rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs]
+  qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs]
 
   return apply_strategy(mode, rlog_paths, qlog_paths)
 
-def openpilotci_source(sr: SegmentRange, mode: ReadMode):
-  segs = parse_slice(sr)
 
-  rlog_paths = [get_url(sr.route_name, seg, "rlog") for seg in segs]
-  qlog_paths = [get_url(sr.route_name, seg, "qlog")  for seg in segs]
+def openpilotci_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
+  rlog_paths = [get_url(sr.route_name, seg, "rlog") for seg in sr.seg_idxs]
+  qlog_paths = [get_url(sr.route_name, seg, "qlog") for seg in sr.seg_idxs]
 
   return apply_strategy(mode, rlog_paths, qlog_paths)
 
-def comma_car_segments_source(sr: SegmentRange, mode=ReadMode.RLOG):
-  segs = parse_slice(sr)
 
-  return [get_comma_segments_url(sr.route_name, seg) for seg in segs]
+def comma_car_segments_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
+  return [get_comma_segments_url(sr.route_name, seg) for seg in sr.seg_idxs]
 
-def direct_source(file_or_url):
+
+def direct_source(file_or_url: str) -> LogPaths:
   return [file_or_url]
 
+
 def get_invalid_files(files):
   for f in files:
     if f is None or not file_exists(f):
       yield f
 
-def check_source(source, *args):
-  try:
-    files = source(*args)
-    assert next(get_invalid_files(files), None) is None
-    return None, files
-  except Exception as e:
-    return e, None
 
-def auto_source(sr: SegmentRange, mode=ReadMode.RLOG):
+def check_source(source: Source, *args) -> LogPaths:
+  files = source(*args)
+  assert next(get_invalid_files(files), None) is None
+  return files
+
+
+def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
   if mode == ReadMode.SANITIZED:
     return comma_car_segments_source(sr, mode)
 
+  SOURCES: List[Source] = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source,]
   exceptions = []
   # Automatically determine viable source
-  for source in [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source]:
-    exception, ret = check_source(source, sr, mode)
-    if exception is None:
-      return ret
-    else:
-      exceptions.append(exception)
+  for source in SOURCES:
+    try:
+      return check_source(source, sr, mode)
+    except Exception as e:
+      exceptions.append(e)
 
   raise Exception(f"auto_source could not find any valid source, exceptions for sources: {exceptions}")
 
-def parse_useradmin(identifier):
+
+def parse_useradmin(identifier: str):
   if "useradmin.comma.ai" in identifier:
     query = parse_qs(urlparse(identifier).query)
     return query["onebox"][0]
   return None
 
-def parse_cabana(identifier):
+
+def parse_cabana(identifier: str):
   if "cabana.comma.ai" in identifier:
     query = parse_qs(urlparse(identifier).query)
     return query["route"][0]
   return None
 
-def parse_direct(identifier):
+
+def parse_direct(identifier: str):
   if identifier.startswith(("http://", "https://", "cd:/")) or pathlib.Path(identifier).exists():
     return identifier
   return None
 
-def parse_indirect(identifier):
+
+def parse_indirect(identifier: str):
   parsed = parse_useradmin(identifier) or parse_cabana(identifier)
 
   if parsed is not None:
@@ -239,9 +225,15 @@ class LogReader:
     mode = self.default_mode if sr.selector is None else ReadMode(sr.selector)
     source = self.default_source if source is None else source
 
-    return source(sr, mode)
+    identifiers = source(sr, mode)
 
-  def __init__(self, identifier: str | List[str], default_mode=ReadMode.RLOG, default_source=auto_source, sort_by_time=False, only_union_types=False):
+    invalid_count = len(list(get_invalid_files(identifiers)))
+    assert invalid_count == 0, f"{invalid_count}/{len(identifiers)} invalid log(s) found, please ensure all logs \
+are uploaded or auto fallback to qlogs with '/a' selector at the end of the route name."
+    return identifiers
+
+  def __init__(self, identifier: str | List[str], default_mode: ReadMode = ReadMode.RLOG,
+               default_source=auto_source, sort_by_time=False, only_union_types=False):
     self.default_mode = default_mode
     self.default_source = default_source
     self.identifier = identifier
@@ -274,9 +266,6 @@ class LogReader:
 
   def reset(self):
     self.logreader_identifiers = self._parse_identifiers(self.identifier)
-    invalid_count = len(list(get_invalid_files(self.logreader_identifiers)))
-    assert invalid_count == 0, f"{invalid_count}/{len(self.logreader_identifiers)} invalid log(s) found, please ensure all logs \
-are uploaded or auto fallback to qlogs with '/a' selector at the end of the route name."
 
   @staticmethod
   def from_bytes(dat):
@@ -291,6 +280,7 @@ are uploaded or auto fallback to qlogs with '/a' selector at the end of the rout
 
 if __name__ == "__main__":
   import codecs
+
   # capnproto <= 0.8.0 throws errors converting byte data to string
   # below line catches those errors and replaces the bytes with \x__
   codecs.register_error("strict", codecs.backslashreplace_errors)
diff --git a/tools/lib/route.py b/tools/lib/route.py
index f7c3c432c8..aba95718d5 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -4,7 +4,7 @@ from functools import cache
 from urllib.parse import urlparse
 from collections import defaultdict
 from itertools import chain
-from typing import Optional
+from typing import Optional, cast
 
 from openpilot.tools.lib.auth_config import get_token
 from openpilot.tools.lib.api import CommaApi
@@ -17,6 +17,7 @@ CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']
 DCAMERA_FILENAMES = ['dcamera.hevc']
 ECAMERA_FILENAMES = ['ecamera.hevc']
 
+
 class Route:
   def __init__(self, name, data_dir=None):
     self._name = RouteName(name)
@@ -37,27 +38,27 @@ class Route:
 
   def log_paths(self):
     log_path_by_seg_num = {s.name.segment_num: s.log_path for s in self._segments}
-    return [log_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
+    return [log_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
 
   def qlog_paths(self):
     qlog_path_by_seg_num = {s.name.segment_num: s.qlog_path for s in self._segments}
-    return [qlog_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
+    return [qlog_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
 
   def camera_paths(self):
     camera_path_by_seg_num = {s.name.segment_num: s.camera_path for s in self._segments}
-    return [camera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
+    return [camera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
 
   def dcamera_paths(self):
     dcamera_path_by_seg_num = {s.name.segment_num: s.dcamera_path for s in self._segments}
-    return [dcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
+    return [dcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
 
   def ecamera_paths(self):
     ecamera_path_by_seg_num = {s.name.segment_num: s.ecamera_path for s in self._segments}
-    return [ecamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
+    return [ecamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
 
   def qcamera_paths(self):
     qcamera_path_by_seg_num = {s.name.segment_num: s.qcamera_path for s in self._segments}
-    return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number+1)]
+    return [qcamera_path_by_seg_num.get(i, None) for i in range(self.max_seg_number + 1)]
 
   # TODO: refactor this, it's super repetitive
   def _get_segments_remote(self):
@@ -159,6 +160,7 @@ class Route:
       raise ValueError(f'Could not find segments for route {self.name.canonical_name} in data directory {data_dir}')
     return sorted(segments, key=lambda seg: seg.name.segment_num)
 
+
 class Segment:
   def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path):
     self._name = SegmentName(name)
@@ -173,6 +175,7 @@ class Segment:
   def name(self):
     return self._name
 
+
 class RouteName:
   def __init__(self, name_str: str):
     self._name_str = name_str
@@ -194,6 +197,7 @@ class RouteName:
 
   def __str__(self) -> str: return self._canonical_name
 
+
 class SegmentName:
   # TODO: add constructor that takes dongle_id, time_str, segment_num and then create instances
   # of this class instead of manually constructing a segment name (use canonical_name prop instead)
@@ -206,7 +210,7 @@ class SegmentName:
     seg_num_delim = "--" if self._name_str.count("--") == 2 else "/"
     name_parts = self._name_str.rsplit(seg_num_delim, 1)
     if allow_route_name and len(name_parts) == 1:
-      name_parts.append("-1") # no segment number
+      name_parts.append("-1")  # no segment number
     self._route_name = RouteName(name_parts[0])
     self._num = int(name_parts[1])
     self._canonical_name = f"{self._route_name._dongle_id}|{self._route_name._time_str}--{self._num}"
@@ -233,41 +237,61 @@ class SegmentName:
 
 
 @cache
-def get_max_seg_number_cached(sr: 'SegmentRange'):
+def get_max_seg_number_cached(sr: 'SegmentRange') -> int:
   try:
     api = CommaApi(get_token())
-    return api.get("/v1/route/" + sr.route_name.replace("/", "|"))["segment_numbers"][-1]
+    return cast(int, api.get("/v1/route/" + sr.route_name.replace("/", "|"))["segment_numbers"][-1])
   except Exception as e:
     raise Exception("unable to get max_segment_number. ensure you have access to this route or the route is public.") from e
 
 
 class SegmentRange:
   def __init__(self, segment_range: str):
-    self.m = re.fullmatch(RE.SEGMENT_RANGE, segment_range)
-    assert self.m, f"Segment range is not valid {segment_range}"
-
-  def get_max_seg_number(self):
-    return get_max_seg_number_cached(self)
+    m = re.fullmatch(RE.SEGMENT_RANGE, segment_range)
+    assert m is not None, f"Segment range is not valid {segment_range}"
+    self.m = m
 
   @property
-  def route_name(self):
+  def route_name(self) -> str:
     return self.m.group("route_name")
 
   @property
-  def dongle_id(self):
+  def dongle_id(self) -> str:
     return self.m.group("dongle_id")
 
   @property
-  def timestamp(self):
+  def timestamp(self) -> str:
     return self.m.group("timestamp")
 
   @property
-  def _slice(self):
-    return self.m.group("slice")
+  def _slice(self) -> str:
+    return self.m.group("slice") or ""
 
   @property
-  def selector(self):
+  def selector(self) -> str | None:
     return self.m.group("selector")
 
-  def __str__(self):
+  @property
+  def seg_idxs(self) -> list[int]:
+    m = re.fullmatch(RE.SLICE, self._slice)
+    assert m is not None, f"Invalid slice: {self._slice}"
+    start, end, step = (None if s is None else int(s) for s in m.groups())
+
+    # one segment specified
+    if start is not None and end is None and ':' not in self._slice:
+      if start < 0:
+        start += get_max_seg_number_cached(self) + 1
+      return [start]
+
+    s = slice(start, end, step)
+    # no specified end or using relative indexing, need number of segments
+    if end is None or end < 0 or (start is not None and start < 0):
+      return list(range(get_max_seg_number_cached(self) + 1))[s]
+    else:
+      return list(range(end + 1))[s]
+
+  def __str__(self) -> str:
     return f"{self.dongle_id}/{self.timestamp}" + (f"/{self._slice}" if self._slice else "") + (f"/{self.selector}" if self.selector else "")
+
+  def __repr__(self) -> str:
+    return self.__str__()
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
index 294c5a2233..4b73e0a301 100755
--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@@ -1,12 +1,11 @@
 #!/usr/bin/env python3
-from functools import wraps
+from functools import partial
 import http.server
 import os
-import threading
-import time
 import unittest
 
 from parameterized import parameterized
+from openpilot.selfdrive.athena.tests.helpers import with_http_server
 
 from openpilot.tools.lib.url_file import URLFile
 
@@ -30,27 +29,7 @@ class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler):
     self.end_headers()
 
 
-class CachingTestServer(threading.Thread):
-  def run(self):
-    self.server = http.server.HTTPServer(("127.0.0.1", 0), CachingTestRequestHandler)
-    self.port = self.server.server_port
-    self.server.serve_forever()
-
-  def stop(self):
-    self.server.server_close()
-    self.server.shutdown()
-
-def with_caching_server(func):
-  @wraps(func)
-  def wrapper(*args, **kwargs):
-    server = CachingTestServer()
-    server.start()
-    time.sleep(0.25) # wait for server to get it's port
-    try:
-      func(*args, **kwargs, port=server.port)
-    finally:
-      server.stop()
-  return wrapper
+with_caching_server = partial(with_http_server, handler=CachingTestRequestHandler)
 
 
 class TestFileDownload(unittest.TestCase):
@@ -110,10 +89,10 @@ class TestFileDownload(unittest.TestCase):
 
   @parameterized.expand([(True, ), (False, )])
   @with_caching_server
-  def test_recover_from_missing_file(self, cache_enabled, port):
+  def test_recover_from_missing_file(self, cache_enabled, host):
     os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
 
-    file_url = f"http://localhost:{port}/test.png"
+    file_url = f"{host}/test.png"
 
     CachingTestRequestHandler.FILE_EXISTS = False
     length = URLFile(file_url).get_length()
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
old mode 100644
new mode 100755
index 676d2bbadf..53b78064ab
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -1,6 +1,7 @@
+#!/usr/bin/env python3
 import shutil
 import tempfile
-import numpy as np
+import os
 import unittest
 import pytest
 import requests
@@ -8,14 +9,20 @@ import requests
 from parameterized import parameterized
 from unittest import mock
 
-from openpilot.tools.lib.logreader import LogReader, parse_indirect, parse_slice, ReadMode
+from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode
 from openpilot.tools.lib.route import SegmentRange
+from openpilot.tools.lib.url_file import URLFileException
 
-NUM_SEGS = 17 # number of segments in the test route
-ALL_SEGS = list(np.arange(NUM_SEGS))
+NUM_SEGS = 17  # number of segments in the test route
+ALL_SEGS = list(range(NUM_SEGS))
 TEST_ROUTE = "344c5c15b34f2d8a/2024-01-03--09-37-12"
 QLOG_FILE = "https://commadataci.blob.core.windows.net/openpilotci/0375fdf7b1ce594d/2019-06-13--08-32-25/3/qlog.bz2"
 
+
+def noop(segment: LogIterable):
+  return segment
+
+
 class TestLogReader(unittest.TestCase):
   @parameterized.expand([
     (f"{TEST_ROUTE}", ALL_SEGS),
@@ -45,8 +52,7 @@ class TestLogReader(unittest.TestCase):
   def test_indirect_parsing(self, identifier, expected):
     parsed, _, _ = parse_indirect(identifier)
     sr = SegmentRange(parsed)
-    segs = parse_slice(sr)
-    self.assertListEqual(list(segs), expected)
+    self.assertListEqual(list(sr.seg_idxs), expected, identifier)
 
   @parameterized.expand([
     (f"{TEST_ROUTE}", f"{TEST_ROUTE}"),
@@ -60,7 +66,10 @@ class TestLogReader(unittest.TestCase):
     sr = SegmentRange(identifier)
     self.assertEqual(str(sr), expected)
 
-  def test_direct_parsing(self):
+  @parameterized.expand([(True,), (False,)])
+  @mock.patch("openpilot.tools.lib.logreader.file_exists")
+  def test_direct_parsing(self, cache_enabled, file_exists_mock):
+    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
     qlog = tempfile.NamedTemporaryFile(mode='wb', delete=False)
 
     with requests.get(QLOG_FILE, stream=True) as r:
@@ -71,6 +80,12 @@ class TestLogReader(unittest.TestCase):
       l = len(list(LogReader(f)))
       self.assertGreater(l, 100)
 
+    with self.assertRaises(URLFileException) if not cache_enabled else self.assertRaises(AssertionError):
+      l = len(list(LogReader(QLOG_FILE.replace("/3/", "/200/"))))
+
+    # file_exists should not be called for direct files
+    self.assertEqual(file_exists_mock.call_count, 0)
+
   @parameterized.expand([
     (f"{TEST_ROUTE}///",),
     (f"{TEST_ROUTE}---",),
@@ -79,11 +94,26 @@ class TestLogReader(unittest.TestCase):
     (f"{TEST_ROUTE}/j",),
     (f"{TEST_ROUTE}/0:1:2:3",),
     (f"{TEST_ROUTE}/:::3",),
+    (f"{TEST_ROUTE}3",),
+    (f"{TEST_ROUTE}-3",),
+    (f"{TEST_ROUTE}--3a",),
   ])
   def test_bad_ranges(self, segment_range):
     with self.assertRaises(AssertionError):
-      sr = SegmentRange(segment_range)
-      parse_slice(sr)
+      _ = SegmentRange(segment_range).seg_idxs
+
+  @parameterized.expand([
+    (f"{TEST_ROUTE}/0", False),
+    (f"{TEST_ROUTE}/:2", False),
+    (f"{TEST_ROUTE}/0:", True),
+    (f"{TEST_ROUTE}/-1", True),
+    (f"{TEST_ROUTE}", True),
+  ])
+  def test_slicing_api_call(self, segment_range, api_call):
+    with mock.patch("openpilot.tools.lib.route.get_max_seg_number_cached") as max_seg_mock:
+      max_seg_mock.return_value = NUM_SEGS
+      _ = SegmentRange(segment_range).seg_idxs
+      self.assertEqual(api_call, max_seg_mock.called)
 
   @pytest.mark.slow
   def test_modes(self):
@@ -104,7 +134,7 @@ class TestLogReader(unittest.TestCase):
     qlog_len = len(list(LogReader(f"{TEST_ROUTE}/0/q")))
     qlog_len_2 = len(list(LogReader([f"{TEST_ROUTE}/0/q", f"{TEST_ROUTE}/0/q"])))
 
-    self.assertEqual(qlog_len*2, qlog_len_2)
+    self.assertEqual(qlog_len * 2, qlog_len_2)
 
   @pytest.mark.slow
   @mock.patch("openpilot.tools.lib.logreader._LogFileReader")
@@ -124,6 +154,25 @@ class TestLogReader(unittest.TestCase):
     self.assertEqual(lr.first("carParams").carFingerprint, "SUBARU OUTBACK 6TH GEN")
     self.assertTrue(0 < len(list(lr.filter("carParams"))) < len(list(lr)))
 
+  @parameterized.expand([(True,), (False,)])
+  @pytest.mark.slow
+  def test_run_across_segments(self, cache_enabled):
+    os.environ["FILEREADER_CACHE"] = "1" if cache_enabled else "0"
+    lr = LogReader(f"{TEST_ROUTE}/0:4")
+    self.assertEqual(len(lr.run_across_segments(4, noop)), len(list(lr)))
+
+  @pytest.mark.slow
+  def test_auto_mode(self):
+    lr = LogReader(f"{TEST_ROUTE}/0/q")
+    qlog_len = len(list(lr))
+    with mock.patch("openpilot.tools.lib.route.Route.log_paths") as log_paths_mock:
+      log_paths_mock.return_value = [None] * NUM_SEGS
+      # Should fall back to qlogs since rlogs are not available
+      lr = LogReader(f"{TEST_ROUTE}/0/a", default_source=comma_api_source)
+      log_len = len(list(lr))
+
+    self.assertEqual(qlog_len, log_len)
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index 5c6f187eee..2d3d14ce8a 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -1,11 +1,11 @@
 import logging
 import os
+import socket
 import time
-import threading
 from hashlib import sha256
-from urllib3 import PoolManager
+from urllib3 import PoolManager, Retry
+from urllib3.response import BaseHTTPResponse
 from urllib3.util import Timeout
-from tenacity import retry, wait_random_exponential, stop_after_attempt
 
 from openpilot.common.file_helpers import atomic_write_in_dir
 from openpilot.system.hardware.hw import Paths
@@ -15,7 +15,7 @@ CHUNK_SIZE = 1000 * K
 
 logging.getLogger("urllib3").setLevel(logging.WARNING)
 
-def hash_256(link):
+def hash_256(link: str) -> str:
   hsh = str(sha256((link.split("?")[0]).encode('utf-8')).hexdigest())
   return hsh
 
@@ -25,13 +25,25 @@ class URLFileException(Exception):
 
 
 class URLFile:
-  _tlocal = threading.local()
+  _pool_manager: PoolManager|None = None
 
-  def __init__(self, url, debug=False, cache=None):
+  @staticmethod
+  def reset() -> None:
+    URLFile._pool_manager = None
+
+  @staticmethod
+  def pool_manager() -> PoolManager:
+    if URLFile._pool_manager is None:
+      socket_options = [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),]
+      retries = Retry(total=5, backoff_factor=0.5, status_forcelist=[409, 429, 503, 504])
+      URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries)
+    return URLFile._pool_manager
+
+  def __init__(self, url: str, timeout: int=10, debug: bool=False, cache: bool|None=None):
     self._url = url
+    self._timeout = Timeout(connect=timeout, read=timeout)
     self._pos = 0
-    self._length = None
-    self._local_file = None
+    self._length: int|None = None
     self._debug = debug
     #  True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input
     self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0"))
@@ -41,30 +53,23 @@ class URLFile:
     if not self._force_download:
       os.makedirs(Paths.download_cache_root(), exist_ok=True)
 
-    try:
-      self._http_client = URLFile._tlocal.http_client
-    except AttributeError:
-      self._http_client = URLFile._tlocal.http_client = PoolManager()
-
   def __enter__(self):
     return self
 
-  def __exit__(self, exc_type, exc_value, traceback):
-    if self._local_file is not None:
-      os.remove(self._local_file.name)
-      self._local_file.close()
-      self._local_file = None
+  def __exit__(self, exc_type, exc_value, traceback) -> None:
+    pass
 
-  @retry(wait=wait_random_exponential(multiplier=1, max=5), stop=stop_after_attempt(3), reraise=True)
-  def get_length_online(self):
-    timeout = Timeout(connect=50.0, read=500.0)
-    response = self._http_client.request('HEAD', self._url, timeout=timeout, preload_content=False)
+  def _request(self, method: str, url: str, headers: dict[str, str]|None=None) -> BaseHTTPResponse:
+    return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)
+
+  def get_length_online(self) -> int:
+    response = self._request('HEAD', self._url)
     if not (200 <= response.status <= 299):
       return -1
     length = response.headers.get('content-length', 0)
     return int(length)
 
-  def get_length(self):
+  def get_length(self) -> int:
     if self._length is not None:
       return self._length
 
@@ -81,7 +86,7 @@ class URLFile:
         file_length.write(str(self._length))
     return self._length
 
-  def read(self, ll=None):
+  def read(self, ll: int|None=None) -> bytes:
     if self._force_download:
       return self.read_aux(ll=ll)
 
@@ -113,10 +118,9 @@ class URLFile:
         self._pos = file_end
         return response
 
-  @retry(wait=wait_random_exponential(multiplier=1, max=5), stop=stop_after_attempt(3), reraise=True)
-  def read_aux(self, ll=None):
+  def read_aux(self, ll: int|None=None) -> bytes:
     download_range = False
-    headers = {'Connection': 'keep-alive'}
+    headers = {}
     if self._pos != 0 or ll is not None:
       if ll is None:
         end = self.get_length() - 1
@@ -130,8 +134,7 @@ class URLFile:
     if self._debug:
       t1 = time.time()
 
-    timeout = Timeout(connect=50.0, read=500.0)
-    response = self._http_client.request('GET', self._url, timeout=timeout, preload_content=False, headers=headers)
+    response = self._request('GET', self._url, headers=headers)
     ret = response.data
 
     if self._debug:
@@ -150,9 +153,12 @@ class URLFile:
     self._pos += len(ret)
     return ret
 
-  def seek(self, pos):
+  def seek(self, pos:int) -> None:
     self._pos = pos
 
   @property
-  def name(self):
+  def name(self) -> str:
     return self._url
+
+
+os.register_at_fork(after_in_child=URLFile.reset)
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 8ed6c63aa4..ef6864f110 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -2,6 +2,7 @@
 import argparse
 import os
 import time
+import usb1
 import threading
 
 os.environ['FILEREADER_CACHE'] = '1'
@@ -42,7 +43,11 @@ def send_thread(s, flock):
 
     snd = CAN_MSGS[idx]
     snd = list(filter(lambda x: x[-1] <= 2, snd))
-    s.can_send_many(snd)
+    try:
+      s.can_send_many(snd)
+    except usb1.USBErrorTimeout:
+      # timeout is fine, just means the CAN TX buffer is full
+      pass
     idx = (idx + 1) % len(CAN_MSGS)
 
     # Drain panda message buffer
@@ -57,20 +62,11 @@ def connect():
   flashing_lock = threading.Lock()
   while True:
     # look for new devices
-    for p in [Panda, PandaJungle]:
-      if p is None:
-        continue
-
-      for s in p.list():
-        if s not in serials:
-          with p(s) as pp:
-            if pp.get_type() == Panda.HW_TYPE_TRES:
-              serials[s] = None
-              continue
-
-          print("starting send thread for", s)
-          serials[s] = threading.Thread(target=send_thread, args=(p(s), flashing_lock))
-          serials[s].start()
+    for s in PandaJungle.list():
+      if s not in serials:
+        print("starting send thread for", s)
+        serials[s] = threading.Thread(target=send_thread, args=(PandaJungle(s), flashing_lock))
+        serials[s].start()
 
     # try to join all send threads
     cur_serials = serials.copy()
@@ -94,7 +90,7 @@ if __name__ == "__main__":
 
   print("Loading log...")
   if args.route_or_segment_name is None:
-    args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/10:16"
+    args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/1:3"
 
   sr = LogReader(args.route_or_segment_name)
 
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index 7c95a75f8b..be80166e76 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -154,10 +154,10 @@ def ui_thread(addr):
     if len(sm['longitudinalPlan'].accels):
       plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
 
-    if sm.rcv_frame['modelV2']:
+    if sm.recv_frame['modelV2']:
       plot_model(sm['modelV2'], img, calibration, top_down)
 
-    if sm.rcv_frame['radarState']:
+    if sm.recv_frame['radarState']:
       plot_lead(sm['radarState'], top_down)
 
     # draw all radar points
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
index a183002589..cb573b33f2 100644
--- a/tools/sim/Dockerfile.sim
+++ b/tools/sim/Dockerfile.sim
@@ -1,4 +1,4 @@
-FROM ghcr.io/commaai/openpilot-base-cl:latest
+FROM ghcr.io/commaai/openpilot-base:latest
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
       tmux \
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index bdd53852c0..91ab0b6f07 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -2,7 +2,7 @@ import signal
 import threading
 import functools
 
-from multiprocessing import Process, Queue
+from multiprocessing import Process, Queue, Value
 from abc import ABC, abstractmethod
 from typing import Optional
 
@@ -39,7 +39,7 @@ class SimulatorBridge(ABC):
     self._exit_event = threading.Event()
     self._threads = []
     self._keep_alive = True
-    self.started = False
+    self.started = Value('i', False)
     signal.signal(signal.SIGTERM, self._on_shutdown)
     self._exit = threading.Event()
     self.simulator_state = SimulatorState()
@@ -61,7 +61,7 @@ class SimulatorBridge(ABC):
       self.close()
 
   def close(self):
-    self.started = False
+    self.started.value = False
     self._exit_event.set()
 
     if self.world is not None:
@@ -181,6 +181,6 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga
       if self.rk.frame % 25 == 0:
         self.print_status()
 
-      self.started = True
+      self.started.value = True
 
       self.rk.keep_time()
diff --git a/tools/sim/build_container.sh b/tools/sim/build_container.sh
index 81afb82d83..451277d590 100755
--- a/tools/sim/build_container.sh
+++ b/tools/sim/build_container.sh
@@ -3,7 +3,7 @@
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd $DIR/../../
 
-docker pull ghcr.io/commaai/openpilot-base-cl:latest
+docker pull ghcr.io/commaai/openpilot-base:latest
 docker build \
   --cache-from ghcr.io/commaai/openpilot-sim:latest \
   -t ghcr.io/commaai/openpilot-sim:latest \
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index 4d784956d2..6cb8e1465e 100755
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -2,14 +2,13 @@
 import pytest
 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
 
 @pytest.mark.slow
 class TestMetaDriveBridge(TestSimBridgeBase):
   def create_bridge(self):
-    return MetaDriveBridge(parse_args([]))
+    return MetaDriveBridge(False, False)
 
 
 if __name__ == "__main__":
diff --git a/tools/sim/tests/test_sim_bridge.py b/tools/sim/tests/test_sim_bridge.py
index 850fd83bac..504914c562 100644
--- a/tools/sim/tests/test_sim_bridge.py
+++ b/tools/sim/tests/test_sim_bridge.py
@@ -3,7 +3,7 @@ import subprocess
 import time
 import unittest
 
-from multiprocessing import Queue, Value
+from multiprocessing import Queue
 
 from cereal import messaging
 from openpilot.common.basedir import BASEDIR
@@ -27,7 +27,6 @@ class TestSimBridgeBase(unittest.TestCase):
     sm = messaging.SubMaster(['controlsState', 'onroadEvents', 'managerState'])
     q = Queue()
     bridge = self.create_bridge()
-    bridge.started = Value('b', False)
     p_bridge = bridge.run(q, retries=10)
     self.processes.append(p_bridge)
 
@@ -35,7 +34,7 @@ class TestSimBridgeBase(unittest.TestCase):
 
     # Wait for bridge to startup
     start_waiting = time.monotonic()
-    while not bridge.started and time.monotonic() < start_waiting + max_time_per_step:
+    while not bridge.started.value and time.monotonic() < start_waiting + max_time_per_step:
       time.sleep(0.1)
     self.assertEqual(p_bridge.exitcode, None, f"Bridge process should be running, but exited with code {p_bridge.exitcode}")