diff --git a/.codespellignore b/.codespellignore
index 6af9bb0f35..c7beb6f04f 100644
--- a/.codespellignore
+++ b/.codespellignore
@@ -1,3 +1,4 @@
 Wen
 REGIST
 PullRequest
+cancelled
diff --git a/.editorconfig b/.editorconfig
index 879e6eebca..d506433ece 100644
--- a/.editorconfig
+++ b/.editorconfig
@@ -5,7 +5,7 @@ end_of_line = lf
 insert_final_newline = true
 trim_trailing_whitespace = true
 
-[{*.py, *.pyx, *.pxd}]
+[*.{py,pyx,pxd}]
 charset = utf-8
 indent_style = space
 indent_size = 2
diff --git a/.gitattributes b/.gitattributes
index eda2505d0e..cc1605a132 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -11,8 +11,6 @@
 
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
 system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
-selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
 third_party/**/*.so.* filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS
index 65d2f5588e..e8f1b7eb8b 100644
--- a/.github/CODEOWNERS
+++ b/.github/CODEOWNERS
@@ -1,3 +1,11 @@
 *       @sunnypilot/dev-internal
 /.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
\ No newline at end of file
+/release/ci/ @devtekve @sunnyhaibin
+/tinygrad_repo @devtekve @Discountchubbs
+/tinygrad/ @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
+/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
+/selfdrive/modeld/ @devtekve @Discountchubbs
+/sunnypilot/model* @devtekve @Discountchubbs
+/sunnypilot/sunnylink/ @devtekve
+/system/athena/ @devtekve
\ No newline at end of file
diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 0b1fcac0ec..e91764bb37 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -1,7 +1,11 @@
-CI / testing:
+ci:
   - changed-files:
     - any-glob-to-all-files: "{.github/**,**/test_*,Jenkinsfile}"
 
+chore:
+  - changed-files:
+      - any-glob-to-all-files: "{.github/**}"
+
 car:
   - changed-files:
     - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
@@ -12,7 +16,7 @@ simulation:
 
 ui:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/ui/**'
+    - any-glob-to-all-files: '{selfdrive/ui/**,system/ui/**}'
 
 tools:
   - changed-files:
diff --git a/.github/workflows/auto-cache/action.yaml b/.github/workflows/auto-cache/action.yaml
index fadd422b6e..377b1eedcd 100644
--- a/.github/workflows/auto-cache/action.yaml
+++ b/.github/workflows/auto-cache/action.yaml
@@ -12,7 +12,7 @@ inputs:
     required: true
   save:
     description: 'whether to save the cache'
-    default: 'false'
+    default: 'true'
     required: false
 outputs:
   cache-hit:
diff --git a/.github/workflows/auto_pr_review.yaml b/.github/workflows/auto_pr_review.yaml
index 33940b6d4b..d3cfa60d92 100644
--- a/.github/workflows/auto_pr_review.yaml
+++ b/.github/workflows/auto_pr_review.yaml
@@ -9,6 +9,7 @@ jobs:
     permissions:
       contents: read
       pull-requests: write
+      issues: write
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
@@ -28,25 +29,63 @@ jobs:
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
-        target: /^(?!master$).*/
-        exclude: /commaai:.*/
+        target: /^(?!master-new$).*/
+        exclude: /sunnypilot:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
-        already-exists-comment: "Your PR should be made against the `master` branch"
+        already-exists-comment: "Your PR should be made against the `master-new` branch"
 
-    # Welcome comment
-    - name: "First timers PR"
-      uses: actions/first-interaction@v1
-      if: github.event.pull_request.head.repo.full_name != 'sunnypilot/sunnypilot'
-      with:
-        repo-token: ${{ secrets.GITHUB_TOKEN }}
-        pr-message: |
-            <!-- _(run_id **${{ github.run_id }}**)_ -->
-            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
-            * Convert your PR to a draft unless it's ready to review
-            * Read the [contributing docs](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md)
-            * Before marking as "ready for review", ensure:
-              * the goal is clearly stated in the description
-              * all the tests are passing
-              * the change is [something we merge](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
-              * include a route or your device' dongle ID if relevant
+  update-pr-labels:
+    name: Update fork's PR Labels
+    runs-on: ubuntu-latest
+    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
+    env: 
+      PR_LABEL: 'dev-c3'
+      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
+    steps:
+      - name: Check if PR has dev-c3 label
+        id: check-labels
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber
+            });
+            
+            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
+            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
+            
+            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
+            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
+            
+            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
+            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
+      
+      - name: Remove trust-fork-pr label if present
+        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+            
+            await github.rest.issues.removeLabel({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              name: process.env.TRUST_FORK_PR_LABEL
+            });
+            
+            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
+            
+            // Add a comment to the PR
+            await github.rest.issues.createComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
+            });
diff --git a/.github/workflows/model_review.yaml b/.github/workflows/model_review.yaml
new file mode 100644
index 0000000000..0e1825864c
--- /dev/null
+++ b/.github/workflows/model_review.yaml
@@ -0,0 +1,42 @@
+name: "model review"
+
+on:
+  pull_request:
+    types: [opened, reopened, synchronize]
+    paths:
+      - 'selfdrive/modeld/models/*.onnx'
+  workflow_dispatch:
+
+jobs:
+  comment:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    if: github.repository == 'commaai/openpilot'
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+      - name: Checkout master
+        uses: actions/checkout@v4
+        with:
+          ref: master
+          path: base
+      - run: git lfs pull
+      - run: cd base && git lfs pull
+
+      - run: pip install onnx
+
+      - name: scripts/reporter.py
+        id: report
+        run: |
+          echo "content<<EOF" >> $GITHUB_OUTPUT
+          echo "## Model Review" >> $GITHUB_OUTPUT
+          MASTER_PATH=${{ github.workspace }}/base python scripts/reporter.py >> $GITHUB_OUTPUT
+          echo "EOF" >> $GITHUB_OUTPUT
+
+      - name: Post model report comment
+        uses: marocchino/sticky-pull-request-comment@baa7203ed60924babbe5dcd0ac8eae3b66ec5e16
+        with:
+          header: model-review
+          message: ${{ steps.report.outputs.content }}
\ No newline at end of file
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 99d42c36e3..d2228a2079 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -8,8 +8,7 @@ jobs:
   build_masterci:
     name: build master-ci
     env:
-      TARGET_DIR: /tmp/openpilot
-      ImageOS: ubuntu20
+      ImageOS: ubuntu24
     container:
       image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-latest
@@ -23,7 +22,7 @@ jobs:
         sudo apt-get update
         sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
-      if: ${{ github.event_name != 'workflow_dispatch' }}
+      if: ${{ github.event_name == 'schedule' }}
       uses: lewagon/wait-on-check-action@ccfb013c15c8afb7bf2b7c028fb74dc5a068cccc
       with:
         ref: master
@@ -39,16 +38,5 @@ jobs:
       run: |
         git config --global --add safe.directory '*'
         git lfs pull
-    - name: Build master-ci
-      run: |
-        release/build_devel.sh
-    - name: Run tests
-      run: |
-        export PYTHONPATH=$TARGET_DIR
-        cd $TARGET_DIR
-        scons -j$(nproc)
-        pytest -n logical selfdrive/car/tests/test_car_interfaces.py
     - name: Push master-ci
-      run: |
-        unset TARGET_DIR
-        BRANCH=__nightly release/build_devel.sh
+      run: BRANCH=__nightly release/build_devel.sh
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 95f8320d62..8b0db6ce88 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -50,7 +50,7 @@ jobs:
     - name: bump submodules
       run: |
         git config --global --add safe.directory '*'
-        git -c submodule."tinygrad".update=none submodule update --remote
+        git submodule update --remote
         git add .
     - name: update car docs
       run: |
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index aefc4ec01f..f8897258c6 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -53,10 +53,6 @@ jobs:
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup-with-retry
-    - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
-      timeout-minutes: 3
-      run: release/check-submodules.sh
     - name: Build openpilot and run checks
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
@@ -67,6 +63,10 @@ jobs:
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh"
+    - name: Check submodules
+      if: github.repository == 'sunnypilot/sunnypilot'
+      timeout-minutes: 3
+      run: release/check-submodules.sh
 
   build:
     runs-on:
diff --git a/.github/workflows/sunnypilot-build-model.yaml b/.github/workflows/sunnypilot-build-model.yaml
index e845d80c66..dc02d1d8d2 100644
--- a/.github/workflows/sunnypilot-build-model.yaml
+++ b/.github/workflows/sunnypilot-build-model.yaml
@@ -5,6 +5,8 @@ env:
   OUTPUT_DIR: ${{ github.workspace }}/output
   SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
   UPSTREAM_REPO: "commaai/openpilot"
+  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
+  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
 
 on:
   workflow_dispatch:
@@ -15,35 +17,55 @@ on:
         default: 'master'
         type: string
       custom_name:
-        description: 'Custom name for the model'
-        required: false
-        type: string
-      file_name:
-        description: 'File name prefix for the model files'
+        description: 'Custom name for the model (no date, only name)'
         required: false
         type: string
       is_20hz:
         description: 'Is this a 20Hz model'
         required: false
         type: boolean
-        default: false
+        default: true
 
 
 run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
 
 jobs:
-  build_model:
-    runs-on: self-hosted
-
+  get_model:
+    runs-on: ubuntu-latest
+    outputs:
+      model_date: ${{ steps.commit-date.outputs.model_date }}
     steps:
       - uses: actions/checkout@v4
         with:
           repository: ${{ env.UPSTREAM_REPO }}
           ref: ${{ github.event.inputs.upstream_branch }}
           submodules: recursive
+      - name: Get commit date
+        id: commit-date
+        run: |
+          # Get the commit date in YYYY-MM-DD format
+          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
+          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
+          cat $GITHUB_OUTPUT
+      - run: git lfs pull
+      - name: 'Upload Artifact'
+        uses: actions/upload-artifact@v4
+        with:
+          name: models
+          path: ${{ github.workspace }}/selfdrive/modeld/models/*.onnx
+
+  build_model:
+    runs-on: self-hosted
+    needs: get_model
+    env:
+      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: recursive
 
       - run: git lfs pull
-
       - name: Cache SCons
         uses: actions/cache@v4
         with:
@@ -60,31 +82,63 @@ jobs:
             scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
+      - name: Set environment variables
+        id: set-env
+        run: |
+          # Set up common environment
+          source /etc/profile;
+          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
+          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
+          printenv >> $GITHUB_ENV
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            cat $GITHUB_OUTPUT
+          fi
+
       - name: Setup build environment
         run: |
           mkdir -p "${BUILD_DIR}/"
           sudo find $BUILD_DIR/ -mindepth 1 -delete
           echo "Starting build stage..."
-          echo "Building from: ${{ env.UPSTREAM_REPO }} branch: ${{ github.event.inputs.upstream_branch }}"
-      
-      - name: Patch SConstruct to pass arbitrary cache
-        run: |
-          sed -i.bak 's#cache_dir =#default_cache_dir =#' ${{ github.workspace }}/SConstruct
-          printf '/default_cache_dir/a\\\ncache_dir = ARGUMENTS.get("cache_dir", default_cache_dir)\n' | sed -i.bak -f - ${{ github.workspace }}/SConstruct
-          cat ${{ github.workspace }}/SConstruct
+          echo "BUILD_DIR: ${BUILD_DIR}"
+          echo "CI_DIR: ${CI_DIR}"
+          echo "VERSION: ${{ steps.set-env.outputs.version }}"
+          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
+          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
+          echo "-------"
+          if [[ "${{ runner.debug }}" == "1" ]]; then
+            printenv
+          fi
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
+          rm -rf ${{ env.MODELS_DIR }}/*.onnx
+
+      - name: Download model artifacts
+        uses: actions/download-artifact@v4
+        with:
+          name: models
+          path: ${{ github.workspace }}/selfdrive/modeld/models
 
       - name: Build Model
         run: |
           source /etc/profile
           export UV_PROJECT_ENVIRONMENT=${HOME}/venv
           export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          scons -j$(nproc) cache_dir=${{ env.SCONS_CACHE_DIR }} ${{ github.workspace }}/selfdrive/modeld
+          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
+
+          # Loop through all .onnx files
+          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
+            base_name=$(basename "$onnx_file" .onnx)
+            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
+
+            echo "Compiling: $onnx_file -> $output_file"
+            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
+            QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
+          done
 
       - name: Prepare Output
         run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          
+          sudo rm -rf ${{ env.OUTPUT_DIR }}
+          mkdir -p ${{ env.OUTPUT_DIR }}
+
           # Copy the model files
           rsync -avm \
             --include='*.dlc' \
@@ -94,40 +148,22 @@ jobs:
             --exclude='*' \
             --delete-excluded \
             --chown=comma:comma \
-            ./selfdrive/modeld/models/ ${OUTPUT_DIR}/
-          
-          # Rename files if file_name is provided
-          if [ ! -z "${{ inputs.file_name }}" ]; then
-            mv ${OUTPUT_DIR}/supercombo.thneed ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}.thneed
-            mv ${OUTPUT_DIR}/supercombo_metadata.pkl ${OUTPUT_DIR}/supercombo-${{ inputs.file_name }}_metadata.pkl
-          fi
-          
-          # Calculate SHA256 hashes
-          HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*.thneed | cut -d' ' -f1)
-          METADATA_HASH=$(sha256sum ${OUTPUT_DIR}/supercombo*_metadata.pkl | cut -d' ' -f1)
-          
-          # Create metadata.json
-          cat > ${OUTPUT_DIR}/metadata.json << EOF
-          {
-            "display_name": "${{ inputs.custom_name || inputs.upstream_branch }}",
-            "full_name": "${{ inputs.file_name || 'default' }}",
-            "is_20hz": ${{ inputs.is_20hz || false }},
-            "files": {
-              "drive_model": {
-                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*.thneed)",
-                "sha256": "${HASH}"
-              },
-              "metadata": {
-                "file_name": "$(basename ${OUTPUT_DIR}/supercombo*_metadata.pkl)",
-                "sha256": "${METADATA_HASH}"
-              }
-            },
-            "ref": "${{ inputs.upstream_branch }}",
-            "build_time": "$(date -u +"%Y-%m-%dT%H:%M:%SZ")"
-          }     
+            ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
+
+          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
+            --model-dir "${{ env.MODELS_DIR }}" \
+            --output-dir "${{ env.OUTPUT_DIR }}" \
+            --custom-name "${{ env.MODEL_NAME }}" \
+            --upstream-branch "${{ inputs.upstream_branch }}" \
+            ${{ inputs.is_20hz && '--is-20hz' || '' }}
 
       - name: Upload Build Artifacts
         uses: actions/upload-artifact@v4
         with:
-          name: model-${{ github.event.inputs.custom_name || github.event.inputs.upstream_branch }}-${{ github.run_number }}
+          name: model-${{ env.MODEL_NAME }}-${{ github.run_number }}
           path: ${{ env.OUTPUT_DIR }}
+
+      - name: Re-enable powersave
+        if: always()
+        run: |
+          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
diff --git a/.github/workflows/sunnypilot-build-prebuilt.yaml b/.github/workflows/sunnypilot-build-prebuilt.yaml
index c7c72919c5..6cd5023a17 100644
--- a/.github/workflows/sunnypilot-build-prebuilt.yaml
+++ b/.github/workflows/sunnypilot-build-prebuilt.yaml
@@ -8,28 +8,45 @@ env:
   PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
   
   # Branch configurations
-  MASTER_BRANCH: "master"
-  MASTER_NEW_BRANCH: "master-new"
-  DEV_C3_SOURCE_BRANCH: "master-dev-c3-new"
+  STAGING_C3_SOURCE_BRANCH: ${{ vars.STAGING_C3_SOURCE_BRANCH || 'master-new' }} # vars are set on repo settings.
+  DEV_C3_SOURCE_BRANCH: ${{ vars.DEV_C3_SOURCE_BRANCH || 'master-dev-c3-new' }} # vars are set on repo settings.
   
   # Target branch configurations
-  STAGING_TARGET_BRANCH: "staging-c3-new"
-  DEV_TARGET_BRANCH: "dev-c3-new"
-  RELEASE_TARGET_BRANCH: "release-c3-new"
+  STAGING_TARGET_BRANCH: ${{ vars.STAGING_TARGET_BRANCH || 'staging-c3-new' }} # vars are set on repo settings.
+  DEV_TARGET_BRANCH: ${{ vars.DEV_TARGET_BRANCH || 'dev-c3-new' }} # vars are set on repo settings.
+  RELEASE_TARGET_BRANCH: ${{ vars.RELEASE_TARGET_BRANCH || 'release-c3-new' }} # vars are set on repo settings.
+  
+  # Runtime configuration
+  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
 
 on:
   push:
     branches: [ master, master-new, master-dev-c3-new ]
     tags: [ '*' ]
+  pull_request_target:
+    types: [ labeled ]
   workflow_dispatch:
     inputs:
-      extra_version:
-        description: 'Extra version identifier'
+      wait_for_tests:
+        description: 'Wait for selfdrive_tests to finish'
         required: false
-        default: ''
+        type: boolean
+        default: false
 
 jobs:
+  validate_tests:
+    runs-on: ubuntu-24.04
+    if: ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) || contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    steps:
+      - uses: actions/checkout@v4
+      - name: Wait for Tests
+        uses: ./.github/workflows/wait-for-action # Path to where you place the action
+        with:
+          workflow: selfdrive_tests.yaml # The workflow file to monitor
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+
   build:
+    needs: [ validate_tests ]
     concurrency:
       group: build-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: false
@@ -39,54 +56,74 @@ jobs:
       version: ${{ steps.set-env.outputs.version }}
       extra_version_identifier: ${{ steps.set-env.outputs.extra_version_identifier }}
       commit_sha: ${{ steps.set-env.outputs.commit_sha }}
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
         with:
           submodules: recursive
+          ref: ${{ env.SOURCE_BRANCH }}
+          repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
       - run: git lfs pull
 
       - name: Cache SCons
         uses: actions/cache@v4
         with:
           path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-${{ github.sha }}
+          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
           # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.) 
           #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
           restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
+            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_C3_SOURCE_BRANCH }}
             scons-${{ runner.os }}-${{ runner.arch }}
 
-      - name: Set Configuration
+      - name: Set Feature Branch Prebuilt Configuration
+        id: set_feature_configuration
+        if: (
+              !(env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH) &&
+              !(env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH) &&
+              !(startsWith(github.ref, 'refs/tags/'))
+            )
         run: |
-          if [[ "${{ github.ref_name }}" == "${{ env.DEV_C3_SOURCE_BRANCH }}" ]]; then
-            # Dev configuration
-            echo "BRANCH_TYPE=dev" >> $GITHUB_ENV
-            echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
-            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-            echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
-          
-          elif [[ "${{ github.ref_name }}" == "${{ env.MASTER_BRANCH }}" || "${{ github.ref_name }}" == "${{ env.MASTER_NEW_BRANCH }}" ]]; then
-            # Master configuration
-            echo "BRANCH_TYPE=master" >> $GITHUB_ENV
-            echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
-            echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
-            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
-          
-          elif [[ "${{ github.ref }}" == refs/tags/* ]]; then
-            # Tag configuration
-            echo "BRANCH_TYPE=tag" >> $GITHUB_ENV
-            echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
-            echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
-            echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
-          
-          else
-            # Feature branch configuration
-            echo "BRANCH_TYPE=dispatch" >> $GITHUB_ENV
-            echo "NEW_BRANCH=${{ github.head_ref || github.ref_name }}-prebuilt" >> $GITHUB_ENV
-            echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
-          fi
+          echo "NEW_BRANCH=${{ env.SOURCE_BRANCH }}${{ github.event.pull_request.head.repo.fork && '-fork' || '' }}-prebuilt" >> $GITHUB_ENV
+          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+
+      - name: Set dev-c3-new prebuilt Configuration
+        id: set_dev_configuration
+        if: (
+                steps.set_feature_configuration.outcome == 'skipped' && 
+                env.SOURCE_BRANCH == env.DEV_C3_SOURCE_BRANCH
+            )
+        run: |
+          echo "NEW_BRANCH=${{ env.DEV_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "VERSION=$(date '+%Y.%m.%d')-${{ github.run_number }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=${{ github.run_number }}" >> $GITHUB_ENV
+
+      - name: Set staging-c3-new prebuilt Configuration
+        id: set_staging_configuration
+        if: (
+                steps.set_feature_configuration.outcome == 'skipped' &&
+                !contains(github.event_name, 'pull_request') &&
+                steps.set_dev_configuration.outcome == 'skipped' && 
+                (env.SOURCE_BRANCH == env.STAGING_C3_SOURCE_BRANCH)
+            )
+        run: |
+          echo "NEW_BRANCH=${{ env.STAGING_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=staging" >> $GITHUB_ENV
+          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-staging" >> $GITHUB_ENV
+
+      - name: Set release-c3-new prebuilt Configuration
+        id: set_tag_configuration
+        if: (
+              steps.set_feature_configuration.outcome == 'skipped' &&
+              !contains(github.event_name, 'pull_request') &&
+              steps.set_staging_configuration.outcome == 'skipped' &&
+              startsWith(github.ref, 'refs/tags/')
+            )
+        run: |
+          echo "NEW_BRANCH=${{ env.RELEASE_TARGET_BRANCH }}" >> $GITHUB_ENV
+          echo "EXTRA_VERSION_IDENTIFIER=release" >> $GITHUB_ENV
+          echo "VERSION=$(cat common/version.h | grep COMMA_VERSION | sed -e 's/[^0-9|.]//g')-release" >> $GITHUB_ENV
 
       - name: Set environment variables
         id: set-env
@@ -190,14 +227,15 @@ jobs:
         run: |
           PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
 
+
   publish:
     concurrency:
       group: publish-${{ github.head_ref || github.ref_name }}
       cancel-in-progress: true
-    if: ${{ github.event_name != 'pull_request' || github.event_name == 'pull_request' && github.event.pull_request.draft }} 
-    needs: build
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
+    needs: [ build ]
     runs-on: ubuntu-24.04
-    environment: ${{ contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) && 'auto-deploy' || 'feature-branch' }}
+    environment: ${{ (contains(fromJSON(vars.AUTO_DEPLOY_PREBUILT_BRANCHES), github.head_ref || github.ref_name) || contains(github.event.pull_request.labels.*.name, 'prebuilt')) && 'auto-deploy' || 'feature-branch' }}
     steps:
       - uses: actions/checkout@v4
 
@@ -241,7 +279,7 @@ jobs:
   notify:
     needs: [ build, publish ]
     runs-on: ubuntu-24.04
-    if: success()
+    if: ${{ (always() && !failure() && !cancelled()) && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
     steps:
       - uses: actions/checkout@v4
       - name: Setup Alpine Linux environment
@@ -251,12 +289,12 @@ jobs:
 
       - name: Send Discord Notification
         env:
-          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), github.head_ref || github.ref_name) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
+          DISCORD_WEBHOOK: ${{ contains(fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES), env.SOURCE_BRANCH) && secrets.DISCORD_DEV_FEEDBACK_CHANNEL_WEBHOOK || secrets.DISCORD_DEV_PRIVATE_CHANNEL_WEBHOOK }}
         run: |
           TEMPLATE='${{ vars.DISCORD_GENERAL_UPDATE_NOTICE }}'
           export EXTRA_VERSION_IDENTIFIER="${{ needs.build.outputs.extra_version_identifier }}"
           export VERSION="${{ needs.build.outputs.version }}"
-          export branch_name=${{ github.head_ref || github.ref_name }}
+          export branch_name=${{ env.SOURCE_BRANCH }}
           export new_branch=${{ needs.build.outputs.new_branch }}
           export extra_version_identifier=${{ needs.build.outputs.extra_version_identifier || github.run_number}}
           echo ${TEMPLATE} | envsubst | jq -c '.' | tee payload.json
@@ -268,4 +306,27 @@ jobs:
           echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/DEV_FEEDBACK_NOTIFICATION_BRANCHES"
           echo "2. Current value: ${{ vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES }}"
           echo "3. Update as needed (JSON array with no spaces)"
-        shell: alpine.sh {0}
\ No newline at end of file
+        shell: alpine.sh {0}
+  
+  manage-pr-labels:
+    name: Remove prebuilt label
+    runs-on: ubuntu-latest
+    if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
+    env:
+      LABEL: prebuilt
+    steps:
+      - name: Remove trust-fork-pr label if present
+        uses: actions/github-script@v7
+        with:
+          github-token: ${{ secrets.GITHUB_TOKEN }}
+          script: |
+            const prNumber = context.payload.pull_request.number;
+
+            await github.rest.issues.removeLabel({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              issue_number: prNumber,
+              name: process.env.LABEL
+            });
+
+            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);
diff --git a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
index 1246b96780..031be6a50d 100644
--- a/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
+++ b/.github/workflows/sunnypilot-master-dev-c3-prep.yaml
@@ -4,7 +4,6 @@ env:
   DEFAULT_SOURCE_BRANCH: "master-new"
   DEFAULT_TARGET_BRANCH: "master-dev-c3-new"
   PR_LABEL: "dev-c3"
-  TRUST_FORK_PR_LABEL: "trust-fork-pr"
   LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
   LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
 
@@ -14,7 +13,7 @@ on:
       - master
       - master-new    
   pull_request_target:
-    types: [ synchronize, opened, labeled ]  
+    types: [ labeled ]  
     branches:    
       - 'master'        
       - 'master-new'            
@@ -30,66 +29,23 @@ on:
         required: true
         default: 'master-dev-c3-new'
         type: string
+      cancel_in_progress:
+        description: 'Cancel any in-progress runs of this workflow'
+        required: false
+        default: true
+        type: boolean
+
+concurrency:
+  group: ${{ github.workflow }}
+  cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
 
 jobs:
-  manage-pr-labels:
-    name: Remove trust-fork-pr label if present
-    runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (github.event_name == 'pull_request_target' && github.event.action == 'synchronize'))
-    steps:
-      - name: Check if PR has dev-c3 label
-        id: check-labels
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber
-            });
-            
-            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
-            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-            
-            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
-            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-            
-            core.setOutput('has-dev-c3', hasDevC3Label ? 'true' : 'false');
-            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
-
-      - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev-c3 == 'true' && steps.check-labels.outputs.has-trust == 'true'
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.TRUST_FORK_PR_LABEL
-            });
-            
-            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-            
-            // Add a comment to the PR
-            await github.rest.issues.createComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
-            });
-
   reset-and-squash:
     runs-on: ubuntu-latest
     if: (
             (github.event_name == 'workflow_dispatch')
             || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-            || (github.event_name == 'pull_request_target' && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+            || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
         )
     steps:
       - uses: actions/checkout@v4
@@ -101,7 +57,7 @@ jobs:
         uses: ./.github/workflows/wait-for-action # Path to where you place the action
         if: (
                 (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-                || (github.event_name == 'pull_request_target' && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
+                || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == 'dev-c3' || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, 'dev-c3'))))
             )
         with:
           workflow: selfdrive_tests.yaml # The workflow file to monitor
diff --git a/.github/workflows/wait-for-action/action.yaml b/.github/workflows/wait-for-action/action.yaml
index 574ef15186..9cde4cf076 100644
--- a/.github/workflows/wait-for-action/action.yaml
+++ b/.github/workflows/wait-for-action/action.yaml
@@ -40,5 +40,13 @@ runs:
         RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
         echo "Watching run ID: $RUN_ID"
         gh run watch "$RUN_ID"
+
+        CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion')
+        echo "Run concluded with: $CONCLUSION"
+
+        if [[ "$CONCLUSION" != "success" ]]; then
+          echo "❌ Workflow run failed with conclusion: $CONCLUSION"
+          exit 1
+        fi
       env:
         GITHUB_TOKEN: ${{ inputs.github-token }}
diff --git a/.gitignore b/.gitignore
index 0bb5fc38e0..b556885632 100644
--- a/.gitignore
+++ b/.gitignore
@@ -47,10 +47,8 @@ selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
 cereal/messaging/bridge
-selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
-selfdrive/ui/translations/alerts_generated.h
 selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
diff --git a/.gitmodules b/.gitmodules
index b9f0336a0e..af2dea6495 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -15,7 +15,7 @@
   url = https://github.com/commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git
 [submodule "sunnypilot/neural_network_data"]
   path = sunnypilot/neural_network_data
   url = https://github.com/sunnypilot/neural-network-data.git
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 44d8d95e95..04fb589bf6 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -60,6 +60,7 @@ ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
 ENV QTWEBENGINE_DISABLE_SANDBOX=1
 
 RUN dbus-uuidgen > /etc/machine-id
+RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
 
 ARG USER=batman
 ARG USER_UID=1001
diff --git a/Jenkinsfile b/Jenkinsfile
index b1a0746ea3..a14bf59299 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -268,6 +268,8 @@ node {
           step("test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"),
           step("test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", [diffPaths: ["panda", "selfdrive/pandad/"]]),
           step("test amp", "pytest system/hardware/tici/tests/test_amplifier.py"),
+          // TODO: enable once new AGNOS is available
+          // step("test esim", "pytest system/hardware/tici/tests/test_esim.py"),
           step("test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py", [diffPaths: ["system/qcomgpsd/"]]),
         ])
       },
diff --git a/RELEASES.md b/RELEASES.md
index ced7e3d4fc..91652d6dc7 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,10 +1,16 @@
-Version 0.9.9 (2025-04-30)
+Version 0.9.10 (2025-06-30)
+========================
+
+Version 0.9.9 (2025-05-23)
 ========================
 * New driving model
+  * New training architecture using parts from MLSIM
+* Steering actuation delay is now learned online
+* Ford Escape 2023-24 support thanks to incognitojam!
+* Ford Kuga 2024 support thanks to incognitojam!
+* Hyundai Nexo 2021 support thanks to sunnyhaibin!
 * Tesla Model 3 and Y support thanks to lukasloetkolben!
-* Coming soon
-  * New driving model supervised by MLSIM
-  * An online learner for steering actuator delay
+* Lexus RC 2023 support thanks to nelsonjchen!
 
 Version 0.9.8 (2025-02-28)
 ========================
diff --git a/SConstruct b/SConstruct
index 7a2bdc5b94..77c8525896 100644
--- a/SConstruct
+++ b/SConstruct
@@ -55,11 +55,6 @@ AddOption('--external-sconscript',
           dest='external_sconscript',
           help='add an external SConscript to the build')
 
-AddOption('--pc-thneed',
-          action='store_true',
-          dest='pc_thneed',
-          help='use thneed on pc')
-
 AddOption('--mutation',
           action='store_true',
           help='generate mutation-ready code')
@@ -309,12 +304,7 @@ else:
   elif arch != "Darwin":
     qt_libs += ["GL"]
 qt_env['QT3DIR'] = qt_env['QTDIR']
-
-# compatibility for older SCons versions
-try:
-  qt_env.Tool('qt3')
-except SCons.Errors.UserError:
-  qt_env.Tool('qt')
+qt_env.Tool('qt3')
 
 qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
 qt_flags = [
@@ -373,14 +363,13 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/proclogd/SConscript',
   'system/ubloxd/SConscript',
   'system/loggerd/SConscript',
 ])
 if arch != "Darwin":
   SConscript([
-    'system/sensord/SConscript',
     'system/logcatd/SConscript',
+    'system/proclogd/SConscript',
   ])
 
 if arch == "larch64":
diff --git a/cereal/__init__.py b/cereal/__init__.py
index 89c5cf38e3..93f4d77227 100644
--- a/cereal/__init__.py
+++ b/cereal/__init__.py
@@ -1,9 +1,11 @@
 import os
 import capnp
+from importlib.resources import as_file, files
 
-CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
 capnp.remove_import_hook()
 
-log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
-car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
-custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
+with as_file(files("cereal")) as fspath:
+  CEREAL_PATH = fspath.as_posix()
+  log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+  car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
+  custom = capnp.load(os.path.join(CEREAL_PATH, "custom.capnp"))
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 8c23743420..c9e4f3e16d 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -39,20 +39,6 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     sha256 @1 :Text;
   }
 
-  enum Type {
-    drive @0;
-    navigation @1;
-    metadata @2;
-  }
-
-  struct Model {
-    fullName @0 :Text;
-    fileName @1 :Text;
-    downloadUri @2 :DownloadUri;
-    downloadProgress @3 :DownloadProgress;
-    type @4 :Type;
-  }
-
   enum DownloadStatus {
     notDownloading @0;
     downloading @1;
@@ -67,12 +53,36 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     eta @2 :UInt32;
   }
 
+  struct Artifact {
+    fileName @0 :Text;
+    downloadUri @1 :DownloadUri;
+    downloadProgress @2 :DownloadProgress;
+  }
+
+  struct Model {
+    type @0 :Type;
+    artifact @1 :Artifact;  # Main artifact
+    metadata @2 :Artifact;  # Metadata artifact
+
+    enum Type {
+      supercombo @0;
+      navigation @1;
+      vision @2;
+      policy @3;
+    }
+  }
+
   enum Runner {
     snpe @0;
     tinygrad @1;
     stock @2;
   }
 
+  struct Override {
+    key @0 :Text;
+    value @1 :Text;
+  }
+
   struct ModelBundle {
     index @0 :UInt32;
     internalName @1 :Text;
@@ -83,6 +93,9 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
     environment @6 :Text;
     runner @7 :Runner;
     is20hz @8 :Bool;
+    ref @9 :Text;
+    minimumSelectorVersion @10 :UInt32;
+    overrides @11 :List(Override);
   }
 }
 
@@ -137,6 +150,7 @@ struct OnroadEventSP @0xda96579883444c35 {
     hyundaiRadarTracksConfirmed @13;
     experimentalModeSwitched @14;
     wrongCarModeAlertOnly @15;
+    pedalPressedAlertOnly @16;
   }
 }
 
@@ -159,6 +173,12 @@ struct CarParamsSP @0x80ae746ee2596b11 {
 
 struct CarControlSP @0xa5cd762cd951a455 {
   mads @0 :ModularAssistiveDrivingSystem;
+  params @1 :List(Param);
+
+  struct Param {
+    key @0 :Text;
+    value @1 :Text;
+  }
 }
 
 struct BackupManagerSP @0xf98d843bfd7004a3 {
@@ -169,14 +189,14 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
   lastError @4 :Text;
   currentBackup @5 :BackupInfo;
   backupHistory @6 :List(BackupInfo);
-  
+
   enum Status {
     idle @0;
     inProgress @1;
     completed @2;
     failed @3;
   }
-  
+
   struct Version {
     major @0 :UInt16;
     minor @1 :UInt16;
@@ -184,13 +204,13 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
     build @3 :UInt16;
     branch @4 :Text;
   }
-  
+
   struct MetadataEntry {
     key @0 :Text;
     value @1 :Text;
     tags @2 :List(Text);
   }
-  
+
   struct BackupInfo {
     deviceId @0 :Text;
     version @1 :UInt32;
@@ -203,10 +223,16 @@ struct BackupManagerSP @0xf98d843bfd7004a3 {
   }
 }
 
-struct CustomReserved7 @0xb86e6369214c01c8 {
+struct CarStateSP @0xb86e6369214c01c8 {
 }
 
-struct CustomReserved8 @0xf416ec09499d9d19 {
+struct LiveMapDataSP @0xf416ec09499d9d19 {
+  speedLimitValid @0 :Bool;
+  speedLimit @1 :Float32;
+  speedLimitAheadValid @2 :Bool;
+  speedLimitAhead @3 :Float32;
+  speedLimitAheadDistance @4 :Float32;
+  roadName @5 :Text;
 }
 
 struct CustomReserved9 @0xa1680744031fdb2d {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index f2cd5686c9..46d1d25d64 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -48,6 +48,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     preEnableStandstill @12;  # added during pre-enable state with brake
     gasPressedOverride @13;  # added when user is pressing gas with no disengage on gas
     steerOverride @14;
+    steerDisengage @94;  # exits active state
     cruiseDisabled @15;
     speedTooLow @16;
     outOfSpace @17;
@@ -126,6 +127,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     espActive @90;
     personalityChanged @91;
     aeb @92;
+    userFlag @95;
 
     soundsUnavailableDEPRECATED @47;
   }
@@ -488,6 +490,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   # device thermals
   cpuTempC @26 :List(Float32);
   gpuTempC @27 :List(Float32);
+  dspTempC @49 :Float32;
   memoryTempC @28 :Float32;
   nvmeTempC @35 :List(Float32);
   modemTempC @36 :List(Float32);
@@ -1174,6 +1177,8 @@ struct ModelDataV2 {
 
   struct Action {
     desiredCurvature @0 :Float32;
+    desiredAcceleration @1 :Float32;
+    shouldStop @2 :Bool;
   }
 }
 
@@ -2284,6 +2289,7 @@ struct LiveDelayData {
   status @2 :Status;
 
   lateralDelayEstimate @3 :Float32;
+  lateralDelayEstimateStd @5 :Float32;
   points @4 :List(Float32);
 
   enum Status {
@@ -2603,8 +2609,8 @@ struct Event {
     carParamsSP @111 :Custom.CarParamsSP;
     carControlSP @112 :Custom.CarControlSP;
     backupManagerSP @113 :Custom.BackupManagerSP;
-    customReserved7 @114 :Custom.CustomReserved7;
-    customReserved8 @115 :Custom.CustomReserved8;
+    carStateSP @114 :Custom.CarStateSP;
+    liveMapDataSP @115 :Custom.LiveMapDataSP;
     customReserved9 @116 :Custom.CustomReserved9;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 8ad956b61b..b03285f80a 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -145,12 +145,16 @@ class SubMaster:
     self.updated = {s: False for s in services}
     self.recv_time = {s: 0. for s in services}
     self.recv_frame = {s: 0 for s in services}
-    self.alive = {s: False for s in services}
-    self.freq_ok = {s: False for s in services}
     self.sock = {}
     self.data = {}
-    self.valid = {}
-    self.logMonoTime = {}
+    self.logMonoTime = {s: 0 for s in services}
+
+    # zero-frequency / on-demand services are always alive and presumed valid; all others must pass checks
+    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in services}
+    self.static_freq_services = set(s for s in services if not on_demand[s])
+    self.alive = {s: on_demand[s] for s in services}
+    self.freq_ok = {s: on_demand[s] for s in services}
+    self.valid = {s: on_demand[s] for s in services}
 
     self.freq_tracker: Dict[str, FrequencyTracker] = {}
     self.poller = Poller()
@@ -177,8 +181,6 @@ class SubMaster:
         data = new_message(s, 0) # lists
 
       self.data[s] = getattr(data.as_reader(), s)
-      self.logMonoTime[s] = 0
-      self.valid[s] = False
       self.freq_tracker[s] = FrequencyTracker(SERVICE_LIST[s].frequency, self.update_freq, s == poll)
 
   def __getitem__(self, s: str) -> capnp.lib.capnp._DynamicStructReader:
@@ -215,14 +217,10 @@ class SubMaster:
       self.logMonoTime[s] = msg.logMonoTime
       self.valid[s] = msg.valid
 
-    for s in self.services:
-      if SERVICE_LIST[s].frequency > 1e-5 and not self.simulation:
-        # alive if delay is within 10x the expected frequency
-        self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency)
-        self.freq_ok[s] = self.freq_tracker[s].valid
-      else:
-        self.freq_ok[s] = True
-        self.alive[s] = self.seen[s] if self.simulation else True
+    for s in self.static_freq_services:
+      # alive if delay is within 10x the expected frequency; checks relaxed in simulator
+      self.alive[s] = (cur_time - self.recv_time[s]) < (10. / SERVICE_LIST[s].frequency) or (self.seen[s] and self.simulation)
+      self.freq_ok[s] = self.freq_tracker[s].valid or self.simulation
 
   def all_alive(self, service_list: Optional[List[str]] = None) -> bool:
     return all(self.alive[s] for s in (service_list or self.services) if s not in self.ignore_alive)
diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py
index e9bc7a85cb..e47e713393 100644
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/cereal/messaging/tests/test_pub_sub_master.py
@@ -6,6 +6,7 @@ import cereal.messaging as messaging
 from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
                                                   random_bytes, random_carstate, assert_carstate, \
                                                   zmq_sleep
+from cereal.services import SERVICE_LIST
 
 
 class TestSubMaster:
@@ -26,7 +27,9 @@ class TestSubMaster:
     sm = messaging.SubMaster(socks)
     assert sm.frame == -1
     assert not any(sm.updated.values())
-    assert not any(sm.alive.values())
+    assert not any(sm.seen.values())
+    on_demand = {s: SERVICE_LIST[s].frequency <= 1e-5 for s in sm.services}
+    assert all(sm.alive[s] == sm.valid[s] == sm.freq_ok[s] == on_demand[s] for s in sm.services)
     assert all(t == 0. for t in sm.recv_time.values())
     assert all(f == 0 for f in sm.recv_frame.values())
     assert all(t == 0 for t in sm.logMonoTime.values())
@@ -83,6 +86,7 @@ class TestSubMaster:
         "cameraOdometry": (20, 10),
         "liveCalibration": (4, 4),
         "carParams": (None, None),
+        "userFlag": (None, None),
       }
 
       for service, (max_freq, min_freq) in checks.items():
diff --git a/cereal/services.py b/cereal/services.py
index a5ef1e08f7..3e72041b72 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -36,6 +36,7 @@ _services: dict[str, tuple] = {
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
   "liveTorqueParameters": (True, 4., 1),
+  "liveDelay": (True, 4., 1),
   "androidLog": (True, 0.),
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
@@ -82,6 +83,8 @@ _services: dict[str, tuple] = {
   "onroadEventsSP": (True, 1., 1),
   "carParamsSP": (True, 0.02, 1),
   "carControlSP": (True, 100., 10),
+  "carStateSP": (True, 100., 10),
+  "liveMapDataSP": (True, 1., 1),
 
   # debug
   "uiDebug": (True, 0., 1),
diff --git a/common/SConscript b/common/SConscript
index 829db6eeec..3cdb6fc5a2 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -4,14 +4,10 @@ common_libs = [
   'params.cc',
   'swaglog.cc',
   'util.cc',
-  'i2c.cc',
   'watchdog.cc',
   'ratekeeper.cc'
 ]
 
-if arch != "Darwin":
-  common_libs.append('gpio.cc')
-
 _common = env.Library('common', common_libs, LIBS="json11")
 
 files = [
diff --git a/common/ffi_wrapper.py b/common/ffi_wrapper.py
deleted file mode 100644
index 01741c6f42..0000000000
--- a/common/ffi_wrapper.py
+++ /dev/null
@@ -1,8 +0,0 @@
-import platform
-
-
-def suffix():
-  if platform.system() == "Darwin":
-    return ".dylib"
-  else:
-    return ".so"
diff --git a/common/filter_simple.py b/common/filter_simple.py
index 0ec7a51562..9ea6fe3070 100644
--- a/common/filter_simple.py
+++ b/common/filter_simple.py
@@ -1,5 +1,4 @@
 class FirstOrderFilter:
-  # first order filter
   def __init__(self, x0, rc, dt, initialized=True):
     self.x = x0
     self.dt = dt
diff --git a/common/gpio.cc b/common/gpio.cc
deleted file mode 100644
index dd7ba34b6d..0000000000
--- a/common/gpio.cc
+++ /dev/null
@@ -1,84 +0,0 @@
-#include "common/gpio.h"
-
-#include <string>
-
-#ifdef __APPLE__
-int gpio_init(int pin_nr, bool output) {
-  return 0;
-}
-
-int gpio_set(int pin_nr, bool high) {
-  return 0;
-}
-
-int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
-  return 0;
-}
-
-#else
-
-#include <fcntl.h>
-#include <unistd.h>
-
-#include <cstring>
-#include <linux/gpio.h>
-#include <sys/ioctl.h>
-
-#include "common/util.h"
-#include "common/swaglog.h"
-
-int gpio_init(int pin_nr, bool output) {
-  char pin_dir_path[50];
-  int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
-                           "/sys/class/gpio/gpio%d/direction", pin_nr);
-  if (pin_dir_path_len <= 0) {
-    return -1;
-  }
-  const char *value = output ? "out" : "in";
-  return util::write_file(pin_dir_path, (void*)value, strlen(value));
-}
-
-int gpio_set(int pin_nr, bool high) {
-  char pin_val_path[50];
-  int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
-                           "/sys/class/gpio/gpio%d/value", pin_nr);
-  if (pin_val_path_len <= 0) {
-    return -1;
-  }
-  return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
-}
-
-int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
-
-  // Assumed that all interrupt pins are unexported and rights are given to
-  // read from gpiochip0.
-  std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
-  int fd = open(gpiochip_path.c_str(), O_RDONLY);
-  if (fd < 0) {
-    LOGE("Error opening gpiochip0 fd");
-    return -1;
-  }
-
-  // Setup event
-  struct gpioevent_request rq;
-  rq.lineoffset = pin_nr;
-  rq.handleflags = GPIOHANDLE_REQUEST_INPUT;
-
-  /* Requesting both edges as the data ready pulse from the lsm6ds sensor is
-     very short(75us) and is mostly detected as falling edge instead of rising.
-     So if it is detected as rising the following falling edge is skipped. */
-  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
-
-  strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
-  int ret = util::safe_ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
-  if (ret == -1) {
-    LOGE("Unable to get line event from ioctl : %s", strerror(errno));
-    close(fd);
-    return -1;
-  }
-
-  close(fd);
-  return rq.fd;
-}
-
-#endif
diff --git a/common/gpio.h b/common/gpio.h
deleted file mode 100644
index 89cdedd66c..0000000000
--- a/common/gpio.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#pragma once
-
-// Pin definitions
-#ifdef QCOM2
-  #define GPIO_HUB_RST_N        30
-  #define GPIO_UBLOX_RST_N      32
-  #define GPIO_UBLOX_SAFEBOOT_N 33
-  #define GPIO_GNSS_PWR_EN      34 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
-  #define GPIO_STM_RST_N        124
-  #define GPIO_STM_BOOT0        134
-  #define GPIO_BMX_ACCEL_INT    21
-  #define GPIO_BMX_GYRO_INT     23
-  #define GPIO_BMX_MAGN_INT     87
-  #define GPIO_LSM_INT          84
-  #define GPIOCHIP_INT          0
-#else
-  #define GPIO_HUB_RST_N        0
-  #define GPIO_UBLOX_RST_N      0
-  #define GPIO_UBLOX_SAFEBOOT_N 0
-  #define GPIO_GNSS_PWR_EN      0 /* SCHEMATIC LABEL: GPIO_UBLOX_PWR_EN */
-  #define GPIO_STM_RST_N        0
-  #define GPIO_STM_BOOT0        0
-  #define GPIO_BMX_ACCEL_INT    0
-  #define GPIO_BMX_GYRO_INT     0
-  #define GPIO_BMX_MAGN_INT     0
-  #define GPIO_LSM_INT          0
-  #define GPIOCHIP_INT          0
-#endif
-
-int gpio_init(int pin_nr, bool output);
-int gpio_set(int pin_nr, bool high);
-
-int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
diff --git a/common/gpio.py b/common/gpio.py
index 66b2adf438..8f025a2daf 100644
--- a/common/gpio.py
+++ b/common/gpio.py
@@ -1,4 +1,6 @@
 import os
+import fcntl
+import ctypes
 from functools import cache
 
 def gpio_init(pin: int, output: bool) -> None:
@@ -52,3 +54,36 @@ def get_irqs_for_action(action: str) -> list[str]:
       if irq.isdigit() and action in get_irq_action(irq):
         ret.append(irq)
   return ret
+
+# *** gpiochip ***
+
+class gpioevent_data(ctypes.Structure):
+  _fields_ = [
+    ("timestamp", ctypes.c_uint64),
+    ("id", ctypes.c_uint32),
+  ]
+
+class gpioevent_request(ctypes.Structure):
+  _fields_ = [
+    ("lineoffset", ctypes.c_uint32),
+    ("handleflags", ctypes.c_uint32),
+    ("eventflags", ctypes.c_uint32),
+    ("label", ctypes.c_char * 32),
+    ("fd", ctypes.c_int)
+  ]
+
+def gpiochip_get_ro_value_fd(label: str, gpiochip_id: int, pin: int) -> int:
+  GPIOEVENT_REQUEST_BOTH_EDGES = 0x3
+  GPIOHANDLE_REQUEST_INPUT = 0x1
+  GPIO_GET_LINEEVENT_IOCTL = 0xc030b404
+
+  rq = gpioevent_request()
+  rq.lineoffset = pin
+  rq.handleflags = GPIOHANDLE_REQUEST_INPUT
+  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES
+  rq.label = label.encode('utf-8')[:31] + b'\0'
+
+  fd = os.open(f"/dev/gpiochip{gpiochip_id}", os.O_RDONLY)
+  fcntl.ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, rq)
+  os.close(fd)
+  return int(rq.fd)
diff --git a/common/i2c.cc b/common/i2c.cc
deleted file mode 100644
index 3d6c79efc5..0000000000
--- a/common/i2c.cc
+++ /dev/null
@@ -1,92 +0,0 @@
-#include "common/i2c.h"
-
-#include <fcntl.h>
-#include <sys/ioctl.h>
-#include <unistd.h>
-
-#include <cassert>
-#include <cstdio>
-#include <stdexcept>
-
-#include "common/swaglog.h"
-#include "common/util.h"
-
-#define UNUSED(x) (void)(x)
-
-#ifdef QCOM2
-// TODO: decide if we want to install libi2c-dev everywhere
-extern "C" {
-  #include <linux/i2c-dev.h>
-  #include <i2c/smbus.h>
-}
-
-I2CBus::I2CBus(uint8_t bus_id) {
-  char bus_name[20];
-  snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
-
-  i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
-  if (i2c_fd < 0) {
-    throw std::runtime_error("Failed to open I2C bus");
-  }
-}
-
-I2CBus::~I2CBus() {
-  if (i2c_fd >= 0) {
-    close(i2c_fd);
-  }
-}
-
-int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
-  std::lock_guard lk(m);
-
-  int ret = 0;
-
-  ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
-  if (ret < 0) { goto fail; }
-
-  ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
-  if ((ret < 0) || (ret != len)) { goto fail; }
-
-fail:
-  return ret;
-}
-
-int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
-  std::lock_guard lk(m);
-
-  int ret = 0;
-
-  ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
-  if (ret < 0) { goto fail; }
-
-  ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
-  if (ret < 0) { goto fail; }
-
-fail:
-  return ret;
-}
-
-#else
-
-I2CBus::I2CBus(uint8_t bus_id) {
-  UNUSED(bus_id);
-  i2c_fd = -1;
-}
-
-I2CBus::~I2CBus() {}
-
-int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
-  UNUSED(device_address);
-  UNUSED(register_address);
-  UNUSED(buffer);
-  UNUSED(len);
-  return -1;
-}
-
-int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t data) {
-  UNUSED(device_address);
-  UNUSED(register_address);
-  UNUSED(data);
-  return -1;
-}
-#endif
diff --git a/common/i2c.h b/common/i2c.h
deleted file mode 100644
index ca0d4635b8..0000000000
--- a/common/i2c.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#pragma once
-
-#include <cstdint>
-#include <mutex>
-
-#include <sys/types.h>
-
-class I2CBus {
-  private:
-    int i2c_fd;
-    std::mutex m;
-
-  public:
-    I2CBus(uint8_t bus_id);
-    ~I2CBus();
-
-    int read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len);
-    int set_register(uint8_t device_address, uint register_address, uint8_t data);
-};
diff --git a/common/logging_extra.py b/common/logging_extra.py
index e921b140c2..ceaf083cd5 100644
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -199,7 +199,6 @@ class SwagLogger(logging.Logger):
       co = f.f_code
       filename = os.path.normcase(co.co_filename)
 
-      # TODO: is this pylint exception correct?
       if filename == _srcfile:
         f = f.f_back
         continue
diff --git a/common/params.cc b/common/params.cc
index 94fbfa4a71..0a8821c37a 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -142,7 +142,7 @@ int Params::put(const char* key, const char* value, size_t value_size) {
     }
 
     // fsync to force persist the changes.
-    if ((result = fsync(tmp_fd)) < 0) break;
+    if ((result = HANDLE_EINTR(fsync(tmp_fd))) < 0) break;
 
     FileLock file_lock(params_path + "/.lock");
 
diff --git a/common/params_keys.h b/common/params_keys.h
index 2eef348720..02dd8fee85 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -34,7 +34,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
+    {"AlphaLongitudinalEnabled", PERSISTENT | DEVELOPMENT_ONLY | BACKUP},
     {"ExperimentalMode", PERSISTENT | BACKUP},
     {"ExperimentalModeConfirmed", PERSISTENT | BACKUP},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -71,7 +71,9 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
     {"LastUpdateTime", PERSISTENT},
+    {"LiveDelay", PERSISTENT | BACKUP},
     {"LiveParameters", PERSISTENT},
+    {"LiveParametersV2", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LocationFilterInitialState", PERSISTENT},
     {"LongitudinalManeuverMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
@@ -91,6 +93,7 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"OnroadCycleRequested", CLEAR_ON_MANAGER_START},
     {"OpenpilotEnabledToggle", PERSISTENT | BACKUP},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSomResetTriggered", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
@@ -122,21 +125,27 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"ApiCache_DriveStats", PERSISTENT},
     {"AutoLaneChangeBsmDelay", PERSISTENT},
     {"AutoLaneChangeTimer", PERSISTENT},
+    {"BlinkerMinLateralControlSpeed", PERSISTENT | BACKUP},
+    {"BlinkerPauseLateralControl", PERSISTENT | BACKUP},
     {"CarParamsSP", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsSPCache", CLEAR_ON_MANAGER_START},
     {"CarParamsSPPersistent", PERSISTENT},
     {"CarPlatformBundle", PERSISTENT},
+    {"CustomAccIncrementsEnabled", PERSISTENT | BACKUP},
+    {"CustomAccLongPressIncrement", PERSISTENT | BACKUP},
+    {"CustomAccShortPressIncrement", PERSISTENT | BACKUP},
+    {"DeviceBootMode", PERSISTENT | BACKUP},
     {"EnableGithubRunner", PERSISTENT | BACKUP},
     {"MaxTimeOffroad", PERSISTENT | BACKUP},
+    {"Brightness", PERSISTENT | BACKUP},
     {"ModelRunnerTypeCache", CLEAR_ON_ONROAD_TRANSITION},
     {"OffroadMode", CLEAR_ON_MANAGER_START},
-    {"OffroadMode_Status", CLEAR_ON_MANAGER_START},
     {"QuietMode", PERSISTENT | BACKUP},
 
     // MADS params
     {"Mads", PERSISTENT | BACKUP},
     {"MadsMainCruiseAllowed", PERSISTENT | BACKUP},
-    {"MadsPauseLateralOnBrake", PERSISTENT | BACKUP},
+    {"MadsSteeringMode", PERSISTENT | BACKUP},
     {"MadsUnifiedEngagementMode", PERSISTENT | BACKUP},
 
     // Model Manager params
@@ -162,10 +171,31 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
     {"BackupManager_RestoreVersion", PERSISTENT},
 
     // sunnypilot car specific params
-    {"HyundaiRadarTracks", PERSISTENT},
-    {"HyundaiRadarTracksConfirmed", PERSISTENT},
-    {"HyundaiRadarTracksPersistent", PERSISTENT},
-    {"HyundaiRadarTracksToggle", PERSISTENT},
+    {"HyundaiLongitudinalTuning", PERSISTENT},
 
     {"DynamicExperimentalControl", PERSISTENT},
+    {"BlindSpot", PERSISTENT | BACKUP},
+
+    // model panel params
+    {"LagdToggle", PERSISTENT | BACKUP},
+
+    // mapd
+    {"MapAdvisorySpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
+    {"MapdVersion", PERSISTENT},
+    {"MapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
+    {"NextMapSpeedLimit", CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_OSMUpdateRequired", CLEAR_ON_MANAGER_START},
+    {"OsmDbUpdatesCheck", CLEAR_ON_MANAGER_START},  // mapd database update happens with device ON, reset on boot
+    {"OSMDownloadBounds", PERSISTENT},
+    {"OsmDownloadedDate", PERSISTENT},
+    {"OSMDownloadLocations", PERSISTENT},
+    {"OSMDownloadProgress", CLEAR_ON_MANAGER_START},
+    {"OsmLocal", PERSISTENT},
+    {"OsmLocationName", PERSISTENT},
+    {"OsmLocationTitle", PERSISTENT},
+    {"OsmLocationUrl", PERSISTENT},
+    {"OsmStateName", PERSISTENT},
+    {"OsmStateTitle", PERSISTENT},
+    {"OsmWayTest", PERSISTENT},
+    {"RoadName", CLEAR_ON_ONROAD_TRANSITION},
 };
diff --git a/common/realtime.py b/common/realtime.py
index 82176a00a6..57926b4c4f 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -1,6 +1,7 @@
 """Utilities for reading real time clocks and keeping soft real time constraints."""
 import gc
 import os
+import sys
 import time
 
 from setproctitle import getproctitle
@@ -28,13 +29,13 @@ class Priority:
 
 
 def set_core_affinity(cores: list[int]) -> None:
-  if not PC:
+  if sys.platform == 'linux' and not PC:
     os.sched_setaffinity(0, cores)
 
 
 def config_realtime_process(cores: int | list[int], priority: int) -> None:
   gc.disable()
-  if not PC:
+  if sys.platform == 'linux' and not PC:
     os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(priority))
   c = cores if isinstance(cores, list) else [cores, ]
   set_core_affinity(c)
diff --git a/common/spinner.py b/common/spinner.py
deleted file mode 100644
index dcf22641c4..0000000000
--- a/common/spinner.py
+++ /dev/null
@@ -1,52 +0,0 @@
-import os
-import subprocess
-from openpilot.common.basedir import BASEDIR
-
-
-class Spinner:
-  def __init__(self):
-    try:
-      self.spinner_proc = subprocess.Popen(["./spinner"],
-                                           stdin=subprocess.PIPE,
-                                           cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                           close_fds=True)
-    except OSError:
-      self.spinner_proc = None
-
-  def __enter__(self):
-    return self
-
-  def update(self, spinner_text: str):
-    if self.spinner_proc is not None:
-      self.spinner_proc.stdin.write(spinner_text.encode('utf8') + b"\n")
-      try:
-        self.spinner_proc.stdin.flush()
-      except BrokenPipeError:
-        pass
-
-  def update_progress(self, cur: float, total: float):
-    self.update(str(round(100 * cur / total)))
-
-  def close(self):
-    if self.spinner_proc is not None:
-      self.spinner_proc.kill()
-      try:
-        self.spinner_proc.communicate(timeout=2.)
-      except subprocess.TimeoutExpired:
-        print("WARNING: failed to kill spinner")
-      self.spinner_proc = None
-
-  def __del__(self):
-    self.close()
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self.close()
-
-
-if __name__ == "__main__":
-  import time
-  with Spinner() as s:
-    s.update("Spinner text")
-    time.sleep(5.0)
-  print("gone")
-  time.sleep(5.0)
diff --git a/common/tests/test_simple_kalman.py b/common/tests/test_simple_kalman.py
index f4a967e58a..e44ac2cc57 100644
--- a/common/tests/test_simple_kalman.py
+++ b/common/tests/test_simple_kalman.py
@@ -24,6 +24,6 @@ class TestSimpleKalman:
     self.kf.set_x([[1.0], [1.0]])
     assert self.kf.x == [[1.0], [1.0]]
 
-  def update_returns_state(self):
+  def test_update_returns_state(self):
     x = self.kf.update(100)
-    assert x == self.kf.x
+    assert x == [i[0] for i in self.kf.x]
diff --git a/common/text_window.py b/common/text_window.py
deleted file mode 100755
index d2762ebf7d..0000000000
--- a/common/text_window.py
+++ /dev/null
@@ -1,63 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import subprocess
-from openpilot.common.basedir import BASEDIR
-
-
-class TextWindow:
-  def __init__(self, text):
-    try:
-      self.text_proc = subprocess.Popen(["./text", text],
-                                        stdin=subprocess.PIPE,
-                                        cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                        close_fds=True)
-    except OSError:
-      self.text_proc = None
-
-  def get_status(self):
-    if self.text_proc is not None:
-      self.text_proc.poll()
-      return self.text_proc.returncode
-    return None
-
-  def __enter__(self):
-    return self
-
-  def close(self):
-    if self.text_proc is not None:
-      self.text_proc.terminate()
-      self.text_proc = None
-
-  def wait_for_exit(self):
-    if self.text_proc is not None:
-      while True:
-        if self.get_status() == 1:
-          return
-        time.sleep(0.1)
-
-  def __del__(self):
-    self.close()
-
-  def __exit__(self, exc_type, exc_value, traceback):
-    self.close()
-
-
-if __name__ == "__main__":
-  text = """Traceback (most recent call last):
-  File "./controlsd.py", line 608, in <module>
-    main()
-  File "./controlsd.py", line 604, in main
-    controlsd_thread(sm, pm, logcan)
-  File "./controlsd.py", line 455, in controlsd_thread
-    1/0
-ZeroDivisionError: division by zero"""
-  print(text)
-
-  with TextWindow(text) as s:
-    for _ in range(100):
-      if s.get_status() == 1:
-        print("Got exit button")
-        break
-      time.sleep(0.1)
-  print("gone")
diff --git a/common/util.py b/common/util.py
index 33885a9024..e6ddb46e7b 100644
--- a/common/util.py
+++ b/common/util.py
@@ -1,3 +1,25 @@
+import os
+import subprocess
+
+def sudo_write(val: str, path: str) -> None:
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+  except Exception:
+    return ""
+
 class MovingAverage:
   def __init__(self, window_size: int):
     self.window_size: int = window_size
diff --git a/common/version.h b/common/version.h
index 6351a5b3ff..67b69da7c7 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.9"
+#define COMMA_VERSION "0.9.10"
diff --git a/common/watchdog.py b/common/watchdog.py
new file mode 100644
index 0000000000..ddb6f744e9
--- /dev/null
+++ b/common/watchdog.py
@@ -0,0 +1,22 @@
+import os
+import time
+import struct
+from openpilot.system.hardware.hw import Paths
+
+WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
+_LAST_KICK = 0.0
+
+def kick_watchdog():
+  global _LAST_KICK
+  current_time = time.monotonic()
+
+  if current_time - _LAST_KICK < 1.0:
+    return
+
+  try:
+    with open(f"{WATCHDOG_FN}{os.getpid()}", 'wb') as f:
+      f.write(struct.pack('<Q', int(current_time * 1e9)))
+      f.flush()
+    _LAST_KICK = current_time
+  except OSError:
+    pass
diff --git a/docs/CARS.md b/docs/CARS.md
index 648c2cb9d8..cdaeb38890 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,328 +4,341 @@
 
 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.
 
-# 302 Supported Cars
+# 312 Supported Cars
 
-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
-|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>||
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
-|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2019-24|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2019-24">Buy Here</a></sub></details>||
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
-|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2021-24|Co-Pilot360 Assist+|openpilot|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<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 2021-24">Buy Here</a></sub></details>||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2020-24">Buy Here</a></sub></details>||
-|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Hybrid 2020-24">Buy Here</a></sub></details>||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|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 Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 2021-23">Buy Here</a></sub></details>||
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|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 Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 Hybrid 2021-23">Buy Here</a></sub></details>||
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
-|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>||
-|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Kuga Plug-in Hybrid 2020-22|Adaptive Cruise Control with Lane Centering|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Ford|Maverick 2022|LARIAT Luxury|openpilot|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>||
-|Ford|Mustang Mach-E 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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=Mustang Mach-E 2021-23">Buy Here</a></sub></details>||
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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=Ranger 2024">Buy Here</a></sub></details>||
-|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>||
-|Genesis|G70 2019-21|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>||
-|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>||
-|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
-|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
-|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>||
-|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (Australia Only) 2022[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>||
-|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 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=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
-|Honda|Fit 2018-20|Honda Sensing|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
-|Honda|Freed 2020|Honda Sensing|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
-|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2019-25|All|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2019-25">Buy Here</a></sub></details>||
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2017-25|Honda Sensing|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2017-25">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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
-|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>||
-|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>||
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
-|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
-|Hyundai|Kona 2022|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 O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|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 O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>||
-|Hyundai|Nexo 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 H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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=Nexo 2021">Buy Here</a></sub></details>||
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
-|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
-|Hyundai|Staria 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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=Staria 2023">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>||
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>||
-|Hyundai|Tucson Plug-in Hybrid 2024[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>||
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2022-24[<sup>5</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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
-|Kia|Carnival (China only) 2023[<sup>5</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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
-|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
-|Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
-|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>||
-|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>||
-|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
-|Kia|K8 Hybrid (with HDA II) 2023[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023-24">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2018">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2022">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>5</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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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|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 D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
-|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
-|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>5</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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Hybrid 2021-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>||
-|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
-|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Lexus|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
-|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
-|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
-|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>||
-|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>||
-|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-24|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-24|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>||
-|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
-|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>12</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>10,12</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>12</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>12</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>12</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>12</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>12</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>12</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>12</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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
-|Tesla|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>||
-|Tesla|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>||
-|Tesla|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>||
-|Tesla|Model Y (with HW4) 2024[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>||
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
-|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR 2021|All|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2021-22|All|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>||
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>||
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
-|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
-|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2022|All|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
-|Toyota|RAV4 2023-25|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-25">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2022|All|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 Hybrid 2023-25|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon Shooting Brake 2020-23|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-24|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-24|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 2019-24|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 2019-24">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 2018-23|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-23|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 2021-23">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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>14</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|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 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,13</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|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|Setup Video|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-18">Buy Here</a></sub></details>|||
+|Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2019">Buy Here</a></sub></details>|||
+|Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-21">Buy Here</a></sub></details>|||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>|||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>|||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>|||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>|||
+|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>|||
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Chrysler|Pacifica Hybrid 2019-24|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2019-24">Buy Here</a></sub></details>|||
+|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>|||
+|Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2021-24|Co-Pilot360 Assist+|openpilot|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<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 2021-24">Buy Here</a></sub></details>|||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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|Escape 2023-24|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 Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 2023-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Ford|Escape Hybrid 2023-24|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 Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 Hybrid 2023-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Ford|Escape Plug-in Hybrid 2023-24|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 Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2020-24">Buy Here</a></sub></details>|||
+|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Hybrid 2020-24">Buy Here</a></sub></details>|||
+|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|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 Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 2021-23">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=MewJc9LYp9M|
+|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|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 Q4 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=F-150 Hybrid 2021-23">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=MewJc9LYp9M|
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga Hybrid 2024|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Hybrid 2024">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga Plug-in Hybrid 2024|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 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Ford|Maverick 2022|LARIAT Luxury|openpilot|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>|||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023-24">Buy Here</a></sub></details>|||
+|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2022">Buy Here</a></sub></details>|||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|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 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
+|Ford|Mustang Mach-E 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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=Mustang Mach-E 2021-23">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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=Ranger 2024">Buy Here</a></sub></details>||https://www.youtube.com/watch?v=uUGkH6C_EQU|
+|Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018">Buy Here</a></sub></details>|||
+|Genesis|G70 2019-21|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2019-21">Buy Here</a></sub></details>|||
+|Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2022-23">Buy Here</a></sub></details>|||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>|||
+|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>|||
+|Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>|||
+|Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>|||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>|||
+|Genesis|GV60 (Performance Trim) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
+|Genesis|GV70 (2.5T Trim, without HDA II) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
+|Genesis|GV70 Electrified (Australia Only) 2022[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
+|Genesis|GV70 Electrified (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>|||
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 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=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic Hatchback Hybrid 2023 (Europe only)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2023 (Europe only)">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid 2025|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback Hybrid 2025">Buy Here</a></sub></details>|||
+|Honda|CR-V 2015-16|Touring Trim|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>|||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>|||
+|Honda|Freed 2020|Honda Sensing|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>|||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2019-25|All|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2019-25">Buy Here</a></sub></details>|||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2017-25|Honda Sensing|openpilot|26 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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2017-25">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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-18">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2019">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-20">Buy Here</a></sub></details>|||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>|||
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona 2022|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 O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2022">Buy Here</a></sub></details>|||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>|||
+|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|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 O connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Nexo 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 H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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=Nexo 2021">Buy Here</a></sub></details>|||
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Cruz 2022-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>|||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Hyundai|Staria 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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=Staria 2023">Buy Here</a></sub></details>|||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>|||
+|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>|||
+|Hyundai|Tucson 2023-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Hybrid 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Plug-in Hybrid 2024[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>|||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Carnival 2022-24[<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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>|||
+|Kia|Carnival (China only) 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 K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>|||
+|Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019-21">Buy Here</a></sub></details>|||
+|Kia|EV6 (Southeast Asia only) 2022-24[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
+|Kia|EV6 (with HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Kia|EV6 (without HDA II) 2022-24[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>|||
+|Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2022-23">Buy Here</a></sub></details>|||
+|Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-24">Buy Here</a></sub></details>|||
+|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Niro EV (with HDA II) 2025[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|Niro EV (without HDA II) 2023-25[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV (without HDA II) 2023-25">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2018">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 2022">Buy Here</a></sub></details>|||
+|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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|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 D connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>|||
+|Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>|||
+|Kia|Sorento Hybrid 2021-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
+|Kia|Sportage 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023-24">Buy Here</a></sub></details>|||
+|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022-23">Buy Here</a></sub></details>|||
+|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>|||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-24">Buy Here</a></sub></details>|||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Lexus|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>|||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>|||
+|Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2023">Buy Here</a></sub></details>|||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>|||
+|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-24">Buy Here</a></sub></details>|||
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-24">Buy Here</a></sub></details>|||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|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 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-25">Buy Here</a></sub></details>|||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>7</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>7</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>7</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>|||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>|||
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1S 2022-24">Buy Here</a></sub></details>||https://youtu.be/uaISd1j7Z4U|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Rivian&model=R1T 2022-24">Buy Here</a></sub></details>||https://youtu.be/uaISd1j7Z4U|
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Fabia 2022-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>13,15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda|Karoq 2019-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda|Kodiaq 2017-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda|Octavia 2015-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda|Octavia RS 2016[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda|Octavia Scout 2017-19[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda|Superb 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2024[<sup>10</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Tesla&model=Model Y (with HW4) 2024">Buy Here</a></sub></details>|||
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>|||
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>|||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>|||
+|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>|||
+|Toyota|C-HR 2021|All|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>|||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
+|Toyota|C-HR Hybrid 2021-22|All|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>12</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>|||
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 2022|All|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2023-25|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2023-25">Buy Here</a></sub></details>|||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
+|Toyota|RAV4 Hybrid 2022|All|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2023-25|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 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 2019-24">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 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<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>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,16</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>10</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>11</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>12</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
-<sup>13</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>14</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
+<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>6</sup>Requires a <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> if not using comma 3X for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>7</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>8</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>9</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>10</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>11</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>12</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>13</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>14</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>15</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma 3X functionality. <br />
+<sup>16</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>17</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
diff --git a/docs/SAFETY.md b/docs/SAFETY.md
index 4b568728a7..18a450a395 100644
--- a/docs/SAFETY.md
+++ b/docs/SAFETY.md
@@ -25,9 +25,9 @@ ensuring two main safety requirements.
    by stepping on the brake pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
    react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits[^1]. 
+   to operate within reasonable limits[^1].
 
-For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
+For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [opendbc/safety/safety](https://github.com/commaai/opendbc/tree/master/opendbc/safety/safety).
 
 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
   not fully meeting the above requirements.
diff --git a/docs/assets/three-back.svg b/docs/assets/three-back.svg
new file mode 100644
index 0000000000..4dfeeeb46a
--- /dev/null
+++ b/docs/assets/three-back.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5245f9458982b608fee67fc689d899ca638a405ff62bf9db5e4978b177ef3e
+size 121394
diff --git a/docs/contributing/roadmap.md b/docs/contributing/roadmap.md
index 7086d85b85..1262017a0b 100644
--- a/docs/contributing/roadmap.md
+++ b/docs/contributing/roadmap.md
@@ -12,7 +12,7 @@ This is the roadmap for the next major openpilot releases. Also check out
 openpilot 0.10 will be the first release with a driving policy trained in
 a [learned simulator](https://youtu.be/EqQNZXqzFSI).
 
-* Driving model trained in a learned simlator
+* Driving model trained in a learned simulator
 * Always-on driver monitoring (behind a toggle)
 * GPS removed from the driving stack
 * 100KB qlogs
diff --git a/docs/how-to/connect-to-comma.md b/docs/how-to/connect-to-comma.md
index 469ef81672..cbaccaae6a 100644
--- a/docs/how-to/connect-to-comma.md
+++ b/docs/how-to/connect-to-comma.md
@@ -32,9 +32,13 @@ For doing development work on device, it's recommended to use [SSH agent forward
 
 ## ADB
 
-In order to use ADB on your device, you'll need to enable it in the device's settings.
+In order to use ADB on your device, you'll need to perform the following steps using the image below for reference:
 
+![comma 3/3x back](../assets/three-back.svg)
+
+* Plug your device into constant power using port 2, letting the device boot up
 * Enable ADB in your device's settings
+* Plug in your device to your PC using port 1
 * Connect to your device
     * `adb shell` over USB
     * `adb connect` over WiFi
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index e8b55ef81b..64f4475dfa 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -20,7 +20,7 @@ source .venv/bin/activate
 
 Then, compile openpilot:
 ```bash
-scons -j8
+scons -j$(nproc)
 ```
 
 ## 2. Run replay
@@ -38,61 +38,77 @@ The openpilot UI should launch and show a replay of the demo route.
 
 If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
 
+
 ## 3. Make the speed blue
 
-Search for “mph” with git grep in the `ui` folder.
+Now let’s update the speed display color in the UI.
+
+Search for the function responsible for rendering UI text:
 ```bash
-$ git grep "mph" selfdrive/ui/
-paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
+git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
 ```
 
-The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
+You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
+
+```cpp
+void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
+  QRect real_rect = p.fontMetrics().boundingRect(text);
+  real_rect.moveCenter({x, y - real_rect.height() / 2});
+
+  p.setPen(QColor(0xff, 0xff, 0xff, alpha));  // <- this sets the speed text color
+  p.drawText(real_rect.x(), real_rect.bottom(), text);
+}
+```
+
+Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
+
+```diff
+- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
++ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
+```
+
+This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
+
+---
+
+## 4. Rebuild the UI
+
+After making changes, rebuild Openpilot so your new UI is compiled:
 ```bash
-$ git diff
-diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
-index 821d95115..cc996eaa1 100644
---- a/selfdrive/ui/paint.cc
-+++ b/selfdrive/ui/paint.cc
-@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
-   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
-   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
-   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
--  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
--  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
-+  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
-+  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
- }
-
- static void ui_draw_vision_event(UIState *s) {
+scons -j$(nproc) && selfdrive/ui/ui
 ```
-
-
-## 4. Rebuild UI, and admire your work
-
-```
-scons -j8 && selfdrive/ui/ui
-```
-
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 
+You should now see the speed displayed in a nice blue shade during the demo replay.
+
+---
+
 ## 5. Push your fork to GitHub
 
-Click fork on GitHub. Then, push with:
+Click **"Fork"** on the [Openpilot GitHub repo](https://github.com/commaai/openpilot). Then push with:
 ```bash
 git remote rm origin
 git remote add origin git@github.com:<your-github-username>/openpilot.git
 git add .
-git commit -m "Make the speed blue."
+git commit -m "Make the speed display blue"
 git push --set-upstream origin master
 ```
 
-## 6. Run your fork on device in your car!
+---
 
-Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
+## 6. Run your fork on your comma device
+
+Uninstall Openpilot through the settings on your device.
+
+Then reinstall using your own GitHub-hosted fork:
 ```
 installer.comma.ai/<your-github-username>/master
 ```
 
-## 7. Admire your work IRL
+---
+
+## 7. Admire your work IRL 🚗💨
+
+You’ve now successfully modified Openpilot’s UI and deployed it to your own car!
 
 ![](https://blog.comma.ai/img/c3_blue_ui.jpg)
diff --git a/launch_env.sh b/launch_env.sh
index aff451e541..29e3e38905 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="11.13"
+  export AGNOS_VERSION="12.3"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/msgq_repo b/msgq_repo
index a144e41d5f..fd7bd0df50 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit a144e41d5ff382177b979bafeab54cf8d39f6f3e
+Subproject commit fd7bd0df50a95dca3f180705721aa1fa300aef0f
diff --git a/opendbc_repo b/opendbc_repo
index d2002787f6..3bd2bba8a7 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit d2002787f60362c4678da24a5bed69f45d17499b
+Subproject commit 3bd2bba8a752738a1d0065f8c9dc1d3bbf471b56
diff --git a/panda b/panda
index 4fab184d5f..5ac4fa5bb0 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 4fab184d5ff609751ab609709c0fdcda1a54a21b
+Subproject commit 5ac4fa5bb051ba942ef7f542590e1070373e9ca6
diff --git a/pyproject.toml b/pyproject.toml
index 0a06540fad..eb4dd2ba0d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -47,6 +47,7 @@ dependencies = [
   # logging
   "pyzmq",
   "sentry-sdk",
+  "xattr", # used in place of 'os.getxattr' for macos compatibility
 
   # athena
   "PyJWT",
@@ -121,7 +122,7 @@ tools = [
 ]
 
 [project.urls]
-Homepage = "https://comma.ai"
+Homepage = "https://github.com/commaai/openpilot"
 
 [build-system]
 requires = ["hatchling"]
@@ -168,9 +169,9 @@ testpaths = [
 [tool.codespell]
 quiet-level = 3
 # if you've got a short variable name that's getting flagged, add it here
-ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl"
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn,ws,uint,grey,deque,stdio,amin,BA,LITE,atEnd,UIs,errorString,arange,FocusIn,od,tim,relA,hist,copyable,jupyter,thead,TGE,abl,lite"
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
-skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*"
+skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.ts, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*"
 
 [tool.mypy]
 python_version = "3.11"
@@ -258,6 +259,7 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 "tools".msg = "Use openpilot.tools"
 "pytest.main".msg = "pytest.main requires special handling that is easy to mess up!"
 "unittest".msg = "Use pytest"
+"pyray.measure_text_ex".msg = "Use openpilot.system.ui.lib.text_measure"
 
 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]
diff --git a/release/ci/model_generator.py b/release/ci/model_generator.py
new file mode 100755
index 0000000000..069b8e41af
--- /dev/null
+++ b/release/ci/model_generator.py
@@ -0,0 +1,131 @@
+import os
+import sys
+import hashlib
+import json
+import re
+from pathlib import Path
+from datetime import datetime, UTC
+
+
+def create_short_name(full_name):
+  # Remove parentheses and extract alphanumeric words
+  clean_name = re.sub(r'\([^)]*\)', '', full_name)
+  words = [re.sub(r'[^a-zA-Z0-9]', '', word) for word in clean_name.split() if re.sub(r'[^a-zA-Z0-9]', '', word)]
+
+  if len(words) == 1:
+    # If there's only one word, return it as is, lowercased, truncated to 8 characters
+    truncated = words[0][:8]
+    return truncated.lower() if truncated.isupper() else truncated
+
+  # Handle special case: Name + Version (e.g., "Word A1" -> "WordA1")
+  if len(words) == 2 and re.match(r'^[A-Za-z]\d+$', words[1]):
+    first_word = words[0].lower() if words[0].isupper() else words[0]
+    return (first_word + words[1])[:8]
+
+  # Normal case: first letter and trailing numbers from each word
+  result = ''.join(word if word.isdigit() else word[0] + (re.search(r'\d+$', word) or [''])[0] for word in words)
+  return result[:8]
+
+
+def generate_metadata(model_path: Path, output_dir: Path, short_name: str):
+  model_path = model_path
+  output_path = output_dir
+  base = model_path.stem
+
+  # Define output files for tinygrad and metadata
+  tinygrad_file = output_path / f"{base}_tinygrad.pkl"
+  metadata_file = output_path / f"{base}_metadata.pkl"
+
+  if not tinygrad_file.exists() or not metadata_file.exists():
+    print(f"Error: Missing files for model {base} ({tinygrad_file} or {metadata_file})", file=sys.stderr)
+    return
+
+  # Calculate the sha256 hashes
+  with open(tinygrad_file, 'rb') as f:
+    tinygrad_hash = hashlib.sha256(f.read()).hexdigest()
+
+  with open(metadata_file, 'rb') as f:
+    metadata_hash = hashlib.sha256(f.read()).hexdigest()
+
+  # Rename the files if a custom file name is provided
+  if short_name:
+    tinygrad_file = tinygrad_file.rename(output_path / f"{base}_{short_name.lower()}_tinygrad.pkl")
+    metadata_file = metadata_file.rename(output_path / f"{base}_{short_name.lower()}_metadata.pkl")
+
+  # Build the metadata structure
+  model_metadata = {
+    "type": base.split("_")[-1] if "dmonitoring" not in base else "dmonitoring",
+    "artifact": {
+      "file_name": tinygrad_file.name,
+      "download_uri": {
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/<FILLME>",
+        "sha256": tinygrad_hash
+      }
+    },
+    "metadata": {
+      "file_name": metadata_file.name,
+      "download_uri": {
+        "url": "https://gitlab.com/sunnypilot/public/docs.sunnypilot.ai/-/raw/main/<FILLME>",
+        "sha256": metadata_hash
+      }
+    }
+  }
+
+  # Return model metadata
+  return model_metadata
+
+
+def create_metadata_json(models: list, output_dir: Path, custom_name=None, short_name=None, is_20hz=False, upstream_branch="unknown"):
+  metadata_json = {
+    "short_name": short_name,
+    "display_name": custom_name or upstream_branch,
+    "is_20hz": is_20hz,
+    "ref": upstream_branch,
+    "environment": "development",
+    "runner": "tinygrad",
+    "build_time": datetime.now(UTC).strftime("%Y-%m-%dT%H:%M:%SZ"),
+    "models": models,
+    "overrides": {},
+    "index": -1,
+    "minimum_selector_version": "-1",
+    "generation": "-1",
+  }
+
+  # Write metadata to output_dir
+  with open(output_dir / "metadata.json", "w") as f:
+    json.dump(metadata_json, f, indent=2)
+
+  print(f"Generated metadata.json with {len(models)} models.")
+
+
+if __name__ == "__main__":
+  import argparse
+  import glob
+
+  parser = argparse.ArgumentParser(description="Generate metadata for model files")
+  parser.add_argument("--model-dir", default="./models", help="Directory containing ONNX model files")
+  parser.add_argument("--output-dir", default="./output", help="Output directory for metadata")
+  parser.add_argument("--custom-name", help="Custom display name for the model")
+  parser.add_argument("--is-20hz", action="store_true", help="Whether this is a 20Hz model")
+  parser.add_argument("--upstream-branch", default="unknown", help="Upstream branch name")
+  args = parser.parse_args()
+
+  # Find all ONNX files in the given directory
+  model_paths = glob.glob(os.path.join(args.model_dir, "*.onnx"))
+  if not model_paths:
+    print(f"No ONNX files found in {args.model_dir}", file=sys.stderr)
+    sys.exit(1)
+
+  _output_dir = Path(args.output_dir)
+  _output_dir.mkdir(exist_ok=True, parents=True)
+  _models = []
+
+  for _model_path in model_paths:
+    _model_metadata = generate_metadata(Path(_model_path), _output_dir, create_short_name(args.custom_name))
+    if _model_metadata:
+      _models.append(_model_metadata)
+
+  if _models:
+    create_metadata_json(_models, _output_dir, args.custom_name, create_short_name(args.custom_name), args.is_20hz, args.upstream_branch)
+  else:
+    print("No models processed.", file=sys.stderr)
diff --git a/release/ci/squash_and_merge_prs.py b/release/ci/squash_and_merge_prs.py
index 64fa325512..b26b08d500 100755
--- a/release/ci/squash_and_merge_prs.py
+++ b/release/ci/squash_and_merge_prs.py
@@ -76,9 +76,36 @@ def validate_pr(pr):
   if not commits:
     return False, "no commit data found"
 
+  # First check if we have the rollup status
   status = commits[0].get('commit', {}).get('statusCheckRollup', {})
+
+  # If status is not SUCCESS, we need to check individual check runs
   if not status or status.get('state') != 'SUCCESS':
-    return False, "not all checks have passed"
+    # Get detailed check runs for this PR
+    checks_output = subprocess.run(
+      ['gh', 'pr', 'checks', str(pr_number), '--json', 'name,state'],
+      capture_output=True, text=True
+    )
+
+    try:
+      checks_data = json.loads(checks_output.stdout)
+
+      # Check if all checks are successful except for our reset-and-squash check
+      for check in checks_data:
+        check_name = check.get('name', '')
+        check_state = check.get('state', '')
+
+        # Skip our own check and any skipped checks
+        if check_name == 'reset-and-squash' or check_state == 'SKIPPED':
+          continue
+
+        # If any other check is not successful, the PR is not valid
+        if check_state != 'SUCCESS':
+          return False, f"check '{check_name}' has state '{check_state}'"
+
+    except json.JSONDecodeError:
+      # If we can't parse the JSON, fall back to the original check
+      return False, "unable to verify check status"
 
   # Check for merge conflicts
   merge_status = subprocess.run(['gh', 'pr', 'view', str(pr_number), '--json', 'mergeable,mergeStateStatus'],
@@ -87,9 +114,6 @@ def validate_pr(pr):
   if not merge_data.get('mergeable'):
     return False, "merge conflicts detected"
 
-  # if (mergeStateStatus := merge_data.get('mergeStateStatus')) == "BEHIND":
-  #   return False, f"branch is `{mergeStateStatus}`"
-
   return True, None
 
 
diff --git a/release/pack.py b/release/pack.py
new file mode 100755
index 0000000000..1cb1a47a48
--- /dev/null
+++ b/release/pack.py
@@ -0,0 +1,50 @@
+#!/usr/bin/env python3
+
+import importlib
+import shutil
+import sys
+import tempfile
+import zipapp
+from argparse import ArgumentParser
+from pathlib import Path
+
+from openpilot.common.basedir import BASEDIR
+
+
+DIRS = ['cereal', 'openpilot']
+EXTS = ['.png', '.py', '.ttf', '.capnp']
+INTERPRETER = '/usr/bin/env python3'
+
+
+def copy(src, dest):
+  if any(src.endswith(ext) for ext in EXTS):
+    shutil.copy2(src, dest, follow_symlinks=True)
+
+
+if __name__ == '__main__':
+  parser = ArgumentParser(prog='pack.py', description="package script into a portable executable", epilog='comma.ai')
+  parser.add_argument('-e', '--entrypoint', help="function to call in module, default is 'main'", default='main')
+  parser.add_argument('-o', '--output', help='output file')
+  parser.add_argument('module', help="the module to target, e.g. 'openpilot.system.ui.spinner'")
+  args = parser.parse_args()
+
+  if not args.output:
+    args.output = args.module
+
+  try:
+    mod = importlib.import_module(args.module)
+  except ModuleNotFoundError:
+    print(f'{args.module} not found, typo?')
+    sys.exit(1)
+
+  if not hasattr(mod, args.entrypoint):
+    print(f'{args.module} does not have a {args.entrypoint}() function, typo?')
+    sys.exit(1)
+
+  with tempfile.TemporaryDirectory() as tmp:
+    for directory in DIRS:
+      shutil.copytree(BASEDIR + '/' + directory, tmp + '/' + directory, symlinks=False, dirs_exist_ok=True, copy_function=copy)
+    entry = f'{args.module}:{args.entrypoint}'
+    zipapp.create_archive(tmp, target=args.output, interpreter=INTERPRETER, main=entry)
+
+  print(f'created executable {Path(args.output).resolve()}')
diff --git a/scripts/reporter.py b/scripts/reporter.py
new file mode 100755
index 0000000000..903fcc8911
--- /dev/null
+++ b/scripts/reporter.py
@@ -0,0 +1,31 @@
+#!/usr/bin/env python3
+import os
+import glob
+import onnx
+
+BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
+MASTER_PATH = os.getenv("MASTER_PATH", BASEDIR)
+MODEL_PATH = "/selfdrive/modeld/models/"
+
+def get_checkpoint(f):
+  model = onnx.load(f)
+  metadata = {prop.key: prop.value for prop in model.metadata_props}
+  return metadata['model_checkpoint'].split('/')[0]
+
+if __name__ == "__main__":
+  print("| | master | PR branch |")
+  print("|-| -----  | --------- |")
+
+  for f in glob.glob(BASEDIR + MODEL_PATH + "/*.onnx"):
+    # TODO: add checkpoint to DM
+    if "dmonitoring" in f:
+      continue
+
+    fn = os.path.basename(f)
+    master = get_checkpoint(MASTER_PATH + MODEL_PATH + fn)
+    pr = get_checkpoint(BASEDIR + MODEL_PATH + fn)
+    print(
+      "|", fn, "|",
+      f"[{master}](https://reporter.comma.life/experiment/{master})", "|",
+      f"[{pr}](https://reporter.comma.life/experiment/{pr})", "|"
+    )
diff --git a/scripts/usb.sh b/scripts/usb.sh
new file mode 100755
index 0000000000..5796cfa028
--- /dev/null
+++ b/scripts/usb.sh
@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+
+# testing the GPU box
+
+export XDG_CACHE_HOME=/data/tinycache
+mkdir -p $XDG_CACHE_HOME
+
+cd /data/openpilot/tinygrad_repo/examples
+while true; do
+  AMD=1 AMD_IFACE=usb python ./beautiful_cartpole.py
+  sleep 1
+done
diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc
index 6d8d8df334..26a7d998ed 100644
--- a/selfdrive/assets/assets.qrc
+++ b/selfdrive/assets/assets.qrc
@@ -1,19 +1,19 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
   <file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
-  <file>img_continue_triangle.svg</file>
-  <file>img_circled_check.svg</file>
-  <file>img_circled_slash.svg</file>
-  <file>img_eye_open.svg</file>
-  <file>img_eye_closed.svg</file>
+  <file>images/button_continue_triangle.svg</file>
+  <file>icons/circled_check.svg</file>
+  <file>icons/circled_slash.svg</file>
+  <file>icons/eye_open.svg</file>
+  <file>icons/eye_closed.svg</file>
   <file>icons/close.svg</file>
-  <file>offroad/icon_lock_closed.svg</file>
-  <file>offroad/icon_checkmark.svg</file>
-  <file>offroad/icon_warning.png</file>
-  <file>offroad/icon_wifi_strength_low.svg</file>
-  <file>offroad/icon_wifi_strength_medium.svg</file>
-  <file>offroad/icon_wifi_strength_high.svg</file>
-  <file>offroad/icon_wifi_strength_full.svg</file>
+  <file>icons/lock_closed.svg</file>
+  <file>icons/checkmark.svg</file>
+  <file>icons/warning.png</file>
+  <file>icons/wifi_strength_low.svg</file>
+  <file>icons/wifi_strength_medium.svg</file>
+  <file>icons/wifi_strength_high.svg</file>
+  <file>icons/wifi_strength_full.svg</file>
 
   <file alias="languages.json">../ui/translations/languages.json</file>
 </qresource>
diff --git a/selfdrive/assets/icons/arrow-right.png b/selfdrive/assets/icons/arrow-right.png
new file mode 100644
index 0000000000..b275134f64
--- /dev/null
+++ b/selfdrive/assets/icons/arrow-right.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a999d5f3e616eeafc310689accdd26efb90769596604a62c460ef8acece18bc
+size 1734
diff --git a/selfdrive/assets/icons/backspace.png b/selfdrive/assets/icons/backspace.png
new file mode 100644
index 0000000000..16686be6f5
--- /dev/null
+++ b/selfdrive/assets/icons/backspace.png
@@ -0,0 +1,3 @@
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+oid sha256:576da562df8eb513e64ccb614ec727b257cbca8b5507974d01efc0f64c5382c2
+size 6267
diff --git a/selfdrive/assets/offroad/icon_calibration.png b/selfdrive/assets/icons/calibration.png
similarity index 100%
rename from selfdrive/assets/offroad/icon_calibration.png
rename to selfdrive/assets/icons/calibration.png
diff --git a/selfdrive/assets/icons/capslock-fill.png b/selfdrive/assets/icons/capslock-fill.png
new file mode 100644
index 0000000000..66854e78f2
--- /dev/null
+++ b/selfdrive/assets/icons/capslock-fill.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 4397
diff --git a/selfdrive/assets/icons/checkmark.png b/selfdrive/assets/icons/checkmark.png
new file mode 100644
index 0000000000..0f9a802a35
--- /dev/null
+++ b/selfdrive/assets/icons/checkmark.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc472f0e575e314c4006cb6e9845fb9fb9a13cf08fe74fbe1593dee53c20d977
+size 4329
diff --git a/selfdrive/assets/icons/checkmark.svg b/selfdrive/assets/icons/checkmark.svg
new file mode 100644
index 0000000000..26480698cd
--- /dev/null
+++ b/selfdrive/assets/icons/checkmark.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a135c18634647a73734300f5d0ad98082b07779b5553e72b99686857380ee7
+size 244
diff --git a/selfdrive/assets/offroad/icon_chevron_right.png b/selfdrive/assets/icons/chevron_right.png
similarity index 100%
rename from selfdrive/assets/offroad/icon_chevron_right.png
rename to selfdrive/assets/icons/chevron_right.png
diff --git a/selfdrive/assets/img_chffr_wheel.png b/selfdrive/assets/icons/chffr_wheel.png
similarity index 100%
rename from selfdrive/assets/img_chffr_wheel.png
rename to selfdrive/assets/icons/chffr_wheel.png
diff --git a/selfdrive/assets/icons/circled_check.png b/selfdrive/assets/icons/circled_check.png
new file mode 100644
index 0000000000..7611bc821f
--- /dev/null
+++ b/selfdrive/assets/icons/circled_check.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 10479
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new file mode 100644
index 0000000000..aab06ec1e0
--- /dev/null
+++ b/selfdrive/assets/icons/circled_check.svg
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+size 372
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new file mode 100644
index 0000000000..74a9b342f6
--- /dev/null
+++ b/selfdrive/assets/icons/circled_slash.png
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new file mode 100644
index 0000000000..89c6e2b1ae
--- /dev/null
+++ b/selfdrive/assets/icons/circled_slash.svg
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+size 223
diff --git a/selfdrive/assets/icons/close.png b/selfdrive/assets/icons/close.png
new file mode 100644
index 0000000000..66d1545632
--- /dev/null
+++ b/selfdrive/assets/icons/close.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c11f831c17080a8ffaa8469cf91a079a4abfb72e5238afe02b92bceb3442db0
+size 2656
diff --git a/selfdrive/assets/icons/close.svg b/selfdrive/assets/icons/close.svg
index 33f68f02bc..e6db01321a 100644
--- a/selfdrive/assets/icons/close.svg
+++ b/selfdrive/assets/icons/close.svg
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:84c6b23bd3245954b86f80278511186fca4ddfa70d87c8b25e8f9fb76f9af758
-size 379
+oid sha256:a28a4dcaba33d800d109cc5f9a810065203d3bfccd104b2e503f6fe3fc5b6f91
+size 250
diff --git a/selfdrive/assets/icons/close2.png b/selfdrive/assets/icons/close2.png
new file mode 100644
index 0000000000..4497c97547
--- /dev/null
+++ b/selfdrive/assets/icons/close2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cbfed12ddb5731b7b568539fe59f382356b46fdd146a9e0a1b768d3e5efd0378
+size 4350
diff --git a/selfdrive/assets/icons/close2.svg b/selfdrive/assets/icons/close2.svg
new file mode 100644
index 0000000000..56a36cecd5
--- /dev/null
+++ b/selfdrive/assets/icons/close2.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 513
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new file mode 100644
index 0000000000..677ad0f9ee
--- /dev/null
+++ b/selfdrive/assets/icons/couch.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:911f59f248015600da7ecc689398103d47dfc57f6be17ac8c8e543a726a6c64b
+size 3311
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new file mode 100644
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--- /dev/null
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new file mode 100644
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--- /dev/null
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+size 15059
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new file mode 100644
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similarity index 100%
rename from selfdrive/assets/img_driver_face.png
rename to selfdrive/assets/icons/driver_face.png
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new file mode 100644
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--- /dev/null
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+size 34953
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new file mode 100644
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--- /dev/null
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diff --git a/selfdrive/assets/icons/wifi_strength_high.png b/selfdrive/assets/icons/wifi_strength_high.png
new file mode 100644
index 0000000000..2d360968b6
--- /dev/null
+++ b/selfdrive/assets/icons/wifi_strength_high.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2afacf302bcdc3f5e0d2f734508e8fea6f803813098d52fa6b878c765ba7a58
+size 9360
diff --git a/selfdrive/assets/icons/wifi_strength_high.svg b/selfdrive/assets/icons/wifi_strength_high.svg
new file mode 100644
index 0000000000..17d721fe31
--- /dev/null
+++ b/selfdrive/assets/icons/wifi_strength_high.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f207b9a1f4ab6009e261f03edd1d05a9d485217415664cba0253d32381e3a03
+size 1164
diff --git a/selfdrive/assets/icons/wifi_strength_low.png b/selfdrive/assets/icons/wifi_strength_low.png
new file mode 100644
index 0000000000..d016528304
--- /dev/null
+++ b/selfdrive/assets/icons/wifi_strength_low.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dfe50815c76d459dc104ce4a5e4b5dfd882e11b65e07706cacd336e69e788f4
+size 9756
diff --git a/selfdrive/assets/icons/wifi_strength_low.svg b/selfdrive/assets/icons/wifi_strength_low.svg
new file mode 100644
index 0000000000..4088866370
--- /dev/null
+++ b/selfdrive/assets/icons/wifi_strength_low.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6835937483e5a539618a94e3ec8fad661ae2f7afb39c958e6c8b007b8f4b9b2c
+size 1198
diff --git a/selfdrive/assets/icons/wifi_strength_medium.png b/selfdrive/assets/icons/wifi_strength_medium.png
new file mode 100644
index 0000000000..9c943543a4
--- /dev/null
+++ b/selfdrive/assets/icons/wifi_strength_medium.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:304ab97ac9724a7a133a36c2d14da9fe8ab660c9a29abb99cc0a4828f94d8801
+size 9627
diff --git a/selfdrive/assets/icons/wifi_strength_medium.svg b/selfdrive/assets/icons/wifi_strength_medium.svg
new file mode 100644
index 0000000000..f0c029dedd
--- /dev/null
+++ b/selfdrive/assets/icons/wifi_strength_medium.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ebb1fb5539d9f8ea9899acf4f9cb359503dbe22cd38a3461ad43936348475b9
+size 1167
diff --git a/selfdrive/assets/icons/wifi_uploading.png b/selfdrive/assets/icons/wifi_uploading.png
new file mode 100644
index 0000000000..19d9bf36ce
--- /dev/null
+++ b/selfdrive/assets/icons/wifi_uploading.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eac201013322db1580649a253da7ae38eb9f16f6089234e769b746951e874ee
+size 7171
diff --git a/selfdrive/assets/icons/wifi_uploading.svg b/selfdrive/assets/icons/wifi_uploading.svg
new file mode 100644
index 0000000000..07a14a59f4
--- /dev/null
+++ b/selfdrive/assets/icons/wifi_uploading.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7cfefbda22b53f7eb72a25893ab41c00dabea49f690cafb1d224375a669e608
+size 1170
diff --git a/selfdrive/assets/images/button_continue_triangle.png b/selfdrive/assets/images/button_continue_triangle.png
new file mode 100644
index 0000000000..c56e112094
--- /dev/null
+++ b/selfdrive/assets/images/button_continue_triangle.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9218e02c42b0f80858477255e24a97da4cf0b2898fc76f3806409d65b104668
+size 4510
diff --git a/selfdrive/assets/images/button_continue_triangle.svg b/selfdrive/assets/images/button_continue_triangle.svg
new file mode 100644
index 0000000000..e6d362927c
--- /dev/null
+++ b/selfdrive/assets/images/button_continue_triangle.svg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8084e5a8bbc16956a98b010092ae1c4e32b3391b0551fa1cd65cb1e2bb59d3df
+size 169
diff --git a/selfdrive/assets/img_spinner_comma.png b/selfdrive/assets/images/spinner_comma.png
similarity index 100%
rename from selfdrive/assets/img_spinner_comma.png
rename to selfdrive/assets/images/spinner_comma.png
diff --git a/selfdrive/assets/img_spinner_track.png b/selfdrive/assets/images/spinner_track.png
similarity index 100%
rename from selfdrive/assets/img_spinner_track.png
rename to selfdrive/assets/images/spinner_track.png
diff --git a/selfdrive/assets/images/triangle.svg b/selfdrive/assets/images/triangle.svg
deleted file mode 100644
index f3a8db44b7..0000000000
--- a/selfdrive/assets/images/triangle.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:aaf9a1967365f2c641bf7b54a409e32842cee0bfded7ebb01b1a95c4ac9f0154
-size 2163
diff --git a/selfdrive/assets/img_circled_check.svg b/selfdrive/assets/img_circled_check.svg
deleted file mode 100644
index 1852ba947a..0000000000
--- a/selfdrive/assets/img_circled_check.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c5687faf4cb22bece0405893671651eb13e8eda393987610f493ee5e05eac61d
-size 439
diff --git a/selfdrive/assets/img_circled_slash.svg b/selfdrive/assets/img_circled_slash.svg
deleted file mode 100644
index 6c77030d15..0000000000
--- a/selfdrive/assets/img_circled_slash.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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-size 328
diff --git a/selfdrive/assets/img_continue_triangle.svg b/selfdrive/assets/img_continue_triangle.svg
deleted file mode 100644
index ee9db369a4..0000000000
--- a/selfdrive/assets/img_continue_triangle.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1764c0c93703481b2ced63bc35c5a23a6c12388ca690ce4cf577b3b478a08b69
-size 197
diff --git a/selfdrive/assets/img_couch.svg b/selfdrive/assets/img_couch.svg
deleted file mode 100644
index 7c58515200..0000000000
--- a/selfdrive/assets/img_couch.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a428d2561198ebdc853ba6fb25a8b9c5a58064d000413694e1535adc06633c0a
-size 2649
diff --git a/selfdrive/assets/img_experimental.svg b/selfdrive/assets/img_experimental.svg
deleted file mode 100644
index 3c31caa07e..0000000000
--- a/selfdrive/assets/img_experimental.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c26afadff128244567a7cf98f1c998f97056b19209301ff7fc8851eb807fb748
-size 2193
diff --git a/selfdrive/assets/img_experimental_grey.svg b/selfdrive/assets/img_experimental_grey.svg
deleted file mode 100644
index 8ba6c87bd5..0000000000
--- a/selfdrive/assets/img_experimental_grey.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5ae28a53171567c8a0d52eec75cc49004cb8dd19dcab9a360784718ab8ec7c02
-size 1931
diff --git a/selfdrive/assets/img_experimental_white.svg b/selfdrive/assets/img_experimental_white.svg
deleted file mode 100644
index 9714fe0c01..0000000000
--- a/selfdrive/assets/img_experimental_white.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:99be696be983700d7eb1768bd1c840198a4eb9525b71e28efea49f13c358e519
-size 1891
diff --git a/selfdrive/assets/img_eye_closed.svg b/selfdrive/assets/img_eye_closed.svg
deleted file mode 100644
index fcef6e8a3c..0000000000
--- a/selfdrive/assets/img_eye_closed.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:8e0e5b451ed2e426fea99da24a9df6552be7048205b9aa7b89e46eeb89f6d08e
-size 1490
diff --git a/selfdrive/assets/img_eye_open.svg b/selfdrive/assets/img_eye_open.svg
deleted file mode 100644
index 7289c4a571..0000000000
--- a/selfdrive/assets/img_eye_open.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:23935f9e2ddba8dafd4a5d0217f29783260a0832c9b0d3e6a2ef66d4529b91d2
-size 775
diff --git a/selfdrive/assets/offroad/icon_checkmark.svg b/selfdrive/assets/offroad/icon_checkmark.svg
deleted file mode 100644
index 7a1db13497..0000000000
--- a/selfdrive/assets/offroad/icon_checkmark.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:da1540859c4c42878a32a0a81a38ca38b04be4cb0fe46709df3e024b7f3b4036
-size 243
diff --git a/selfdrive/assets/offroad/icon_close.svg b/selfdrive/assets/offroad/icon_close.svg
deleted file mode 100644
index 54a44146d7..0000000000
--- a/selfdrive/assets/offroad/icon_close.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4eff44a05132ed9f99ad821993be4bab9b1a1c880e07441f3b887214bee62afe
-size 825
diff --git a/selfdrive/assets/offroad/icon_disengage_on_accelerator.svg b/selfdrive/assets/offroad/icon_disengage_on_accelerator.svg
deleted file mode 100644
index d5a8c87e21..0000000000
--- a/selfdrive/assets/offroad/icon_disengage_on_accelerator.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5252412f2225c89ea7e78ad0fbd6544170aea157693ce0f9778f26a64f582ec2
-size 6821
diff --git a/selfdrive/assets/offroad/icon_lock_closed.svg b/selfdrive/assets/offroad/icon_lock_closed.svg
deleted file mode 100644
index 501d978a8a..0000000000
--- a/selfdrive/assets/offroad/icon_lock_closed.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ef09792cc1893f81c64abd6b72091d3762c07b849863ce90508afdd29b392c02
-size 732
diff --git a/selfdrive/assets/offroad/icon_wifi_strength_full.svg b/selfdrive/assets/offroad/icon_wifi_strength_full.svg
deleted file mode 100644
index c9d22d8961..0000000000
--- a/selfdrive/assets/offroad/icon_wifi_strength_full.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:485dd0d4eb8968726003ae460bab4ff498127def52b8b1ed6d968f4629ab233a
-size 1655
diff --git a/selfdrive/assets/offroad/icon_wifi_strength_high.svg b/selfdrive/assets/offroad/icon_wifi_strength_high.svg
deleted file mode 100644
index ff001bd14a..0000000000
--- a/selfdrive/assets/offroad/icon_wifi_strength_high.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:c92fd8bebbe630f991fe3f61f61407f8002d29881698634239be3a6fae2fb4bc
-size 1657
diff --git a/selfdrive/assets/offroad/icon_wifi_strength_low.svg b/selfdrive/assets/offroad/icon_wifi_strength_low.svg
deleted file mode 100644
index bcc6e83c63..0000000000
--- a/selfdrive/assets/offroad/icon_wifi_strength_low.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:e629e3a84dc288278e455be4a8deff95730e24d9a0b894f8c417ac1c409670ab
-size 1661
diff --git a/selfdrive/assets/offroad/icon_wifi_strength_medium.svg b/selfdrive/assets/offroad/icon_wifi_strength_medium.svg
deleted file mode 100644
index e14ebd238f..0000000000
--- a/selfdrive/assets/offroad/icon_wifi_strength_medium.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:52113c14656483854a814c50c93770f5e6ab7d63b2b5048ddd6fd47fdfd4a7de
-size 1659
diff --git a/selfdrive/assets/offroad/icon_wifi_uploading.svg b/selfdrive/assets/offroad/icon_wifi_uploading.svg
deleted file mode 100644
index b9392dfe7c..0000000000
--- a/selfdrive/assets/offroad/icon_wifi_uploading.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:bedd579f56c65fffe2ad571f92843b6d103826fe173f8f5b58fc2200d2ad8850
-size 1663
diff --git a/selfdrive/assets/prep-svg.sh b/selfdrive/assets/prep-svg.sh
new file mode 100755
index 0000000000..2332cd25c5
--- /dev/null
+++ b/selfdrive/assets/prep-svg.sh
@@ -0,0 +1,46 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+ICONS_DIR="$DIR/icons"
+BOOTSTRAP_SVG="$DIR/../../third_party/bootstrap/bootstrap-icons.svg"
+
+ICON_IDS=(
+  arrow-right
+  backspace
+  capslock-fill
+  shift
+  shift-fill
+)
+ICON_FILL_COLOR="#fff"
+
+# extract bootstrap icons
+for id in "${ICON_IDS[@]}"; do
+  svg="${ICONS_DIR}/${id}.svg"
+  perl -0777 -ne "print \$& if /<symbol[^>]*id=\"$id\"[^>]*>.*?<\/symbol>/s" "$BOOTSTRAP_SVG" \
+  | sed "s/<symbol/<svg fill=\"$ICON_FILL_COLOR\"/; s/<\/symbol>/<\/svg>/" > "$svg"
+done
+
+# sudo apt install inkscape
+
+for svg in $(find $DIR -type f | grep svg$); do
+  bunx svgo $svg --multipass --pretty --indent 2
+
+  # convert to PNG
+  png="${svg%.svg}.png"
+  width=$(inkscape --query-width "$svg")
+  height=$(inkscape --query-height "$svg")
+  if (( $(echo "$width > $height" | bc -l) )); then
+    export_dim="--export-width=512"
+  else
+    export_dim="--export-height=512"
+  fi
+  inkscape "$svg" --export-filename="$png" "$export_dim"
+
+  optipng -o7 -strip all "$png"
+done
+
+# cleanup bootstrap SVGs
+for id in "${ICON_IDS[@]}"; do
+  rm "${ICONS_DIR}/${id}.svg"
+done
diff --git a/selfdrive/assets/strip-svg-metadata.sh b/selfdrive/assets/strip-svg-metadata.sh
deleted file mode 100755
index e51dc9481d..0000000000
--- a/selfdrive/assets/strip-svg-metadata.sh
+++ /dev/null
@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-
-# sudo apt install scour
-
-for svg in $(find icons/ -type f | grep svg$); do
-  # scour doesn't support overwriting input file
-  scour $svg --remove-metadata $svg.tmp
-  mv $svg.tmp $svg
-done
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 2d69d3d590..151a8479a7 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -1,11 +1,7 @@
-from collections import deque
-from cereal import car, log
+from cereal import car, log, custom
 import cereal.messaging as messaging
 from opendbc.car import DT_CTRL, structs
 from opendbc.car.interfaces import MAX_CTRL_SPEED
-from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
-from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
-from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES
 
 from openpilot.selfdrive.selfdrived.events import Events
 
@@ -20,14 +16,14 @@ class MockCarState:
   def __init__(self):
     self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
-  def update(self, CS: car.CarState):
+  def update(self, CS: car.CarState, CS_SP: custom.CarStateSP):
     self.sm.update(0)
     gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
 
     CS.vEgo = self.sm[gps_sock].speed
     CS.vEgoRaw = self.sm[gps_sock].speed
 
-    return CS
+    return CS, CS_SP
 
 
 class CarSpecificEvents:
@@ -39,14 +35,12 @@ class CarSpecificEvents:
     self.no_steer_warning = False
     self.silent_steer_warning = True
 
-    self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
-
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
     if self.CP.brand in ('body', 'mock'):
       events = Events()
 
     elif self.CP.brand == 'ford':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
+      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low, GearShifter.manumatic])
 
     elif self.CP.brand == 'nissan':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
@@ -110,21 +104,11 @@ class CarSpecificEvents:
         events.add(EventName.belowEngageSpeed)
       if CS.cruiseState.standstill:
         events.add(EventName.resumeRequired)
-      if CS.vEgo < self.CP.minSteerSpeed:
-        events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'volkswagen':
       events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
                                          pcm_enable=self.CP.pcmCruise)
 
-      # Low speed steer alert hysteresis logic
-      if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
-        self.low_speed_alert = True
-      elif CS.vEgo > (self.CP.minSteerSpeed + 2.):
-        self.low_speed_alert = False
-      if self.low_speed_alert:
-        events.add(EventName.belowSteerSpeed)
-
       if self.CP.openpilotLongitudinalControl:
         if CS.vEgo < self.CP.minEnableSpeed + 0.5:
           events.add(EventName.belowEngageSpeed)
@@ -136,20 +120,8 @@ class CarSpecificEvents:
       #   events.add(EventName.steerTimeLimit)
 
     elif self.CP.brand == 'hyundai':
-      # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
-      # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
-      # Main button also can trigger an engagement on these cars
-      self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
       events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
-                                         pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons), allow_button_cancel=False)
-
-      # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
-      if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
-        self.low_speed_alert = True
-      if CS.vEgo > (self.CP.minSteerSpeed + 4.):
-        self.low_speed_alert = False
-      if self.low_speed_alert:
-        events.add(EventName.belowSteerSpeed)
+                                         pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
 
     else:
       events = self.create_common_events(CS, CS_prev)
@@ -157,7 +129,7 @@ class CarSpecificEvents:
     return events
 
   def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
-                           allow_enable=True, allow_button_cancel=True):
+                           allow_button_cancel=True):
     events = Events()
 
     if CS.doorOpen:
@@ -191,6 +163,8 @@ class CarSpecificEvents:
       events.add(EventName.accFaulted)
     if CS.steeringPressed:
       events.add(EventName.steerOverride)
+    if CS.steeringDisengage and not CS_prev.steeringDisengage:
+      events.add(EventName.steerDisengage)
     if CS.brakePressed and CS.standstill:
       events.add(EventName.preEnableStandstill)
     if CS.gasPressed:
@@ -234,7 +208,7 @@ class CarSpecificEvents:
     # we engage when pcm is active (rising edge)
     # enabling can optionally be blocked by the car interface
     if pcm_enable:
-      if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled and allow_enable:
+      if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled and not CS.blockPcmEnable:
         events.add(EventName.pcmEnable)
       elif not CS.cruiseState.enabled:
         events.add(EventName.pcmDisable)
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 1cfab5f753..8448af56db 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -18,7 +18,6 @@ from opendbc.car.carlog import carlog
 from opendbc.car.fw_versions import ObdCallback
 from opendbc.car.car_helpers import get_car, interfaces
 from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
 from openpilot.selfdrive.car.cruise import VCruiseHelper
 from openpilot.selfdrive.car.car_specific import MockCarState
@@ -74,12 +73,13 @@ class Car:
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
     self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'] + ['carControlSP'])
-    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'] + ['carParamsSP', 'carStateSP'])
 
     self.can_rcv_cum_timeout_counter = 0
 
     self.CC_prev = car.CarControl.new_message()
     self.CS_prev = car.CarState.new_message()
+    self.CS_SP_prev = custom.CarStateSP.new_message()
     self.initialized_prev = False
 
     self.last_actuators_output = structs.CarControl.Actuators()
@@ -88,6 +88,8 @@ class Car:
 
     self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
 
+    is_release = self.params.get_bool("IsReleaseBranch")
+
     if CI is None:
       # wait for one pandaState and one CAN packet
       print("Waiting for CAN messages...")
@@ -96,7 +98,7 @@ class Car:
         if len(can.can) > 0:
           break
 
-      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
+      alpha_long_allowed = self.params.get_bool("AlphaLongitudinalEnabled")
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
 
       cached_params = None
@@ -107,8 +109,8 @@ class Car:
 
       fixed_fingerprint = json.loads(self.params.get("CarPlatformBundle", encoding='utf-8') or "{}").get("platform", None)
 
-      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params, fixed_fingerprint)
-      sunnypilot_interfaces.setup_interfaces(self.CI.CP, self.CI.CP_SP, self.params)
+      self.CI = get_car(*self.can_callbacks, obd_callback(self.params), alpha_long_allowed, is_release, num_pandas, cached_params, fixed_fingerprint)
+      sunnypilot_interfaces.setup_interfaces(self.CI, self.params)
       self.RI = interfaces[self.CI.CP.carFingerprint].RadarInterface(self.CI.CP, self.CI.CP_SP)
       self.CP = self.CI.CP
       self.CP_SP = self.CI.CP_SP
@@ -119,12 +121,7 @@ class Car:
       self.CI, self.CP, self.CP_SP = CI, CI.CP, CI.CP_SP
       self.RI = RI
 
-    # set alternative experiences from parameters
-    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
-    if not disengage_on_accelerator:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-
     # mads
     set_alternative_experience(self.CP, self.params)
     set_car_specific_params(self.CP, self.CP_SP, self.params)
@@ -133,16 +130,14 @@ class Car:
     self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
 
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
-
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
-
     self.CP.passive = not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
       safety_config = structs.CarParams.SafetyConfig()
       safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
-    if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
+    if self.CP.secOcRequired and not is_release:
       # Copy user key if available
       try:
         with open("/cache/params/SecOCKey") as f:
@@ -194,16 +189,17 @@ class Car:
     # log fingerprint in sentry
     sunnypilot_interfaces.log_fingerprint(self.CP)
 
-  def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
+  def state_update(self) -> tuple[car.CarState, custom.CarStateSP, structs.RadarDataT | None]:
     """carState update loop, driven by can"""
 
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
     can_list = can_capnp_to_list(can_strs)
 
     # Update carState from CAN
-    CS = self.CI.update(can_list)
+    CS, CS_SP = self.CI.update(can_list)
+    CS_SP = convert_to_capnp(CS_SP)
     if self.CP.brand == 'mock':
-      CS = self.mock_carstate.update(CS)
+      CS, CS_SP = self.mock_carstate.update(CS, CS_SP)
 
     # Update radar tracks from CAN
     RD: structs.RadarDataT | None = self.RI.update(can_list)
@@ -228,9 +224,9 @@ class Car:
     CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
 
-    return CS, RD
+    return CS, CS_SP, RD
 
-  def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
+  def state_publish(self, CS: car.CarState, CS_SP: custom.CarStateSP, RD: structs.RadarDataT | None):
     """carState and carParams publish loop"""
 
     # carParams - logged every 50 seconds (> 1 per segment)
@@ -267,6 +263,11 @@ class Car:
       cp_sp_send.carParamsSP = self.CP_SP_capnp
       self.pm.send('carParamsSP', cp_sp_send)
 
+    cs_sp_send = messaging.new_message('carStateSP')
+    cs_sp_send.valid = CS.canValid
+    cs_sp_send.carStateSP = CS_SP
+    self.pm.send('carStateSP', cs_sp_send)
+
   def controls_update(self, CS: car.CarState, CC: car.CarControl, CC_SP: custom.CarControlSP):
     """control update loop, driven by carControl"""
 
@@ -274,7 +275,6 @@ class Car:
       # Initialize CarInterface, once controls are ready
       # TODO: this can make us miss at least a few cycles when doing an ECU knockout
       self.CI.init(self.CP, self.CP_SP, *self.can_callbacks)
-      sunnypilot_interfaces.init_interfaces(self.CP, self.CP_SP, self.params, *self.can_callbacks)
       # signal pandad to switch to car safety mode
       self.params.put_bool_nonblocking("ControlsReady", True)
 
@@ -287,9 +287,9 @@ class Car:
       self.CC_prev = CC
 
   def step(self):
-    CS, RD = self.state_update()
+    CS, CS_SP, RD = self.state_update()
 
-    self.state_publish(CS, RD)
+    self.state_publish(CS, CS_SP, RD)
 
     initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
                    self.sm.seen['onroadEvents'])
@@ -298,6 +298,7 @@ class Car:
 
     self.initialized_prev = initialized
     self.CS_prev = CS
+    self.CS_SP_prev = CS_SP
 
   def params_thread(self, evt):
     while not evt.is_set():
@@ -306,6 +307,7 @@ class Car:
 
       # sunnypilot
       self.dynamic_experimental_control = self.params.get_bool("DynamicExperimentalControl")
+      self.v_cruise_helper.read_custom_set_speed_params()
 
       time.sleep(0.1)
 
diff --git a/selfdrive/car/cruise.py b/selfdrive/car/cruise.py
index d696566ba5..01ef2d7c99 100644
--- a/selfdrive/car/cruise.py
+++ b/selfdrive/car/cruise.py
@@ -3,6 +3,7 @@ import numpy as np
 
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
+from openpilot.sunnypilot.selfdrive.car.cruise_ext import VCruiseHelperSP
 
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -28,8 +29,9 @@ CRUISE_INTERVAL_SIGN = {
 }
 
 
-class VCruiseHelper:
+class VCruiseHelper(VCruiseHelperSP):
   def __init__(self, CP):
+    VCruiseHelperSP.__init__(self)
     self.CP = CP
     self.v_cruise_kph = V_CRUISE_UNSET
     self.v_cruise_cluster_kph = V_CRUISE_UNSET
@@ -99,7 +101,7 @@ class VCruiseHelper:
     if not self.button_change_states[button_type]["enabled"]:
       return
 
-    v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
+    long_press, v_cruise_delta = VCruiseHelperSP.update_v_cruise_delta(self, long_press, v_cruise_delta)
     if long_press and self.v_cruise_kph % v_cruise_delta != 0:  # partial interval
       self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
     else:
diff --git a/selfdrive/car/helpers.py b/selfdrive/car/helpers.py
index 3f7a322c08..6187be1474 100644
--- a/selfdrive/car/helpers.py
+++ b/selfdrive/car/helpers.py
@@ -35,11 +35,13 @@ def asdictref(obj) -> dict[str, Any]:
   return _asdictref_inner(obj)
 
 
-def convert_to_capnp(struct: structs.CarParamsSP) -> capnp.lib.capnp._DynamicStructBuilder:
+def convert_to_capnp(struct: structs.CarParamsSP | structs.CarStateSP) -> capnp.lib.capnp._DynamicStructBuilder:
   struct_dict = asdictref(struct)
 
   if isinstance(struct, structs.CarParamsSP):
     struct_capnp = custom.CarParamsSP.new_message(**struct_dict)
+  elif isinstance(struct, structs.CarStateSP):
+    struct_capnp = custom.CarStateSP.new_message(**struct_dict)
   else:
     raise ValueError(f"Unsupported struct type: {type(struct)}")
 
@@ -55,5 +57,6 @@ def convert_carControlSP(struct: capnp.lib.capnp._DynamicStructReader) -> struct
   struct_dataclass = structs.CarControlSP(**remove_deprecated({k: v for k, v in struct_dict.items() if not isinstance(k, dict)}))
 
   struct_dataclass.mads = structs.ModularAssistiveDrivingSystem(**remove_deprecated(struct_dict.get('mads', {})))
+  struct_dataclass.params = [structs.CarControlSP.Param(**remove_deprecated(p)) for p in struct_dict.get('params', [])]
 
   return struct_dataclass
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 60020fe972..7d136b824c 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -42,12 +42,12 @@ class TestCarInterfaces:
     args = get_fuzzy_car_interface_args(data.draw)
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
-                                         experimental_long=args['experimental_long'], docs=False)
+                                         alpha_long=args['alpha_long'], is_release=False, docs=False)
     car_params_sp = CarInterface.get_params_sp(car_params, car_name, args['fingerprints'], args['car_fw'],
-                                               experimental_long=args['experimental_long'], docs=False)
-    sunnypilot_interfaces.setup_interfaces(car_params, car_params_sp)
+                                               alpha_long=args['alpha_long'], docs=False)
     car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, car_params_sp)
+    sunnypilot_interfaces.setup_interfaces(car_interface)
     assert car_params
     assert car_params_sp
     assert car_interface
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index 43c30eb64d..6e13d55b29 100644
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -4,7 +4,7 @@ from openpilot.common.basedir import BASEDIR
 from opendbc.car.docs import generate_cars_md, get_all_car_docs
 from openpilot.selfdrive.debug.dump_car_docs import dump_car_docs
 from openpilot.selfdrive.debug.print_docs_diff import print_car_docs_diff
-from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE
+from openpilot.selfdrive.car.docs import CARS_MD_TEMPLATE
 
 
 class TestCarDocs:
@@ -13,11 +13,7 @@ class TestCarDocs:
     cls.all_cars = get_all_car_docs()
 
   def test_generator(self):
-    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
-    with open(CARS_MD_OUT) as f:
-      current_cars_md = f.read()
-
-    assert generated_cars_md == current_cars_md, "Run selfdrive/car/docs.py to update the compatibility documentation"
+    generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
 
   def test_docs_diff(self):
     dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 3193b68cd8..0fc6716dd3 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -79,7 +79,7 @@ class TestCarModelBase(unittest.TestCase):
     cls.elm_frame = None
     cls.car_safety_mode_frame = None
     cls.fingerprint = gen_empty_fingerprint()
-    experimental_long = False
+    alpha_long = False
     for msg in lr:
       if msg.which() == "can":
         can = can_capnp_to_list((msg.as_builder().to_bytes(),))[0]
@@ -92,7 +92,7 @@ class TestCarModelBase(unittest.TestCase):
       elif msg.which() == "carParams":
         car_fw = msg.carParams.carFw
         if msg.carParams.openpilotLongitudinalControl:
-          experimental_long = True
+          alpha_long = True
         if cls.platform is None:
           live_fingerprint = msg.carParams.carFingerprint
           cls.platform = MIGRATION.get(live_fingerprint, live_fingerprint)
@@ -114,7 +114,7 @@ class TestCarModelBase(unittest.TestCase):
           cls.car_safety_mode_frame = len(can_msgs)
 
     assert len(can_msgs) > int(50 / DT_CTRL), "no can data found"
-    return car_fw, can_msgs, experimental_long
+    return car_fw, can_msgs, alpha_long
 
   @classmethod
   def get_testing_data(cls):
@@ -147,14 +147,14 @@ class TestCarModelBase(unittest.TestCase):
         raise unittest.SkipTest
       raise Exception(f"missing test route for {cls.platform}")
 
-    car_fw, cls.can_msgs, experimental_long = cls.get_testing_data()
+    car_fw, cls.can_msgs, alpha_long = cls.get_testing_data()
 
     # if relay is expected to be open in the route
     cls.openpilot_enabled = cls.car_safety_mode_frame is not None
 
     cls.CarInterface = interfaces[cls.platform]
-    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, experimental_long, docs=False)
-    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, experimental_long, docs=False)
+    cls.CP = cls.CarInterface.get_params(cls.platform, cls.fingerprint, car_fw, alpha_long, False, docs=False)
+    cls.CP_SP = cls.CarInterface.get_params_sp(cls.CP, cls.platform,  cls.fingerprint, car_fw, alpha_long, docs=False)
     assert cls.CP
     assert cls.CP_SP
     assert cls.CP.carFingerprint == cls.platform
@@ -204,7 +204,7 @@ class TestCarModelBase(unittest.TestCase):
     CC_SP = structs.CarControlSP()
 
     for i, msg in enumerate(self.can_msgs):
-      CS = self.CI.update(msg)
+      CS, _ = self.CI.update(msg)
       self.CI.apply(CC, CC_SP, msg[0])
 
       if CS.canValid:
@@ -338,6 +338,7 @@ class TestCarModelBase(unittest.TestCase):
       prev_panda_gas = self.safety.get_gas_pressed_prev()
       prev_panda_brake = self.safety.get_brake_pressed_prev()
       prev_panda_regen_braking = self.safety.get_regen_braking_prev()
+      prev_panda_steering_disengage = self.safety.get_steering_disengage_prev()
       prev_panda_vehicle_moving = self.safety.get_vehicle_moving()
       prev_panda_vehicle_speed_min = self.safety.get_vehicle_speed_min()
       prev_panda_vehicle_speed_max = self.safety.get_vehicle_speed_max()
@@ -348,7 +349,7 @@ class TestCarModelBase(unittest.TestCase):
       self.safety.safety_rx_hook(to_send)
 
       can = [(int(time.monotonic() * 1e9), [CanData(address=address, dat=dat, src=bus)])]
-      CS = self.CI.update(can)
+      CS, _ = self.CI.update(can)
 
       if self.safety.get_gas_pressed_prev() != prev_panda_gas:
         self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
@@ -365,6 +366,9 @@ class TestCarModelBase(unittest.TestCase):
       if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
         self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
 
+      if self.safety.get_steering_disengage_prev() != prev_panda_steering_disengage:
+        self.assertEqual(CS.steeringDisengage, self.safety.get_steering_disengage_prev())
+
       if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving:
         self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving())
 
@@ -405,7 +409,8 @@ class TestCarModelBase(unittest.TestCase):
     checks = defaultdict(int)
     vehicle_speed_seen = self.CP.steerControlType == SteerControlType.angle and not self.CP.notCar
     for idx, can in enumerate(self.can_msgs):
-      CS = self.CI.update(can).as_reader()
+      CS, _ = self.CI.update(can)
+      CS = CS.as_reader()
       for msg in filter(lambda m: m.src < 64, can[1]):
         to_send = libsafety_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         ret = self.safety.safety_rx_hook(to_send)
@@ -440,6 +445,7 @@ class TestCarModelBase(unittest.TestCase):
           brake_pressed = False
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
+      checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()
 
       if self.CP.pcmCruise:
         # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state.
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 7820cb94de..04d79d3330 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1,8 +1,10 @@
 #!/usr/bin/env python3
 import math
+import threading
+import time
 from typing import SupportsFloat
 
-from cereal import car, log, custom
+from cereal import car, log
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params
@@ -19,6 +21,8 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
+from openpilot.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
+
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -26,24 +30,23 @@ LaneChangeDirection = log.LaneChangeDirection
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
-class Controls:
+class Controls(ControlsExt):
   def __init__(self) -> None:
     self.params = Params()
     cloudlog.info("controlsd is waiting for CarParams")
     self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
     cloudlog.info("controlsd got CarParams")
 
-    cloudlog.info("controlsd is waiting for CarParamsSP")
-    self.CP_SP = messaging.log_from_bytes(self.params.get("CarParamsSP", block=True), custom.CarParamsSP)
-    cloudlog.info("controlsd got CarParamsSP")
+    # Initialize sunnypilot controlsd extension
+    ControlsExt.__init__(self, self.CP, self.params)
 
     self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
 
     self.sm = messaging.SubMaster(['liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
                                    'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
-                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance'] + ['selfdriveStateSP'],
+                                   'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'liveDelay'] + self.sm_services_ext,
                                   poll='selfdriveState')
-    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + ['carControlSP'])
+    self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
 
     self.steer_limited_by_controls = False
     self.curvature = 0.0
@@ -90,6 +93,7 @@ class Controls:
                                            torque_params.frictionCoefficientFiltered)
 
       self.LaC.extension.update_model_v2(self.sm['modelV2'])
+      self.LaC.extension.update_lateral_lag(self.sm['liveDelay'].lateralDelay)
 
     long_plan = self.sm['longitudinalPlan']
     model_v2 = self.sm['modelV2']
@@ -100,11 +104,8 @@ class Controls:
     # Check which actuators can be enabled
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
 
-    ss_sp = self.sm['selfdriveStateSP']
-    if ss_sp.mads.available:
-      _lat_active = ss_sp.mads.active
-    else:
-      _lat_active = self.sm['selfdriveState'].active
+    # Get which state to use for active lateral control
+    _lat_active = self.get_lat_active(self.sm)
 
     CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
                    (not standstill or self.CP.steerAtStandstill)
@@ -148,16 +149,14 @@ class Controls:
         cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
         setattr(actuators, p, 0.0)
 
-    CC_SP = custom.CarControlSP.new_message()
-    CC_SP.mads = ss_sp.mads
+    return CC, lac_log
 
-    return CC, CC_SP, lac_log
-
-  def publish(self, CC, CC_SP, lac_log):
+  def publish(self, CC, lac_log):
     CS = self.sm['carState']
 
     # Orientation and angle rates can be useful for carcontroller
     # Only calibrated (car) frame is relevant for the carcontroller
+    CC.currentCurvature = self.curvature
     if self.calibrated_pose is not None:
       CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
       CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
@@ -226,19 +225,27 @@ class Controls:
     cc_send.carControl = CC
     self.pm.send('carControl', cc_send)
 
-    # carControlSP
-    cc_sp_send = messaging.new_message('carControlSP')
-    cc_sp_send.valid = CS.canValid
-    cc_sp_send.carControlSP = CC_SP
-    self.pm.send('carControlSP', cc_sp_send)
+  def params_thread(self, evt):
+    while not evt.is_set():
+      self.get_params_sp()
+
+      time.sleep(0.1)
 
   def run(self):
     rk = Ratekeeper(100, print_delay_threshold=None)
-    while True:
-      self.update()
-      CC, CC_SP, lac_log = self.state_control()
-      self.publish(CC, CC_SP, lac_log)
-      rk.monitor_time()
+    e = threading.Event()
+    t = threading.Thread(target=self.params_thread, args=(e,))
+    try:
+      t.start()
+      while True:
+        self.update()
+        CC, lac_log = self.state_control()
+        self.publish(CC, lac_log)
+        self.run_ext(self.sm, self.pm)
+        rk.monitor_time()
+    finally:
+      e.set()
+      t.join()
 
 
 def main():
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 34ea4ff1bb..23386e2ad7 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -1,7 +1,7 @@
 from cereal import log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.realtime import DT_MDL
-from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController
+from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeController, AutoLaneChangeMode
 
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
@@ -48,7 +48,7 @@ class DesireHelper:
     one_blinker = carstate.leftBlinker != carstate.rightBlinker
     below_lane_change_speed = v_ego < LANE_CHANGE_SPEED_MIN
 
-    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX:
+    if not lateral_active or self.lane_change_timer > LANE_CHANGE_TIME_MAX or self.alc.lane_change_set_timer == AutoLaneChangeMode.OFF:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
     else:
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 41384abae8..56eeac3bdf 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -1,7 +1,7 @@
 import numpy as np
 from cereal import log
 from opendbc.car.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
-from openpilot.common.realtime import DT_CTRL
+from openpilot.common.realtime import DT_CTRL, DT_MDL
 
 MIN_SPEED = 1.0
 CONTROL_N = 17
@@ -19,6 +19,9 @@ def clamp(val, min_val, max_val):
   clamped_val = float(np.clip(val, min_val, max_val))
   return clamped_val, clamped_val != val
 
+def smooth_value(val, prev_val, tau, dt=DT_MDL):
+  alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
+  return alpha * val + (1 - alpha) * prev_val
 
 def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
   # This function respects ISO lateral jerk and acceleration limits + a max curvature
@@ -43,3 +46,29 @@ def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
     vel_err = np.clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
     return float(vel_err)
   return 0.0
+
+
+def get_accel_from_plan(speeds, accels, t_idxs, action_t=DT_MDL, vEgoStopping=0.05):
+  if len(speeds) == len(t_idxs):
+    v_now = speeds[0]
+    a_now = accels[0]
+    v_target = np.interp(action_t, t_idxs, speeds)
+    a_target = 2 * (v_target - v_now) / (action_t) - a_now
+    v_target_1sec = np.interp(action_t + 1.0, t_idxs, speeds)
+  else:
+    v_target = 0.0
+    v_target_1sec = 0.0
+    a_target = 0.0
+  should_stop = (v_target < vEgoStopping and
+                 v_target_1sec < vEgoStopping)
+  return a_target, should_stop
+
+def curv_from_psis(psi_target, psi_rate, vego, action_t):
+  vego = np.clip(vego, MIN_SPEED, np.inf)
+  curv_from_psi = psi_target / (vego * action_t)
+  return 2*curv_from_psi - psi_rate / vego
+
+def get_curvature_from_plan(yaws, yaw_rates, t_idxs, vego, action_t):
+  psi_target = np.interp(action_t, t_idxs, yaws)
+  psi_rate = yaw_rates[0]
+  return curv_from_psis(psi_target, psi_rate, vego, action_t)
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 7bd0abc115..fe6275d9d0 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -10,6 +10,7 @@ class LatControlAngle(LatControl):
   def __init__(self, CP, CP_SP, CI):
     super().__init__(CP, CP_SP, CI)
     self.sat_check_min_speed = 5.
+    self.use_steer_limited_by_controls = CP.brand == "tesla"
 
   def update(self, active, CS, VM, params, steer_limited_by_controls, desired_curvature, calibrated_pose, curvature_limited):
     angle_log = log.ControlsState.LateralAngleState.new_message()
@@ -22,7 +23,13 @@ class LatControlAngle(LatControl):
       angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
       angle_steers_des += params.angleOffsetDeg
 
-    angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
+    if self.use_steer_limited_by_controls:
+      # these cars' carcontrollers calculate max lateral accel and jerk, so we can rely on carOutput for saturation
+      angle_control_saturated = steer_limited_by_controls
+    else:
+      # for cars which use a method of limiting torque such as a torque signal (Nissan and Toyota)
+      # or relying on EPS (Ford Q3), carOutput does not capture maxing out torque  # TODO: this can be improved
+      angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
     angle_log.saturated = bool(self._check_saturation(angle_control_saturated, CS, False, curvature_limited))
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 613824a4ed..5edf4cf91b 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -80,7 +80,8 @@ class LatControlTorque(LatControl):
       # Lateral acceleration torque controller extension updates
       # Overrides stock ff and pid_log.error
       ff, pid_log = self.extension.update(CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel)
+                                          desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+                                          desired_curvature, actual_curvature)
 
       freeze_integrator = steer_limited_by_controls or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(pid_log.error,
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index fbc0097716..4e842f8d1b 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -11,7 +11,7 @@ from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, get_speed_error, get_accel_from_plan
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX, V_CRUISE_UNSET
 from openpilot.common.swaglog import cloudlog
 
@@ -50,27 +50,11 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
-def get_accel_from_plan(speeds, accels, action_t=DT_MDL, vEgoStopping=0.05):
-  if len(speeds) == CONTROL_N:
-    v_now = speeds[0]
-    a_now = accels[0]
-
-    v_target = np.interp(action_t, CONTROL_N_T_IDX, speeds)
-    a_target = 2 * (v_target - v_now) / (action_t) - a_now
-    v_target_1sec = np.interp(action_t + 1.0, CONTROL_N_T_IDX, speeds)
-  else:
-    v_target = 0.0
-    v_target_1sec = 0.0
-    a_target = 0.0
-  should_stop = (v_target < vEgoStopping and
-                 v_target_1sec < vEgoStopping)
-  return a_target, should_stop
-
-
 class LongitudinalPlanner(LongitudinalPlannerSP):
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
     self.mpc = LongitudinalMpc(dt=dt)
+    self.mpc.mode = 'acc'
     LongitudinalPlannerSP.__init__(self, self.CP, self.mpc)
     self.fcw = False
     self.dt = dt
@@ -109,10 +93,10 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     return x, v, a, j, throttle_prob
 
   def update(self, sm):
+    self.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
     LongitudinalPlannerSP.update(self, sm)
-    self.mpc.mode = 'blended' if sm['selfdriveState'].experimentalMode else 'acc'
     if dec_mpc_mode := self.get_mpc_mode():
-      self.mpc.mode = dec_mpc_mode
+      self.mode = dec_mpc_mode
 
     if len(sm['carControl'].orientationNED) == 3:
       accel_coast = get_coast_accel(sm['carControl'].orientationNED[1])
@@ -135,7 +119,7 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
 
-    if self.mpc.mode == 'acc':
+    if self.mode == 'acc':
       accel_clip = [ACCEL_MIN, get_max_accel(v_ego)]
       steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
       accel_clip = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_clip, self.CP)
@@ -182,8 +166,17 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
     action_t =  self.CP.longitudinalActuatorDelay + DT_MDL
-    output_a_target, self.output_should_stop = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory,
+    output_a_target_mpc, output_should_stop_mpc = get_accel_from_plan(self.v_desired_trajectory, self.a_desired_trajectory, CONTROL_N_T_IDX,
                                                                         action_t=action_t, vEgoStopping=self.CP.vEgoStopping)
+    output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
+    output_should_stop_e2e = sm['modelV2'].action.shouldStop
+
+    if self.mode == 'acc':
+      output_a_target = output_a_target_mpc
+      self.output_should_stop = output_should_stop_mpc
+    else:
+      output_a_target = min(output_a_target_mpc, output_a_target_e2e)
+      self.output_should_stop = output_should_stop_e2e or output_should_stop_mpc
 
     for idx in range(2):
       accel_clip[idx] = np.clip(accel_clip[idx], self.prev_accel_clip[idx] - 0.05, self.prev_accel_clip[idx] + 0.05)
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 3bf9be9d92..727f68195f 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -23,7 +23,7 @@ class TestLatControl:
     CP = CarInterface.get_non_essential_params(car_name)
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
-    sunnypilot_interfaces.setup_interfaces(CP, CP_SP)
+    sunnypilot_interfaces.setup_interfaces(CI)
     CP_SP = convert_to_capnp(CP_SP)
     VM = VehicleModel(CP)
 
diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/car/clear_dtc.py
similarity index 100%
rename from selfdrive/debug/clear_dtc.py
rename to selfdrive/debug/car/clear_dtc.py
diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/car/hyundai_enable_radar_points.py
similarity index 94%
rename from selfdrive/debug/hyundai_enable_radar_points.py
rename to selfdrive/debug/car/hyundai_enable_radar_points.py
index 93f5949eac..30e2949378 100755
--- a/selfdrive/debug/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/car/hyundai_enable_radar_points.py
@@ -71,6 +71,13 @@ SUPPORTED_FW_VERSIONS = {
   b"DLhe SCC FHCUP      1.00 1.02 99110-L7000 \x01 \x102    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2022 Niro EV
+  b"DEev SCC F-CUP      1.00 1.00 99110-Q4600\x01\x42      ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"DEev SCC F-CUP      1.00 1.00 99110-Q4600 \x07\x03\t%      ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }
 
 if __name__ == "__main__":
diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/car/toyota_eps_factor.py
similarity index 100%
rename from selfdrive/debug/toyota_eps_factor.py
rename to selfdrive/debug/car/toyota_eps_factor.py
diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/car/vw_mqb_config.py
similarity index 100%
rename from selfdrive/debug/vw_mqb_config.py
rename to selfdrive/debug/car/vw_mqb_config.py
diff --git a/selfdrive/debug/measure_modeld_packet_drop.py b/selfdrive/debug/measure_modeld_packet_drop.py
deleted file mode 100755
index 9814942ce2..0000000000
--- a/selfdrive/debug/measure_modeld_packet_drop.py
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/usr/bin/env python3
-import cereal.messaging as messaging
-
-if __name__ == "__main__":
-  modeld_sock = messaging.sub_sock("modelV2")
-
-  last_frame_id = None
-  start_t: int | None = None
-  frame_cnt = 0
-  dropped = 0
-
-  while True:
-    m = messaging.recv_one(modeld_sock)
-    if m is None:
-      continue
-
-    frame_id = m.modelV2.frameId
-    t = m.logMonoTime / 1e9
-    frame_cnt += 1
-
-    if start_t is None:
-      start_t = t
-      last_frame_id = frame_id
-      continue
-
-    d_frame = frame_id - last_frame_id
-    dropped += d_frame - 1
-
-    expected_num_frames = int((t - start_t) * 20)
-    frame_drop = 100 * (1 - (expected_num_frames / frame_cnt))
-    print(f"Num dropped {dropped}, Drop compared to 20Hz: {frame_drop:.2f}%")
-
-    last_frame_id = frame_id
diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py
index 6060dfbc36..aec30b4d74 100755
--- a/selfdrive/debug/set_car_params.py
+++ b/selfdrive/debug/set_car_params.py
@@ -15,7 +15,7 @@ if __name__ == "__main__":
   else:
     CP = car.CarParams.new_message()
     CP.openpilotLongitudinalControl = True
-    CP.experimentalLongitudinalAvailable = False
+    CP.alphaLongitudinalAvailable = False
 
   cp_bytes = CP.to_bytes()
   for p in ("CarParams", "CarParamsCache", "CarParamsPersistent"):
diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py
deleted file mode 100755
index bc13772977..0000000000
--- a/selfdrive/debug/show_matching_cars.py
+++ /dev/null
@@ -1,20 +0,0 @@
-#!/usr/bin/env python3
-from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
-import cereal.messaging as messaging
-
-
-# rav4 2019 and corolla tss2
-fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # noqa: E501
-
-candidate_cars = all_legacy_fingerprint_cars()
-
-
-for addr, l in fingerprint.items():
-  dat = messaging.new_message('can', 1)
-
-  msg = dat.can[0]
-  msg.address = addr
-  msg.dat = " " * l
-
-  candidate_cars = eliminate_incompatible_cars(msg, candidate_cars)
-  print(candidate_cars)
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index af307b0336..a3e3ae4a8c 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -1,10 +1,48 @@
 import numpy as np
 from typing import Any
+from functools import cache
 
 from cereal import log
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 
 
+@cache
+def fft_next_good_size(n: int) -> int:
+    """
+    smallest composite of 2, 3, 5, 7, 11 that is >= n
+    inspired by pocketfft
+    """
+    if n <= 6:
+      return n
+    best, f2 = 2 * n, 1
+    while f2 < best:
+        f23 = f2
+        while f23 < best:
+            f235 = f23
+            while f235 < best:
+                f2357 = f235
+                while f2357 < best:
+                    f235711 = f2357
+                    while f235711 < best:
+                        best = f235711 if f235711 >= n else best
+                        f235711 *= 11
+                    f2357 *= 7
+                f235 *= 5
+            f23 *= 3
+        f2 *= 2
+    return best
+
+
+def parabolic_peak_interp(R, max_index):
+  if max_index == 0 or max_index == len(R) - 1:
+    return max_index
+
+  y_m1, y_0, y_p1 = R[max_index - 1], R[max_index], R[max_index + 1]
+  offset = 0.5 * (y_p1 - y_m1) / (2 * y_0 - y_p1 - y_m1)
+
+  return max_index + offset
+
+
 def rotate_cov(rot_matrix, cov_in):
   return rot_matrix @ cov_in @ rot_matrix.T
 
diff --git a/selfdrive/locationd/lagd.py b/selfdrive/locationd/lagd.py
new file mode 100755
index 0000000000..e070c16b1c
--- /dev/null
+++ b/selfdrive/locationd/lagd.py
@@ -0,0 +1,397 @@
+#!/usr/bin/env python3
+import os
+import numpy as np
+import capnp
+from collections import deque
+from functools import partial
+
+import cereal.messaging as messaging
+from cereal import car, log
+from cereal.services import SERVICE_LIST
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose, fft_next_good_size, parabolic_peak_interp
+
+BLOCK_SIZE = 100
+BLOCK_NUM = 50
+BLOCK_NUM_NEEDED = 5
+MOVING_WINDOW_SEC = 60.0
+MIN_OKAY_WINDOW_SEC = 25.0
+MIN_RECOVERY_BUFFER_SEC = 2.0
+MIN_VEGO = 15.0
+MIN_ABS_YAW_RATE = 0.0
+MAX_YAW_RATE_SANITY_CHECK = 1.0
+MIN_NCC = 0.95
+MAX_LAG = 1.0
+MAX_LAG_STD = 0.1
+MAX_LAT_ACCEL = 2.0
+MAX_LAT_ACCEL_DIFF = 0.6
+MIN_CONFIDENCE = 0.7
+CORR_BORDER_OFFSET = 5
+LAG_CANDIDATE_CORR_THRESHOLD = 0.9
+
+
+def masked_normalized_cross_correlation(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, n: int):
+  """
+  References:
+    D. Padfield. "Masked FFT registration". In Proc. Computer Vision and
+    Pattern Recognition, pp. 2918-2925 (2010).
+    :DOI:`10.1109/CVPR.2010.5540032`
+  """
+
+  eps = np.finfo(np.float64).eps
+  expected_sig = np.asarray(expected_sig, dtype=np.float64)
+  actual_sig = np.asarray(actual_sig, dtype=np.float64)
+
+  expected_sig[~mask] = 0.0
+  actual_sig[~mask] = 0.0
+
+  rotated_expected_sig = expected_sig[::-1]
+  rotated_mask = mask[::-1]
+
+  fft = partial(np.fft.fft, n=n)
+
+  actual_sig_fft = fft(actual_sig)
+  rotated_expected_sig_fft = fft(rotated_expected_sig)
+  actual_mask_fft = fft(mask.astype(np.float64))
+  rotated_mask_fft = fft(rotated_mask.astype(np.float64))
+
+  number_overlap_masked_samples = np.fft.ifft(rotated_mask_fft * actual_mask_fft).real
+  number_overlap_masked_samples[:] = np.round(number_overlap_masked_samples)
+  number_overlap_masked_samples[:] = np.fmax(number_overlap_masked_samples, eps)
+  masked_correlated_actual_fft = np.fft.ifft(rotated_mask_fft * actual_sig_fft).real
+  masked_correlated_expected_fft = np.fft.ifft(actual_mask_fft * rotated_expected_sig_fft).real
+
+  numerator = np.fft.ifft(rotated_expected_sig_fft * actual_sig_fft).real
+  numerator -= masked_correlated_actual_fft * masked_correlated_expected_fft / number_overlap_masked_samples
+
+  actual_squared_fft = fft(actual_sig ** 2)
+  actual_sig_denom = np.fft.ifft(rotated_mask_fft * actual_squared_fft).real
+  actual_sig_denom -= masked_correlated_actual_fft ** 2 / number_overlap_masked_samples
+  actual_sig_denom[:] = np.fmax(actual_sig_denom, 0.0)
+
+  rotated_expected_squared_fft = fft(rotated_expected_sig ** 2)
+  expected_sig_denom = np.fft.ifft(actual_mask_fft * rotated_expected_squared_fft).real
+  expected_sig_denom -= masked_correlated_expected_fft ** 2 / number_overlap_masked_samples
+  expected_sig_denom[:] = np.fmax(expected_sig_denom, 0.0)
+
+  denom = np.sqrt(actual_sig_denom * expected_sig_denom)
+
+  # zero-out samples with very small denominators
+  tol = 1e3 * eps * np.max(np.abs(denom), keepdims=True)
+  nonzero_indices = denom > tol
+
+  ncc = np.zeros_like(denom, dtype=np.float64)
+  ncc[nonzero_indices] = numerator[nonzero_indices] / denom[nonzero_indices]
+  np.clip(ncc, -1, 1, out=ncc)
+
+  return ncc
+
+
+class Points:
+  def __init__(self, num_points: int):
+    self.times = deque[float]([0.0] * num_points, maxlen=num_points)
+    self.okay = deque[bool]([False] * num_points, maxlen=num_points)
+    self.desired = deque[float]([0.0] * num_points, maxlen=num_points)
+    self.actual = deque[float]([0.0] * num_points, maxlen=num_points)
+
+  @property
+  def num_points(self):
+    return len(self.desired)
+
+  @property
+  def num_okay(self):
+    return np.count_nonzero(self.okay)
+
+  def update(self, t: float, desired: float, actual: float, okay: bool):
+    self.times.append(t)
+    self.okay.append(okay)
+    self.desired.append(desired)
+    self.actual.append(actual)
+
+  def get(self) -> tuple[np.ndarray, np.ndarray, np.ndarray, np.ndarray]:
+    return np.array(self.times), np.array(self.desired), np.array(self.actual), np.array(self.okay)
+
+
+class BlockAverage:
+  def __init__(self, num_blocks: int, block_size: int, valid_blocks: int, initial_value: float):
+    self.num_blocks = num_blocks
+    self.block_size = block_size
+    self.block_idx = valid_blocks % num_blocks
+    self.idx = 0
+
+    self.values = np.tile(initial_value, (num_blocks, 1))
+    self.valid_blocks = valid_blocks
+
+  def update(self, value: float):
+    self.values[self.block_idx] = (self.idx * self.values[self.block_idx] + value) / (self.idx + 1)
+    self.idx = (self.idx + 1) % self.block_size
+    if self.idx == 0:
+      self.block_idx = (self.block_idx + 1) % self.num_blocks
+      self.valid_blocks = min(self.valid_blocks + 1, self.num_blocks)
+
+  def get(self) -> tuple[float, float, float, float]:
+    valid_block_idx = [i for i in range(self.valid_blocks) if i != self.block_idx]
+    valid_and_current_idx = valid_block_idx + ([self.block_idx] if self.idx > 0 else [])
+
+    if len(valid_block_idx) > 0:
+      valid_mean = float(np.mean(self.values[valid_block_idx], axis=0).item())
+      valid_std = float(np.std(self.values[valid_block_idx], axis=0).item())
+    else:
+      valid_mean, valid_std = float('nan'), float('nan')
+
+    if len(valid_and_current_idx) > 0:
+      current_mean = float(np.mean(self.values[valid_and_current_idx], axis=0).item())
+      current_std = float(np.std(self.values[valid_and_current_idx], axis=0).item())
+    else:
+      current_mean, current_std = float('nan'), float('nan')
+
+    return valid_mean, valid_std, current_mean, current_std
+
+
+class LateralLagEstimator:
+  inputs = {"carControl", "carState", "controlsState", "liveCalibration", "livePose"}
+
+  def __init__(self, CP: car.CarParams, dt: float,
+               block_count: int = BLOCK_NUM, min_valid_block_count: int = BLOCK_NUM_NEEDED, block_size: int = BLOCK_SIZE,
+               window_sec: float = MOVING_WINDOW_SEC, okay_window_sec: float = MIN_OKAY_WINDOW_SEC, min_recovery_buffer_sec: float = MIN_RECOVERY_BUFFER_SEC,
+               min_vego: float = MIN_VEGO, min_yr: float = MIN_ABS_YAW_RATE, min_ncc: float = MIN_NCC,
+               max_lat_accel: float = MAX_LAT_ACCEL, max_lat_accel_diff: float = MAX_LAT_ACCEL_DIFF, min_confidence: float = MIN_CONFIDENCE,
+               enabled: bool = True):
+    self.dt = dt
+    self.window_sec = window_sec
+    self.okay_window_sec = okay_window_sec
+    self.min_recovery_buffer_sec = min_recovery_buffer_sec
+    self.initial_lag = CP.steerActuatorDelay + 0.2
+    self.block_size = block_size
+    self.block_count = block_count
+    self.min_valid_block_count = min_valid_block_count
+    self.min_vego = min_vego
+    self.min_yr = min_yr
+    self.min_ncc = min_ncc
+    self.min_confidence = min_confidence
+    self.max_lat_accel = max_lat_accel
+    self.max_lat_accel_diff = max_lat_accel_diff
+    self.enabled = enabled
+
+    self.t = 0.0
+    self.lat_active = False
+    self.steering_pressed = False
+    self.steering_saturated = False
+    self.desired_curvature = 0.0
+    self.v_ego = 0.0
+    self.yaw_rate = 0.0
+    self.yaw_rate_std = 0.0
+    self.pose_valid = False
+
+    self.last_lat_inactive_t = 0.0
+    self.last_steering_pressed_t = 0.0
+    self.last_steering_saturated_t = 0.0
+    self.last_pose_invalid_t = 0.0
+    self.last_estimate_t = 0.0
+
+    self.calibrator = PoseCalibrator()
+
+    self.reset(self.initial_lag, 0)
+
+  def reset(self, initial_lag: float, valid_blocks: int):
+    window_len = int(self.window_sec / self.dt)
+    self.points = Points(window_len)
+    self.block_avg = BlockAverage(self.block_count, self.block_size, valid_blocks, initial_lag)
+
+  def get_msg(self, valid: bool, debug: bool = False) -> capnp._DynamicStructBuilder:
+    msg = messaging.new_message('liveDelay')
+
+    msg.valid = valid
+
+    liveDelay = msg.liveDelay
+
+    valid_mean_lag, valid_std, current_mean_lag, current_std = self.block_avg.get()
+    if self.enabled and self.block_avg.valid_blocks >= self.min_valid_block_count and not np.isnan(valid_mean_lag) and not np.isnan(valid_std):
+      if valid_std > MAX_LAG_STD:
+        liveDelay.status = log.LiveDelayData.Status.invalid
+      else:
+        liveDelay.status = log.LiveDelayData.Status.estimated
+    else:
+      liveDelay.status = log.LiveDelayData.Status.unestimated
+
+    if liveDelay.status == log.LiveDelayData.Status.estimated:
+      liveDelay.lateralDelay = valid_mean_lag
+    else:
+      liveDelay.lateralDelay = self.initial_lag
+
+    if not np.isnan(current_mean_lag) and not np.isnan(current_std):
+      liveDelay.lateralDelayEstimate = current_mean_lag
+      liveDelay.lateralDelayEstimateStd = current_std
+    else:
+      liveDelay.lateralDelayEstimate = self.initial_lag
+      liveDelay.lateralDelayEstimateStd = 0.0
+
+    liveDelay.validBlocks = self.block_avg.valid_blocks
+    if debug:
+      liveDelay.points = self.block_avg.values.flatten().tolist()
+
+    return msg
+
+  def handle_log(self, t: float, which: str, msg: capnp._DynamicStructReader):
+    if which == "carControl":
+      self.lat_active = msg.latActive
+    elif which == "carState":
+      self.steering_pressed = msg.steeringPressed
+      self.v_ego = msg.vEgo
+    elif which == "controlsState":
+      self.steering_saturated = getattr(msg.lateralControlState, msg.lateralControlState.which()).saturated
+      self.desired_curvature = msg.desiredCurvature
+    elif which == "liveCalibration":
+      self.calibrator.feed_live_calib(msg)
+    elif which == "livePose":
+      device_pose = Pose.from_live_pose(msg)
+      calibrated_pose = self.calibrator.build_calibrated_pose(device_pose)
+      self.yaw_rate = calibrated_pose.angular_velocity.yaw
+      self.yaw_rate_std = calibrated_pose.angular_velocity.yaw_std
+      self.pose_valid = msg.angularVelocityDevice.valid and msg.posenetOK and msg.inputsOK
+    self.t = t
+
+  def points_enough(self):
+    return self.points.num_points >= int(self.okay_window_sec / self.dt)
+
+  def points_valid(self):
+    return self.points.num_okay >= int(self.okay_window_sec / self.dt)
+
+  def update_points(self):
+    la_desired = self.desired_curvature * self.v_ego * self.v_ego
+    la_actual_pose = self.yaw_rate * self.v_ego
+
+    fast = self.v_ego > self.min_vego
+    turning = np.abs(self.yaw_rate) >= self.min_yr
+    sensors_valid = self.pose_valid and np.abs(self.yaw_rate) < MAX_YAW_RATE_SANITY_CHECK and self.yaw_rate_std < MAX_YAW_RATE_SANITY_CHECK
+    la_valid = np.abs(la_actual_pose) <= self.max_lat_accel and np.abs(la_desired - la_actual_pose) <= self.max_lat_accel_diff
+    calib_valid = self.calibrator.calib_valid
+
+    if not self.lat_active:
+      self.last_lat_inactive_t = self.t
+    if self.steering_pressed:
+      self.last_steering_pressed_t = self.t
+    if self.steering_saturated:
+      self.last_steering_saturated_t = self.t
+    if not sensors_valid or not la_valid:
+      self.last_pose_invalid_t = self.t
+
+    has_recovered = all( # wait for recovery after !lat_active, steering_pressed, steering_saturated, !sensors/la_valid
+      self.t - last_t >= self.min_recovery_buffer_sec
+      for last_t in [self.last_lat_inactive_t, self.last_steering_pressed_t, self.last_steering_saturated_t, self.last_pose_invalid_t]
+    )
+    okay = self.lat_active and not self.steering_pressed and not self.steering_saturated and \
+           fast and turning and has_recovered and calib_valid and sensors_valid and la_valid
+
+    self.points.update(self.t, la_desired, la_actual_pose, okay)
+
+  def update_estimate(self):
+    if not self.points_enough():
+      return
+
+    times, desired, actual, okay = self.points.get()
+    # check if there are any new valid data points since the last update
+    is_valid = self.points_valid()
+    if self.last_estimate_t != 0 and times[0] <= self.last_estimate_t:
+      new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t)
+      is_valid = is_valid and not (new_values_start_idx == 0 or not np.any(okay[new_values_start_idx:]))
+
+    delay, corr, confidence = self.actuator_delay(desired, actual, okay, self.dt, MAX_LAG)
+    if corr < self.min_ncc or confidence < self.min_confidence or not is_valid:
+      return
+
+    self.block_avg.update(delay)
+    self.last_estimate_t = self.t
+
+  @staticmethod
+  def actuator_delay(expected_sig: np.ndarray, actual_sig: np.ndarray, mask: np.ndarray, dt: float, max_lag: float) -> tuple[float, float, float]:
+    assert len(expected_sig) == len(actual_sig)
+    max_lag_samples = int(max_lag / dt)
+    padded_size = fft_next_good_size(len(expected_sig) + max_lag_samples)
+
+    ncc = masked_normalized_cross_correlation(expected_sig, actual_sig, mask, padded_size)
+
+    # only consider lags from 0 to max_lag
+    roi = np.s_[len(expected_sig) - 1: len(expected_sig) - 1 + max_lag_samples]
+    extended_roi = np.s_[roi.start - CORR_BORDER_OFFSET: roi.stop + CORR_BORDER_OFFSET]
+    roi_ncc = ncc[roi]
+    extended_roi_ncc = ncc[extended_roi]
+
+    max_corr_index = np.argmax(roi_ncc)
+    corr = roi_ncc[max_corr_index]
+    lag = parabolic_peak_interp(roi_ncc, max_corr_index) * dt
+
+    # to estimate lag confidence, gather all high-correlation candidates and see how spread they are
+    # if e.g. 0.8 and 0.4 are both viable, this is an ambiguous case
+    ncc_thresh = (roi_ncc.max() - roi_ncc.min()) * LAG_CANDIDATE_CORR_THRESHOLD + roi_ncc.min()
+    good_lag_candidate_mask = extended_roi_ncc >= ncc_thresh
+    good_lag_candidate_edges = np.diff(good_lag_candidate_mask.astype(int), prepend=0, append=0)
+    starts, ends = np.where(good_lag_candidate_edges == 1)[0], np.where(good_lag_candidate_edges == -1)[0] - 1
+    run_idx = np.searchsorted(starts, max_corr_index + CORR_BORDER_OFFSET, side='right') - 1
+    width = ends[run_idx] - starts[run_idx] + 1
+    confidence = np.clip(1 - width * dt, 0, 1)
+
+    return lag, corr, confidence
+
+
+def retrieve_initial_lag(params: Params, CP: car.CarParams):
+  last_lag_data = params.get("LiveDelay")
+  last_carparams_data = params.get("CarParamsPrevRoute")
+
+  if last_lag_data is not None:
+    try:
+      with log.Event.from_bytes(last_lag_data) as last_lag_msg, car.CarParams.from_bytes(last_carparams_data) as last_CP:
+        ld = last_lag_msg.liveDelay
+        if last_CP.carFingerprint != CP.carFingerprint:
+          raise Exception("Car model mismatch")
+
+        lag, valid_blocks, status = ld.lateralDelayEstimate, ld.validBlocks, ld.status
+        assert valid_blocks <= BLOCK_NUM, "Invalid number of valid blocks"
+        assert status != log.LiveDelayData.Status.invalid, "Lag estimate is invalid"
+        return lag, valid_blocks
+    except Exception as e:
+      cloudlog.error(f"Failed to retrieve initial lag: {e}")
+      params.remove("LiveDelay")
+
+  return None
+
+
+def main():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  DEBUG = bool(int(os.getenv("DEBUG", "0")))
+
+  pm = messaging.PubMaster(['liveDelay'])
+  sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState', 'controlsState', 'carControl'], poll='livePose')
+
+  params = Params()
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+
+  # TODO: remove me, lagd is in shadow mode on release
+  is_release = params.get_bool("IsReleaseBranch")
+
+  lag_learner = LateralLagEstimator(CP, 1. / SERVICE_LIST['livePose'].frequency, enabled=not is_release)
+  if (initial_lag_params := retrieve_initial_lag(params, CP)) is not None:
+    lag, valid_blocks = initial_lag_params
+    lag_learner.reset(lag, valid_blocks)
+
+  while True:
+    sm.update()
+    if sm.all_checks():
+      for which in sorted(sm.updated.keys(), key=lambda x: sm.logMonoTime[x]):
+        if sm.updated[which]:
+          t = sm.logMonoTime[which] * 1e-9
+          lag_learner.handle_log(t, which, sm[which])
+      lag_learner.update_points()
+
+    # 4Hz driven by livePose
+    if sm.frame % 5 == 0:
+      lag_learner.update_estimate()
+      lag_msg = lag_learner.get_msg(sm.all_checks(), DEBUG)
+      lag_msg_dat = lag_msg.to_bytes()
+      pm.send('liveDelay', lag_msg_dat)
+
+      if sm.frame % 1200 == 0: # cache every 60 seconds
+        params.put_nonblocking("LiveDelay", lag_msg_dat)
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 243abc5c08..ec15f501ae 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -200,26 +200,28 @@ def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: floa
 
 
 # TODO: Remove this function after few releases (added in 0.9.9)
-def migrate_cached_vehicle_params_if_needed(params_reader: Params):
-  last_parameters_data = params_reader.get("LiveParameters")
-  if last_parameters_data is None:
+def migrate_cached_vehicle_params_if_needed(params: Params):
+  last_parameters_data_old = params.get("LiveParameters")
+  last_parameters_data = params.get("LiveParametersV2")
+  if last_parameters_data_old is None or last_parameters_data is not None:
     return
 
   try:
-    last_parameters_dict = json.loads(last_parameters_data)
+    last_parameters_dict = json.loads(last_parameters_data_old)
     last_parameters_msg = messaging.new_message('liveParameters')
     last_parameters_msg.liveParameters.valid = True
     last_parameters_msg.liveParameters.steerRatio = last_parameters_dict['steerRatio']
     last_parameters_msg.liveParameters.stiffnessFactor = last_parameters_dict['stiffnessFactor']
     last_parameters_msg.liveParameters.angleOffsetAverageDeg = last_parameters_dict['angleOffsetAverageDeg']
-    params_reader.put("LiveParameters", last_parameters_msg.to_bytes())
-  except Exception:
-    pass
+    params.put("LiveParametersV2", last_parameters_msg.to_bytes())
+  except Exception as e:
+    cloudlog.error(f"Failed to perform parameter migration: {e}")
+    params.remove("LiveParameters")
 
 
-def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, replay: bool, debug: bool):
-  last_parameters_data = params_reader.get("LiveParameters")
-  last_carparams_data = params_reader.get("CarParamsPrevRoute")
+def retrieve_initial_vehicle_params(params: Params, CP: car.CarParams, replay: bool, debug: bool):
+  last_parameters_data = params.get("LiveParametersV2")
+  last_carparams_data = params.get("CarParamsPrevRoute")
 
   steer_ratio, stiffness_factor, angle_offset_deg, p_initial = CP.steerRatio, 1.0, 0.0, None
 
@@ -246,6 +248,7 @@ def retrieve_initial_vehicle_params(params_reader: Params, CP: car.CarParams, re
         retrieve_success = True
     except Exception as e:
       cloudlog.error(f"Failed to retrieve initial values: {e}")
+      params.remove("LiveParametersV2")
 
   if not replay:
     # When driving in wet conditions the stiffness can go down, and then be too low on the next drive
@@ -267,12 +270,12 @@ def main():
   pm = messaging.PubMaster(['liveParameters'])
   sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
 
-  params_reader = Params()
-  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
+  params = Params()
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
 
-  migrate_cached_vehicle_params_if_needed(params_reader)
+  migrate_cached_vehicle_params_if_needed(params)
 
-  steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params_reader, CP, REPLAY, DEBUG)
+  steer_ratio, stiffness_factor, angle_offset_deg, pInitial = retrieve_initial_vehicle_params(params, CP, REPLAY, DEBUG)
   learner = VehicleParamsLearner(CP, steer_ratio, stiffness_factor, np.radians(angle_offset_deg), pInitial)
 
   while True:
@@ -288,7 +291,7 @@ def main():
 
       msg_dat = msg.to_bytes()
       if sm.frame % 1200 == 0:  # once a minute
-        params_reader.put_nonblocking("LiveParameters", msg_dat)
+        params.put_nonblocking("LiveParametersV2", msg_dat)
 
       pm.send('liveParameters', msg_dat)
 
diff --git a/selfdrive/locationd/test/test_lagd.py b/selfdrive/locationd/test/test_lagd.py
new file mode 100644
index 0000000000..a7f9c75ab4
--- /dev/null
+++ b/selfdrive/locationd/test/test_lagd.py
@@ -0,0 +1,145 @@
+import random
+import numpy as np
+import time
+import pytest
+
+from cereal import messaging, log, car
+from openpilot.selfdrive.locationd.lagd import LateralLagEstimator, retrieve_initial_lag, masked_normalized_cross_correlation, \
+                                               BLOCK_NUM_NEEDED, BLOCK_SIZE, MIN_OKAY_WINDOW_SEC
+from openpilot.selfdrive.test.process_replay.migration import migrate, migrate_carParams
+from openpilot.selfdrive.locationd.test.test_locationd_scenarios import TEST_ROUTE
+from openpilot.common.params import Params
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.system.hardware import PC
+
+MAX_ERR_FRAMES = 1
+DT = 0.05
+
+
+def process_messages(estimator, lag_frames, n_frames, vego=20.0, rejection_threshold=0.0):
+  for i in range(n_frames):
+    t = i * estimator.dt
+    desired_la = np.cos(10 * t) * 0.1
+    actual_la = np.cos(10 * (t - lag_frames * estimator.dt)) * 0.1
+
+    # if sample is masked out, set it to desired value (no lag)
+    rejected = random.uniform(0, 1) < rejection_threshold
+    if rejected:
+      actual_la = desired_la
+
+    desired_cuvature = float(desired_la / (vego ** 2))
+    actual_yr = float(actual_la / vego)
+    msgs = [
+      (t, "carControl", car.CarControl(latActive=not rejected)),
+      (t, "carState", car.CarState(vEgo=vego, steeringPressed=False)),
+      (t, "controlsState", log.ControlsState(desiredCurvature=desired_cuvature)),
+      (t, "livePose", log.LivePose(angularVelocityDevice=log.LivePose.XYZMeasurement(z=actual_yr, valid=True),
+                                   posenetOK=True, inputsOK=True)),
+      (t, "liveCalibration", log.LiveCalibrationData(rpyCalib=[0, 0, 0], calStatus=log.LiveCalibrationData.Status.calibrated)),
+    ]
+    for t, w, m in msgs:
+      estimator.handle_log(t, w, m)
+    estimator.update_points()
+    estimator.update_estimate()
+
+
+class TestLagd:
+  def test_read_saved_params(self):
+    params = Params()
+
+    lr = migrate(LogReader(TEST_ROUTE), [migrate_carParams])
+    CP = next(m for m in lr if m.which() == "carParams").carParams
+
+    msg = messaging.new_message('liveDelay')
+    msg.liveDelay.lateralDelayEstimate = random.random()
+    msg.liveDelay.validBlocks = random.randint(1, 10)
+    params.put("LiveDelay", msg.to_bytes())
+    params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+
+    saved_lag_params = retrieve_initial_lag(params, CP)
+    assert saved_lag_params is not None
+
+    lag, valid_blocks = saved_lag_params
+    assert lag == msg.liveDelay.lateralDelayEstimate
+    assert valid_blocks == msg.liveDelay.validBlocks
+
+  def test_ncc(self):
+    lag_frames = random.randint(1, 19)
+
+    desired_sig = np.sin(np.arange(0.0, 10.0, 0.1))
+    actual_sig = np.sin(np.arange(0.0, 10.0, 0.1) - lag_frames * 0.1)
+    mask = np.ones(len(desired_sig), dtype=bool)
+
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr) == lag_frames
+
+    # add some noise
+    desired_sig += np.random.normal(0, 0.05, len(desired_sig))
+    actual_sig += np.random.normal(0, 0.05, len(actual_sig))
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr)  in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
+
+    # mask out 40% of the values, and make them noise
+    mask = np.random.choice([True, False], size=len(desired_sig), p=[0.6, 0.4])
+    desired_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    actual_sig[~mask] = np.random.normal(0, 1, size=np.sum(~mask))
+    corr = masked_normalized_cross_correlation(desired_sig, actual_sig, mask, 200)[len(desired_sig) - 1:len(desired_sig) + 20]
+    assert np.argmax(corr) in range(lag_frames - MAX_ERR_FRAMES, lag_frames + MAX_ERR_FRAMES + 1)
+
+  def test_empty_estimator(self):
+    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+    estimator = LateralLagEstimator(mocked_CP, DT)
+    msg = estimator.get_msg(True)
+    assert msg.liveDelay.status == 'unestimated'
+    assert np.allclose(msg.liveDelay.lateralDelay, estimator.initial_lag)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimate, estimator.initial_lag)
+    assert msg.liveDelay.validBlocks == 0
+
+  def test_estimator_basics(self, subtests):
+    for lag_frames in range(5):
+      with subtests.test(msg=f"lag_frames={lag_frames}"):
+        mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+        estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0)
+        process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
+        msg = estimator.get_msg(True)
+        assert msg.liveDelay.status == 'estimated'
+        assert np.allclose(msg.liveDelay.lateralDelay, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+        assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+        assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
+
+  def test_disabled_estimator(self):
+    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, enabled=False)
+    lag_frames = 5
+    process_messages(estimator, lag_frames, int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_NUM_NEEDED * BLOCK_SIZE)
+    msg = estimator.get_msg(True)
+    assert msg.liveDelay.status == 'unestimated'
+    assert np.allclose(msg.liveDelay.lateralDelay, 1.0, atol=0.01)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+    assert msg.liveDelay.validBlocks == BLOCK_NUM_NEEDED
+
+  def test_estimator_masking(self):
+    mocked_CP, lag_frames = car.CarParams(steerActuatorDelay=0.8), random.randint(1, 19)
+    estimator = LateralLagEstimator(mocked_CP, DT, min_recovery_buffer_sec=0.0, min_yr=0.0, min_valid_block_count=1)
+    process_messages(estimator, lag_frames, (int(MIN_OKAY_WINDOW_SEC / DT) + BLOCK_SIZE) * 2, rejection_threshold=0.4)
+    msg = estimator.get_msg(True)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimate, lag_frames * DT, atol=0.01)
+    assert np.allclose(msg.liveDelay.lateralDelayEstimateStd, 0.0, atol=0.01)
+
+  @pytest.mark.skipif(PC, reason="only on device")
+  @pytest.mark.timeout(60)
+  def test_estimator_performance(self):
+    mocked_CP = car.CarParams(steerActuatorDelay=0.8)
+    estimator = LateralLagEstimator(mocked_CP, DT)
+
+    ds = []
+    for _ in range(1000):
+      st = time.perf_counter()
+      estimator.update_points()
+      estimator.update_estimate()
+      d = time.perf_counter() - st
+      ds.append(d)
+
+    assert np.mean(ds) < DT
diff --git a/selfdrive/locationd/test/test_paramsd.py b/selfdrive/locationd/test/test_paramsd.py
index 3c2bf9249a..2129bf4386 100644
--- a/selfdrive/locationd/test/test_paramsd.py
+++ b/selfdrive/locationd/test/test_paramsd.py
@@ -28,7 +28,7 @@ class TestParamsd:
     CP = next(m for m in lr if m.which() == "carParams").carParams
 
     msg = get_random_live_parameters(CP)
-    params.put("LiveParameters", msg.to_bytes())
+    params.put("LiveParametersV2", msg.to_bytes())
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
 
     migrate_cached_vehicle_params_if_needed(params) # this is not tested here but should not mess anything up or throw an error
@@ -49,9 +49,20 @@ class TestParamsd:
     msg = get_random_live_parameters(CP)
     params.put("LiveParameters", json.dumps(msg.liveParameters.to_dict()))
     params.put("CarParamsPrevRoute", CP.as_builder().to_bytes())
+    params.remove("LiveParametersV2")
 
     migrate_cached_vehicle_params_if_needed(params)
     sr, sf, offset, _ = retrieve_initial_vehicle_params(params, CP, replay=True, debug=True)
     np.testing.assert_allclose(sr, msg.liveParameters.steerRatio)
     np.testing.assert_allclose(sf, msg.liveParameters.stiffnessFactor)
     np.testing.assert_allclose(offset, msg.liveParameters.angleOffsetAverageDeg)
+    assert params.get("LiveParametersV2") is not None
+
+  def test_read_saved_params_corrupted_old_format(self):
+    params = Params()
+    params.put("LiveParameters", b'\x00\x00\x02\x00\x01\x00:F\xde\xed\xae;')
+    params.remove("LiveParametersV2")
+
+    migrate_cached_vehicle_params_if_needed(params)
+    assert params.get("LiveParameters") is None
+    assert params.get("LiveParametersV2") is None
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index fcaa19df73..5ed86e457f 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets):
 class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False, track_all_points=False):
     self.hist_len = int(HISTORY / DT_MDL)
-    self.lag = CP.steerActuatorDelay + .2  # from controlsd
+    self.lag = 0.0
     self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
     if decimated:
       self.min_bucket_points = MIN_BUCKET_POINTS / 10
@@ -175,7 +175,8 @@ class TorqueEstimator(ParameterEstimator):
       self.raw_points["steer_override"].append(msg.steeringPressed)
     elif which == "liveCalibration":
       self.calibrator.feed_live_calib(msg)
-
+    elif which == "liveDelay":
+      self.lag = msg.lateralDelay
     # calculate lateral accel from past steering torque
     elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
@@ -241,7 +242,7 @@ def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveTorqueParameters'])
-  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose')
+  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose', 'liveDelay'], poll='livePose')
 
   params = Params()
   estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index cecebfa18b..10f3876190 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,3 +1,4 @@
+import os
 import glob
 
 Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
@@ -13,7 +14,6 @@ common_src = [
   "transforms/transform.cc",
 ]
 
-
 # OpenCL is a framework on Mac
 if arch == "Darwin":
   frameworks += ['OpenCL']
@@ -38,17 +38,35 @@ for model_name in ['driving_vision', 'driving_policy']:
   cmd = f'python3 {Dir("#selfdrive/modeld").abspath}/get_model_metadata.py {fn}.onnx'
   lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files + script_files, cmd)
 
-# Compile tinygrad model
-pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-if arch == 'larch64':
-  device_string = 'QCOM=1'
-elif arch == 'Darwin':
-  device_string = 'CLANG=1 IMAGE=0'
-else:
-  device_string = 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0'
-
-for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+def tg_compile(flags, model_name):
+  pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
   fn = File(f"models/{model_name}").abspath
-  cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
-  lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
+  return lenv.Command(
+    fn + "_tinygrad.pkl",
+    [fn + ".onnx"] + tinygrad_files,
+    f'{pythonpath_string} {flags} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
+  )
 
+# Compile small models
+for model_name in ['driving_vision', 'driving_policy', 'dmonitoring_model']:
+  flags = {
+    'larch64': 'QCOM=1',
+    'Darwin': 'CPU=1 IMAGE=0 JIT=2',
+  }.get(arch, 'LLVM=1 LLVMOPT=1 BEAM=0 IMAGE=0 JIT=2')
+  tg_compile(flags, model_name)
+
+# Compile BIG model if USB GPU is available
+import subprocess
+from tinygrad import Device
+
+# because tg doesn't support multi-process
+devs = subprocess.check_output('python3 -c "from tinygrad import Device; print(list(Device.get_available_devices()))"', shell=True)
+if b"AMD" in devs:
+  del Device
+  print("USB GPU detected... building")
+  flags = "AMD=1 AMD_IFACE=USB AMD_LLVM=1 NOLOCALS=0 IMAGE=0"
+  bp = tg_compile(flags, "big_driving_policy")
+  bv = tg_compile(flags, "big_driving_vision")
+  lenv.SideEffect('lock', [bp, bv])  # tg doesn't support multi-process so build serially
+else:
+  print("USB GPU not detected... skipping")
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index 94e117bc6a..2a3df3f652 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -173,9 +173,6 @@ def main():
     model_output, gpu_execution_time = model.run(buf, calib, model_transform)
     t2 = time.perf_counter()
 
-    # run one more time, just for the load
-    model.run(buf, calib, model_transform)
-
     pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
 
 
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 5e68fb30cd..a91c6395c7 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -56,7 +56,7 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
   builder.rightProb = lane_line_probs[2]
 
 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
+                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
                    publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                    frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
                    valid: bool) -> None:
@@ -71,7 +71,8 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.frameIdExtra = vipc_frame_id_extra
   driving_model_data.frameDropPerc = frame_drop_perc
   driving_model_data.modelExecutionTime = model_execution_time
-  driving_model_data.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+
+  driving_model_data.action = action
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -90,23 +91,16 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
 
   # temporal pose
   temporal_pose = modelV2.temporalPose
-  if 'sim_pose' in net_output_data:
-    temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-    temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
-    temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-    temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
-  else:
-    temporal_pose.trans = net_output_data['plan'][0,0,Plan.VELOCITY].tolist()
-    temporal_pose.transStd = net_output_data['plan_stds'][0,0,Plan.VELOCITY].tolist()
-    temporal_pose.rot = net_output_data['plan'][0,0,Plan.ORIENTATION_RATE].tolist()
-    temporal_pose.rotStd = net_output_data['plan_stds'][0,0,Plan.ORIENTATION_RATE].tolist()
-
+  temporal_pose.trans = net_output_data['sim_pose'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  temporal_pose.transStd = net_output_data['sim_pose_stds'][0,:ModelConstants.POSE_WIDTH//2].tolist()
+  temporal_pose.rot = net_output_data['sim_pose'][0,ModelConstants.POSE_WIDTH//2:].tolist()
+  temporal_pose.rotStd = net_output_data['sim_pose_stds'][0,ModelConstants.POSE_WIDTH//2:].tolist()
 
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
-  # lateral planning
-  modelV2.action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+  # action
+  modelV2.action = action
 
   # times at X_IDXS of edges and lines aren't used
   LINE_T_IDXS: list[float] = []
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 1e557942fe..1e3d1782e6 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -1,13 +1,18 @@
 #!/usr/bin/env python3
 import os
 from openpilot.system.hardware import TICI
-from tinygrad.tensor import Tensor
-from tinygrad.dtype import dtypes
-if TICI:
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['AMD'] = '1'
+  os.environ['AMD_IFACE'] = 'USB'
+elif TICI:
   from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
   os.environ['QCOM'] = '1'
 else:
   os.environ['LLVM'] = '1'
+  os.environ['JIT'] = '2'
+from tinygrad.tensor import Tensor
+from tinygrad.dtype import dtypes
 import time
 import pickle
 import numpy as np
@@ -21,14 +26,15 @@ from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import config_realtime_process
+from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 from openpilot.selfdrive.modeld.parse_model_outputs import Parser
 from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 
 
@@ -40,6 +46,30 @@ POLICY_PKL_PATH = Path(__file__).parent / 'models/driving_policy_tinygrad.pkl'
 VISION_METADATA_PATH = Path(__file__).parent / 'models/driving_vision_metadata.pkl'
 POLICY_METADATA_PATH = Path(__file__).parent / 'models/driving_policy_metadata.pkl'
 
+LAT_SMOOTH_SECONDS = 0.0
+LONG_SMOOTH_SECONDS = 0.0
+MIN_LAT_CONTROL_SPEED = 0.3
+
+
+def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
+                          lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
+    plan = model_output['plan'][0]
+    desired_accel, should_stop = get_accel_from_plan(plan[:,Plan.VELOCITY][:,0],
+                                                     plan[:,Plan.ACCELERATION][:,0],
+                                                     ModelConstants.T_IDXS,
+                                                     action_t=long_action_t)
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
+
+    desired_curvature = model_output['desired_curvature'][0, 0]
+    if v_ego > MIN_LAT_CONTROL_SPEED:
+      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+    else:
+      desired_curvature = prev_action.desiredCurvature
+
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),
+                                  desiredAcceleration=float(desired_accel),
+                                  shouldStop=bool(should_stop))
+
 class FrameMeta:
   frame_id: int = 0
   timestamp_sof: int = 0
@@ -121,7 +151,7 @@ class ModelState:
     imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
                'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
 
-    if TICI:
+    if TICI and not USBGPU:
       # The imgs tensors are backed by opencl memory, only need init once
       for key in imgs_cl:
         if key not in self.vision_inputs:
@@ -162,13 +192,17 @@ def main(demo=False):
   sentry.set_tag("daemon", PROCESS_NAME)
   cloudlog.bind(daemon=PROCESS_NAME)
   setproctitle(PROCESS_NAME)
-  config_realtime_process(7, 54)
+  if not USBGPU:
+    # USB GPU currently saturates a core so can't do this yet,
+    # also need to move the aux USB interrupts for good timings
+    config_realtime_process(7, 54)
 
+  st = time.monotonic()
   cloudlog.warning("setting up CL context")
   cl_context = CLContext()
   cloudlog.warning("CL context ready; loading model")
   model = ModelState(cl_context)
-  cloudlog.warning("models loaded, modeld starting")
+  cloudlog.warning(f"models loaded in {time.monotonic() - st:.1f}s, modeld starting")
 
   # visionipc clients
   while True:
@@ -195,7 +229,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
@@ -221,7 +255,9 @@ def main(demo=False):
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
+  # TODO Move smooth seconds to action function
+  long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
 
@@ -263,7 +299,8 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
-    lateral_control_params = np.array([v_ego, steer_delay], dtype=np.float32)
+    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+    lateral_control_params = np.array([v_ego, lat_delay], dtype=np.float32)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -306,7 +343,10 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
+
+      action = get_action_from_model(model_output, prev_action, lat_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      prev_action = action
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
 
diff --git a/selfdrive/modeld/models/big_driving_policy.onnx b/selfdrive/modeld/models/big_driving_policy.onnx
new file mode 120000
index 0000000000..e1b653a14a
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_policy.onnx
@@ -0,0 +1 @@
+driving_policy.onnx
\ No newline at end of file
diff --git a/selfdrive/modeld/models/big_driving_vision.onnx b/selfdrive/modeld/models/big_driving_vision.onnx
new file mode 120000
index 0000000000..28ee71dd74
--- /dev/null
+++ b/selfdrive/modeld/models/big_driving_vision.onnx
@@ -0,0 +1 @@
+driving_vision.onnx
\ No newline at end of file
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index d0d28ebac1..71733f99fc 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -11,7 +11,7 @@ def dmonitoringd_thread():
   params = Params()
   pm = messaging.PubMaster(['driverMonitoringState'])
   sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'selfdriveState', 'modelV2',
-                            'selfdriveStateSP'], poll='driverStateV2')
+                            'carControl'], poll='driverStateV2')
 
   DM = DriverMonitoring(rhd_saved=params.get_bool("IsRhdDetected"), always_on=params.get_bool("AlwaysOnDM"))
 
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 0ff7a52a92..67776994f0 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -403,13 +403,13 @@ class DriverMonitoring:
       driver_state=sm['driverStateV2'],
       cal_rpy=sm['liveCalibration'].rpyCalib,
       car_speed=sm['carState'].vEgo,
-      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active
+      op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive
     )
 
     # Update distraction events
     self._update_events(
       driver_engaged=sm['carState'].steeringPressed or sm['carState'].gasPressed,
-      op_engaged=sm['selfdriveState'].enabled or sm['selfdriveStateSP'].mads.active,
+      op_engaged=sm['selfdriveState'].enabled or sm['carControl'].latActive,
       standstill=sm['carState'].standstill,
       wrong_gear=sm['carState'].gearShifter in [car.CarState.GearShifter.reverse, car.CarState.GearShifter.park],
       car_speed=sm['carState'].vEgo
diff --git a/selfdrive/pandad/pandad.cc b/selfdrive/pandad/pandad.cc
index 3025d0091b..af27276510 100644
--- a/selfdrive/pandad/pandad.cc
+++ b/selfdrive/pandad/pandad.cc
@@ -25,7 +25,7 @@
 // - If a panda connection is dropped, pandad will reconnect to all pandas
 // - If a panda is added, we will only reconnect when we are offroad
 // CAN buses:
-// - Each panda will have it's block of 4 buses. E.g.: the second panda will use
+// - Each panda will have its block of 4 buses. E.g.: the second panda will use
 //   bus numbers 4, 5, 6 and 7
 // - The internal panda will always be used for accessing the OBD2 port,
 //   and thus firmware queries
@@ -41,7 +41,7 @@
 #define CUTOFF_IL 400
 #define SATURATE_IL 1000
 
-#define ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE 2048
+#define ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE 2048
 
 ExitHandler do_exit;
 
@@ -57,7 +57,7 @@ bool check_all_connected(const std::vector<Panda *> &pandas) {
 
 bool process_mads_heartbeat(SubMaster *sm) {
   const int &alt_exp = (*sm)["carParams"].getCarParams().getAlternativeExperience();
-  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_DISENGAGE_LATERAL_ON_BRAKE) != 0;
+  const bool disengage_lateral_on_brake = (alt_exp & ALT_EXP_MADS_DISENGAGE_LATERAL_ON_BRAKE) != 0;
 
   const auto &mads = (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads();
   const bool heartbeat_type = disengage_lateral_on_brake ? mads.getActive() : mads.getEnabled();
@@ -474,7 +474,12 @@ void pandad_run(std::vector<Panda *> &pandas) {
     for (auto *panda : pandas) {
       std::string log = panda->serial_read();
       if (!log.empty()) {
-        LOGD("%s", log.c_str());
+        if (log.find("Register 0x") != std::string::npos) {
+          // Log register divergent faults as errors
+          LOGE("%s", log.c_str());
+        } else {
+          LOGD("%s", log.c_str());
+        }
       }
     }
 
diff --git a/selfdrive/pandad/pandad.py b/selfdrive/pandad/pandad.py
index fd6668feba..b33ffb6473 100755
--- a/selfdrive/pandad/pandad.py
+++ b/selfdrive/pandad/pandad.py
@@ -87,7 +87,7 @@ def main() -> None:
 
       # TODO: remove this in the next AGNOS
       # wait until USB is up before counting
-      if time.monotonic() < 25.:
+      if time.monotonic() < 35.:
         no_internal_panda_count = 0
 
       # Handle missing internal panda
diff --git a/selfdrive/selfdrived/alerts_offroad.json b/selfdrive/selfdrived/alerts_offroad.json
index 68f5949398..1668bf17fd 100644
--- a/selfdrive/selfdrived/alerts_offroad.json
+++ b/selfdrive/selfdrived/alerts_offroad.json
@@ -45,8 +45,8 @@
     "text": "sunnypilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
     "severity": 0
   },
-  "OffroadMode_Status": {
-    "text": "sunnypilot is now in Always Offroad mode. sunnypilot won't start until Always Offroad mode is disabled. Go to \"Settings\" -> \"Device\" to exit Always Offroad mode.",
-    "severity": 1
+  "Offroad_OSMUpdateRequired": {
+    "text": "OpenStreetMap database is out of date. New maps must be downloaded if you wish to continue using OpenStreetMap data for Enhanced Speed Control and road name display.\n\n%1",
+    "severity": 0
   }
 }
diff --git a/selfdrive/selfdrived/events.py b/selfdrive/selfdrived/events.py
index 973b331eda..3e48718002 100755
--- a/selfdrive/selfdrived/events.py
+++ b/selfdrive/selfdrived/events.py
@@ -192,6 +192,16 @@ def personality_changed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
   return NormalPermanentAlert(f"Driving Personality: {personality}", duration=1.5)
 
 
+def invalid_lkas_setting_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
+  text = "Toggle stock LKAS on or off to engage"
+  if CP.brand == "tesla":
+    text = "Switch to Traffic-Aware Cruise Control to engage"
+  elif CP.brand == "mazda":
+    text = "Enable your car's LKAS to engage"
+  elif CP.brand == "nissan":
+    text = "Disable your car's stock LKAS to engage"
+  return NormalPermanentAlert("Invalid LKAS setting", text)
+
 
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
@@ -245,8 +255,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventName.invalidLkasSetting: {
-    ET.PERMANENT: NormalPermanentAlert("Invalid LKAS setting",
-                                       "Toggle stock LKAS on or off to engage"),
+    ET.PERMANENT: invalid_lkas_setting_alert,
     ET.NO_ENTRY: NoEntryAlert("Invalid LKAS setting"),
   },
 
@@ -503,6 +512,11 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
                               visual_alert=VisualAlert.brakePressed),
   },
 
+  EventName.steerDisengage: {
+    ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
+    ET.NO_ENTRY: NoEntryAlert("Steering Pressed"),
+  },
+
   EventName.preEnableStandstill: {
     ET.PRE_ENABLE: Alert(
       "Release Brake to Engage",
@@ -722,7 +736,7 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # causing the connection to the panda to be lost
   EventName.usbError: {
     ET.SOFT_DISABLE: soft_disable_alert("USB Error: Reboot Your Device"),
-    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device", ""),
+    ET.PERMANENT: NormalPermanentAlert("USB Error: Reboot Your Device"),
     ET.NO_ENTRY: NoEntryAlert("USB Error: Reboot Your Device"),
   },
 
@@ -810,6 +824,9 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: personality_changed_alert,
   },
 
+  EventName.userFlag: {
+    ET.PERMANENT: NormalPermanentAlert("Bookmark Saved", duration=1.5),
+  },
 }
 
 
diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py
index c410adcf1b..edd0ae7d7c 100755
--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -7,7 +7,6 @@ import cereal.messaging as messaging
 
 from cereal import car, log, custom
 from msgq.visionipc import VisionIpcClient, VisionStreamType
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 
 
 from openpilot.common.params import Params
@@ -67,7 +66,6 @@ class SelfdriveD(CruiseHelper):
       self.CP_SP = CP_SP
 
     self.car_events = CarSpecificEvents(self.CP)
-    self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
 
     # Setup sockets
     self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['selfdriveStateSP', 'onroadEventsSP'])
@@ -87,9 +85,9 @@ class SelfdriveD(CruiseHelper):
       # no vipc in replay will make them ignored anyways
       ignore += ['roadCameraState', 'wideRoadCameraState']
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
+                                   'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
                                    'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \
+                                   'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userFlag'] + \
                                    self.camera_packets + self.sensor_packets + self.gps_packets,
                                   ignore_alive=ignore, ignore_avg_freq=ignore,
                                   ignore_valid=ignore, frequency=int(1/DT_CTRL))
@@ -97,12 +95,13 @@ class SelfdriveD(CruiseHelper):
     # read params
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
 
     car_recognized = self.CP.brand != 'mock'
 
     # cleanup old params
-    if not self.CP.experimentalLongitudinalAvailable:
-      self.params.remove("ExperimentalLongitudinalEnabled")
+    if not self.CP.alphaLongitudinalAvailable:
+      self.params.remove("AlphaLongitudinalEnabled")
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
 
@@ -130,8 +129,10 @@ class SelfdriveD(CruiseHelper):
     # some comma three with NVMe experience NVMe dropouts mid-drive that
     # cause loggerd to crash on write, so ignore it only on that platform
     self.ignored_processes = set()
-    if HARDWARE.get_device_type() == 'tici' and os.path.exists('/dev/nvme0'):
+    nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
+    if HARDWARE.get_device_type() == 'tici' and nvme_expected:
       self.ignored_processes = {'loggerd', }
+    self.ignored_processes.update({'mapd'})
 
     # Determine startup event
     self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster
@@ -181,7 +182,11 @@ class SelfdriveD(CruiseHelper):
       self.events.add(EventName.selfdriveInitializing)
       return
 
-    # no more events while in dashcam mode
+    # Check for user flag (bookmark) press
+    if self.sm.updated['userFlag']:
+      self.events.add(EventName.userFlag)
+
+    # Don't add any more events while in dashcam mode
     if self.CP.passive:
       return
 
@@ -198,7 +203,7 @@ class SelfdriveD(CruiseHelper):
       car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
       self.events.add_from_msg(car_events)
 
-      car_events_sp = self.car_events_sp.update().to_msg()
+      car_events_sp = self.car_events_sp.update(CS, self.events).to_msg()
       self.events_sp.add_from_msg(car_events_sp)
 
       if self.CP.notCar:
@@ -541,11 +546,12 @@ class SelfdriveD(CruiseHelper):
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
+      self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+      self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.read_personality_param()
 
       self.mads.read_params()
-      self.car_events_sp.read_params()
       time.sleep(0.1)
 
   def run(self):
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 989b84dee3..b8c6adb436 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -107,6 +107,7 @@ class Plant:
     position = log.XYZTData.new_message()
     position.x = [float(x) for x in (self.speed + 0.5) * np.array(ModelConstants.T_IDXS)]
     model.modelV2.position = position
+    model.modelV2.action.desiredAcceleration = float(self.acceleration + 0.1)
     velocity = log.XYZTData.new_message()
     velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
     velocity.x[0] = float(self.speed) # always start at current speed
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
index 381e4dcb7f..dc801e4285 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@@ -38,7 +38,7 @@ optional arguments:
 
 ## Forks
 
-openpilot forks can use this test with their own reference logs, by default `test_proccess.py` saves logs locally.
+openpilot forks can use this test with their own reference logs, by default `test_proccesses.py` saves logs locally.
 
 To generate new logs:
 
@@ -48,13 +48,13 @@ Then, check in the new logs using git-lfs. Make sure to also update the `ref_com
 
 ## API
 
-Process replay test suite exposes programmatic APIs for simultaneously running processes or groups of processes on provided logs. 
+Process replay test suite exposes programmatic APIs for simultaneously running processes or groups of processes on provided logs.
 
 ```py
 def replay_process_with_name(name: Union[str, Iterable[str]], lr: LogIterable, *args, **kwargs) -> List[capnp._DynamicStructReader]:
 
 def replay_process(
-  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, Any]] = None, 
+  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: LogIterable, frs: Optional[Dict[str, Any]] = None,
   fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, disable_progress: bool = False
 ) -> List[capnp._DynamicStructReader]:
 ```
@@ -73,14 +73,14 @@ output_logs = replay_process_with_name('locationd', lr)
 output_logs = replay_process_with_name(['ubloxd', 'locationd'], lr)
 ```
 
-Supported processes: 
+Supported processes:
 * controlsd
 * radard
 * plannerd
 * calibrationd
 * dmonitoringd
 * locationd
-* paramsd 
+* paramsd
 * ubloxd
 * torqued
 * modeld
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
index e1d0352262..33b363cfd9 100644
--- a/selfdrive/test/process_replay/migration.py
+++ b/selfdrive/test/process_replay/migration.py
@@ -9,10 +9,11 @@ from opendbc.car.fingerprints import MIGRATION
 from opendbc.car.toyota.values import EPS_SCALE, ToyotaSafetyFlags
 from opendbc.car.ford.values import CAR as FORD, FordFlags, FordSafetyFlags
 from opendbc.car.hyundai.values import HyundaiSafetyFlags
+from opendbc.car.gm.values import GMSafetyFlags
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.fill_model_msg import fill_xyz_poly, fill_lane_line_meta
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
-from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan
+from openpilot.selfdrive.controls.lib.longitudinal_planner import get_accel_from_plan, CONTROL_N_T_IDX
 from openpilot.system.manager.process_config import managed_processes
 from openpilot.tools.lib.logreader import LogIterable
 
@@ -21,12 +22,12 @@ MigrationOps = tuple[list[tuple[int, capnp.lib.capnp._DynamicStructReader]], lis
 MigrationFunc = Callable[[list[MessageWithIndex]], MigrationOps]
 
 
-## rules for migration functions
-## 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature
-## 2. it only gets the messages that are in the inputs list
-## 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
-## 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
-## 5. all migration functions must be independent of each other
+# rules for migration functions
+# 1. must use the decorator @migration(inputs=[...], product="...") and MigrationFunc signature
+# 2. it only gets the messages that are in the inputs list
+# 3. product is the message type created by the migration function, and the function will be skipped if product type already exists in lr
+# 4. it must return a list of operations to be applied to the logreader (replace, add, delete)
+# 5. all migration functions must be independent of each other
 def migrate_all(lr: LogIterable, manager_states: bool = False, panda_states: bool = False, camera_states: bool = False):
   migrations = [
     migrate_sensorEvents,
@@ -108,7 +109,7 @@ def migrate_longitudinalPlan(msgs):
     if msg.which() != 'longitudinalPlan':
       continue
     new_msg = msg.as_builder()
-    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels)
+    a_target, should_stop = get_accel_from_plan(msg.longitudinalPlan.speeds, msg.longitudinalPlan.accels, CONTROL_N_T_IDX)
     new_msg.longitudinalPlan.aTarget, new_msg.longitudinalPlan.shouldStop = float(a_target), bool(should_stop)
     ops.append((index, new_msg.as_reader()))
   return ops, [], []
@@ -274,6 +275,8 @@ def migrate_pandaStates(msgs):
     "TOYOTA_PRIUS": EPS_SCALE["TOYOTA_PRIUS"] | ToyotaSafetyFlags.STOCK_LONGITUDINAL,
     "TOYOTA_RAV4": EPS_SCALE["TOYOTA_RAV4"] | ToyotaSafetyFlags.ALT_BRAKE,
     "KIA_EV6": HyundaiSafetyFlags.EV_GAS | HyundaiSafetyFlags.CANFD_LKA_STEERING,
+    "CHEVROLET_VOLT": GMSafetyFlags.EV,
+    "CHEVROLET_BOLT_EUV": GMSafetyFlags.EV | GMSafetyFlags.HW_CAM,
   }
   # TODO: get new Ford route
   safety_param_migration |= dict.fromkeys((set(FORD) - FORD.with_flags(FordFlags.CANFD)), FordSafetyFlags.LONG_CONTROL)
@@ -303,6 +306,8 @@ def migrate_pandaStates(msgs):
     elif msg.which() == 'pandaStates':
       new_msg = msg.as_builder()
       new_msg.pandaStates[-1].safetyParam = safety_param
+      # Clear DISABLE_DISENGAGE_ON_GAS bit to fix controls mismatch
+      new_msg.pandaStates[-1].alternativeExperience &= ~1
       ops.append((index, new_msg.as_reader()))
   return ops, [], []
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 36398af8ca..201baf6b0e 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -15,15 +15,15 @@ from openpilot.system.hardware import PC
 from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
-from openpilot.tools.lib.framereader import FrameReader, NumpyFrameReader
+from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader, save_log
 from openpilot.tools.lib.github_utils import GithubUtils
 
 TEST_ROUTE = "8494c69d3c710e81|000001d4--2648a9a404"
 SEGMENT = 4
-MAX_FRAMES = 100 if PC else 400
+START_FRAME = 0
+END_FRAME = 60
 
-NO_MODEL = "NO_MODEL" in os.environ
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
 
 DATA_TOKEN = os.getenv("CI_ARTIFACTS_TOKEN","")
@@ -64,6 +64,7 @@ def generate_report(proposed, master, tmp, commit):
   ModelV2_Plots = zl([
                      (lambda x: get_idx_if_non_empty(x.velocity.x, 0), "velocity.x"),
                      (lambda x: get_idx_if_non_empty(x.action.desiredCurvature), "desiredCurvature"),
+                     (lambda x: get_idx_if_non_empty(x.action.desiredAcceleration), "desiredAcceleration"),
                      (lambda x: get_idx_if_non_empty(x.leadsV3[0].x, 0), "leadsV3.x"),
                      (lambda x: get_idx_if_non_empty(x.laneLines[1].y, 0), "laneLines.y"),
                      (lambda x: get_idx_if_non_empty(x.meta.desireState, 3), "desireState.laneChangeLeft"),
@@ -122,18 +123,17 @@ def comment_replay_report(proposed, master, full_logs):
     diff_plots = create_table("Model Replay Differences", diff_files, link, open_table=True)
     all_plots = create_table("All Model Replay Plots", files, link)
     comment = f"ref for commit {commit}: {link}/{log_name}" + diff_plots + all_plots
-    GITHUB.comment_on_pr(comment, PR_BRANCH)
+    GITHUB.comment_on_pr(comment, PR_BRANCH, "commaci-public", True)
 
-def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
+def trim_logs(logs, start_frame, end_frame, frs_types, include_all_types):
   all_msgs = []
   cam_state_counts = defaultdict(int)
-  # keep adding messages until cam states are equal to MAX_FRAMES
   for msg in sorted(logs, key=lambda m: m.logMonoTime):
-    all_msgs.append(msg)
     if msg.which() in frs_types:
       cam_state_counts[msg.which()] += 1
-
-    if all(cam_state_counts[state] == max_frames for state in frs_types):
+    if any(cam_state_counts[state]  >= start_frame for state in frs_types):
+      all_msgs.append(msg)
+    if all(cam_state_counts[state] == end_frame for state in frs_types):
       break
 
   if len(include_all_types) != 0:
@@ -145,9 +145,9 @@ def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
 
 def model_replay(lr, frs):
   # modeld is using frame pairs
-  modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"},
-                                                                         {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl"})
-  dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx", "carParams"})
+  modeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"roadCameraState", "wideRoadCameraState"},
+                                                                         {"roadEncodeIdx", "wideRoadEncodeIdx", "carParams", "carState", "carControl", "can"})
+  dmodeld_logs = trim_logs(lr, START_FRAME, END_FRAME, {"driverCameraState"}, {"driverEncodeIdx", "carParams", "can"})
 
   if not SEND_EXTRA_INPUTS:
     modeld_logs = [msg for msg in modeld_logs if msg.which() != 'liveCalibration']
@@ -164,9 +164,6 @@ def model_replay(lr, frs):
   dmonitoringmodeld = get_process_config("dmonitoringmodeld")
 
   modeld_msgs = replay_process(modeld, modeld_logs, frs)
-  if isinstance(frs['roadCameraState'], NumpyFrameReader):
-    del frs['roadCameraState'].frames
-    del frs['wideRoadCameraState'].frames
   dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
 
   msgs = modeld_msgs + dmonitoringmodeld_msgs
@@ -197,42 +194,21 @@ def model_replay(lr, frs):
   return msgs
 
 
-def get_frames():
-  regen_cache = "--regen-cache" in sys.argv
-  cache = "--cache" in sys.argv or not PC or regen_cache
-  videos = ('fcamera.hevc', 'dcamera.hevc', 'ecamera.hevc')
-  cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
-
-  if cache:
-    frames_cache = '/tmp/model_replay_cache' if PC else '/data/model_replay_cache'
-    os.makedirs(frames_cache, exist_ok=True)
-
-    cache_size = 200
-    for v in videos:
-      if not all(os.path.isfile(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}.npy') for i in range(MAX_FRAMES//cache_size)) or regen_cache:
-        f = FrameReader(get_url(TEST_ROUTE, SEGMENT, v)).get(0, MAX_FRAMES + 1, pix_fmt="nv12")
-        print(f'Caching {v}...')
-        for i in range(MAX_FRAMES//cache_size):
-          np.save(f'{frames_cache}/{TEST_ROUTE}_{v}_{i}', f[(i * cache_size) + 1:((i + 1) * cache_size) + 1])
-        del f
-
-    return {c : NumpyFrameReader(f"{frames_cache}/{TEST_ROUTE}_{v}", 1928, 1208, cache_size) for c,v in zip(cams, videos, strict=True)}
-  else:
-    return {c : FrameReader(get_url(TEST_ROUTE, SEGMENT, v), readahead=True) for c,v in zip(cams, videos, strict=True)}
-
-
 if __name__ == "__main__":
   update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
   replay_dir = os.path.dirname(os.path.abspath(__file__))
 
   # load logs
   lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.zst")))
-  frs = get_frames()
+  frs = {
+    'roadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "fcamera.hevc"), readahead=True),
+    'driverCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "dcamera.hevc"), readahead=True),
+    'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, "ecamera.hevc"), readahead=True)
+  }
 
   log_msgs = []
   # run replays
-  if not NO_MODEL:
-    log_msgs += model_replay(lr, frs)
+  log_msgs += model_replay(lr, frs)
 
   # get diff
   failed = False
@@ -241,13 +217,10 @@ if __name__ == "__main__":
     try:
       all_logs = list(LogReader(GITHUB.get_file_url(MODEL_REPLAY_BUCKET, log_fn)))
       cmp_log = []
-
-      # logs are ordered based on type: modelV2, drivingModelData, driverStateV2
-      if not NO_MODEL:
-        model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry"))
-        cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3]
-        dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
-        cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
+      model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry"))
+      cmp_log += all_logs[model_start_index+START_FRAME*3:model_start_index + END_FRAME*3]
+      dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
+      cmp_log += all_logs[dmon_start_index+START_FRAME:dmon_start_index + END_FRAME]
 
       ignore = [
         'logMonoTime',
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 5384a2cd7f..8966be7e20 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -17,7 +17,6 @@ from cereal import car
 from cereal.services import SERVICE_LIST
 from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from opendbc.car.car_helpers import get_car, interfaces
-from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 from openpilot.common.prefix import OpenpilotPrefix
 from openpilot.common.timeout import Timeout
@@ -364,12 +363,9 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
       with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
         cached_params = _cached_params
 
-    _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("ExperimentalLongitudinalEnabled"), cached_params=cached_params)
+    _CI = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), False, cached_params=cached_params)
     CP, CP_SP = _CI.CP, _CI.CP_SP
 
-    if not params.get_bool("DisengageOnAccelerator"):
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-
   params.put("CarParams", CP.to_bytes())
   params.put("CarParamsSP", convert_to_capnp(CP_SP).to_bytes())
 
@@ -465,7 +461,7 @@ CONFIGS = [
     proc_name="selfdrived",
     pubs=[
       "carState", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
-      "longitudinalPlan", "livePose", "liveParameters", "radarState",
+      "longitudinalPlan", "livePose", "liveDelay", "liveParameters", "radarState",
       "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
       "liveTorqueParameters", "accelerometer", "gyroscope", "carOutput",
       "gpsLocationExternal", "gpsLocation", "controlsState", "carControl", "driverAssistance", "alertDebug",
@@ -554,6 +550,15 @@ CONFIGS = [
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
+  ProcessConfig(
+    proc_name="lagd",
+    pubs=["livePose", "liveCalibration", "carState", "carControl", "controlsState"],
+    subs=["liveDelay"],
+    ignore=["logMonoTime"],
+    init_callback=get_car_params_callback,
+    should_recv_callback=MessageBasedRcvCallback("livePose"),
+    tolerance=NUMPY_TOLERANCE,
+  ),
   ProcessConfig(
     proc_name="ubloxd",
     pubs=["ubloxRaw"],
@@ -562,7 +567,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="torqued",
-    pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"],
+    pubs=["livePose", "liveCalibration", "liveDelay", "carState", "carControl", "carOutput"],
     subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
@@ -571,7 +576,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="modeld",
-    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState", "carState", "carControl"],
+    pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "liveDelay", "driverMonitoringState", "carState", "carControl"],
     subs=["modelV2", "drivingModelData", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime", "drivingModelData.frameDropPerc", "drivingModelData.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
@@ -763,15 +768,12 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
     params_dict["IsRhdDetected"] = is_rhd
 
   if CP is not None:
-    if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS:
-      params_dict["DisengageOnAccelerator"] = False
-
     if fingerprint is None:
       if CP.fingerprintSource == "fw":
         params_dict["CarParamsCache"] = CP.as_builder().to_bytes()
 
     if CP.openpilotLongitudinalControl:
-      params_dict["ExperimentalLongitudinalEnabled"] = True
+      params_dict["AlphaLongitudinalEnabled"] = True
 
     if CP.notCar:
       params_dict["JoystickDebugMode"] = True
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 58ff170e74..e692f56eba 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-887623a18d82088dc5ed9ecdced55eb0d3f718b1
\ No newline at end of file
+9e2fe2942fbf77f24bccdbef15893831f9c0b390
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 4d00613f0a..273659c9ff 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -23,7 +23,7 @@ class DummyFrameReader(BaseFrameReader):
     self.frame_count = frame_count
     self.frame_type = FrameType.raw
 
-  def get(self, idx, count=1, pix_fmt="yuv420p"):
+  def get(self, idx, count=1, pix_fmt="rgb24"):
     if pix_fmt == "rgb24":
       shape = (self.h, self.w, 3)
     elif pix_fmt == "nv12" or pix_fmt == "yuv420p":
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 9b9118b7f3..14e1b2b79f 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -24,47 +24,48 @@ source_segments = [
   ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.HYUNDAI_KIA_EV6 (+ QCOM GPS)
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.TOYOTA_PRIUS
   ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.TOYOTA_RAV4
-  ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.TOYOTA_COROLLA_TSS2
+  ("TOYOTA3", "8011d605be1cbb77|000000cc--8e8d8ec716--6"),     # TOYOTA.TOYOTA_COROLLA_TSS2
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.HONDA_CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.HONDA_ACCORD (BOSCH)
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID
   ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500_5TH_GEN
   ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.SUBARU_OUTBACK
-  ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.CHEVROLET_VOLT
-  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_EUV
+  ("GM", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.CHEVROLET_BOLT_EUV
   ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.NISSAN_XTRAIL
   ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.VOLKSWAGEN_GOLF
+  # FIXME the sensor timings are bad in mazda segment, we're not fully testing it, but it should be replaced
   ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.MAZDA_CX9_2021
   ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.FORD_BRONCO_SPORT_MK1
   ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),      # RIVIAN.RIVIAN_R1_GEN1
+  ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"),       # TESLA.TESLA_MODEL_Y
 
   # Enable when port is tested and dashcamOnly is no longer set
   #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.VOLKSWAGEN_PASSAT_NMS
 ]
 
 segments = [
-  ("BODY", "regenA67A128BCD8|2024-08-30--02-36-22--0"),
-  ("HYUNDAI", "regenCCD47FEBC0C|2025-03-04--03-21-48--0"),
-  ("HYUNDAI2", "regen306779F6870|2024-10-03--04-03-23--0"),
-  ("TOYOTA", "regen4A5115B248D|2025-03-04--03-21-43--0"),
-  ("TOYOTA2", "regen6E484EDAB96|2024-08-30--02-47-37--0"),
-  ("TOYOTA3", "regen4CE950B0267|2024-08-30--02-51-30--0"),
-  ("HONDA", "regenB8CABEC09CC|2025-03-04--03-32-55--0"),
-  ("HONDA2", "regen4B38A7428CD|2024-08-30--02-56-31--0"),
-  ("CHRYSLER", "regenF3DBBA9E8DF|2024-08-30--02-59-03--0"),
-  ("RAM", "regenDB02684E00A|2024-08-30--03-02-54--0"),
-  ("SUBARU", "regen5E3347D0A0F|2025-03-04--03-23-55--0"),
-  ("GM", "regen720F2BA4CF6|2024-08-30--03-09-15--0"),
-  ("GM2", "regen9ADBECBCD1C|2024-08-30--03-13-04--0"),
-  ("NISSAN", "regen58464878D07|2024-08-30--03-15-31--0"),
-  ("VOLKSWAGEN", "regenED976DEB757|2024-08-30--03-18-02--0"),
+  ("BODY", "regen2F3C7259F1B|2025-04-08--23-00-23--0"),
+  ("HYUNDAI", "regenAA0FC4ED71E|2025-04-08--22-57-50--0"),
+  ("HYUNDAI2", "regenAFB9780D823|2025-04-08--23-00-34--0"),
+  ("TOYOTA", "regen218A4DCFAA1|2025-04-08--22-57-51--0"),
+  ("TOYOTA2", "regen107352E20EB|2025-04-08--22-57-46--0"),
+  ("TOYOTA3", "regen1455E3B4BDF|2025-04-09--03-26-06--0"),
+  ("HONDA", "regenB328FF8BA0A|2025-04-08--22-57-45--0"),
+  ("HONDA2", "regen6170C8C9A35|2025-04-08--22-57-46--0"),
+  ("CHRYSLER", "regen5B28FC2A437|2025-04-08--23-04-24--0"),
+  ("RAM", "regenBF81EA96E08|2025-04-08--23-06-54--0"),
+  ("SUBARU", "regen7366F13F6A1|2025-04-08--23-07-07--0"),
+  ("GM", "regen1271097D038|2025-04-09--03-26-00--0"),
+  ("NISSAN", "regen15D60604EAB|2025-04-08--23-06-59--0"),
+  ("VOLKSWAGEN", "regen0F2F06C9539|2025-04-08--23-06-56--0"),
   ("MAZDA", "regenACF84CCF482|2024-08-30--03-21-55--0"),
-  ("FORD", "regenA75209BD115|2025-03-04--03-23-53--0"),
-  ("RIVIAN", "bc095dc92e101734|000000db--ee9fe46e57--1"),
+  ("FORD", "regen755D8CB1E1F|2025-04-08--23-13-43--0"),
+  ("RIVIAN", "regen5FCAC896BBE|2025-04-08--23-13-35--0"),
+  ("TESLA", "2c912ca5de3b1ee9|0000025d--6eb6bcbca4--4"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "tesla", "rivian"]
+excluded_interfaces = ["mock", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
@@ -252,7 +253,7 @@ if __name__ == "__main__":
           continue
 
         # to speed things up, we only test all segments on card
-        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD'):
+        if cfg.proc_name != 'card' and car_brand not in ('HYUNDAI', 'TOYOTA', 'HONDA', 'SUBARU', 'FORD', 'RIVIAN', 'TESLA'):
           continue
 
         cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 69555b19f7..d717698514 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -18,6 +18,9 @@ if [ -z "$TEST_DIR" ]; then
   exit 1
 fi
 
+# prevent storage from filling up
+rm -rf /data/media/0/realdata/*
+
 rm -rf /data/safe_staging/ || true
 if [ -d /data/safe_staging/ ]; then
   sudo umount /data/safe_staging/merged/ || true
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index ebc87800b7..f98e3bd88c 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -40,19 +40,20 @@ PROCS = {
   "selfdrive.selfdrived.selfdrived": 16.0,
   "selfdrive.car.card": 26.0,
   "./loggerd": 14.0,
-  "./encoderd": 17.0,
+  "./encoderd": 13.0,
   "./camerad": 10.0,
-  "selfdrive.controls.plannerd": 9.0,
+  "selfdrive.controls.plannerd": 8.0,
   "./ui": 18.0,
-  "selfdrive.locationd.paramsd": 9.0,
-  "./sensord": 7.0,
+  "system.sensord.sensord": 13.0,
   "selfdrive.controls.radard": 2.0,
   "selfdrive.modeld.modeld": 22.0,
-  "selfdrive.modeld.dmonitoringmodeld": 21.0,
+  "selfdrive.modeld.dmonitoringmodeld": 18.0,
   "system.hardware.hardwared": 4.0,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
   "selfdrive.locationd.locationd": 25.0,
+  "selfdrive.locationd.paramsd": 9.0,
+  "selfdrive.locationd.lagd": 11.0,
   "selfdrive.ui.soundd": 3.0,
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 2.0,
@@ -397,7 +398,7 @@ class TestOnroad:
       ("modelV2", 0.06, 0.040),
 
       # can miss cycles here and there, just important the avg frequency is 20Hz
-      ("driverStateV2", 0.2, 0.05),
+      ("driverStateV2", 0.3, 0.05),
     ]
     for (s, instant_max, avg_max) in cfgs:
       ts = [getattr(m, s).modelExecutionTime for m in self.msgs[s]]
diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore
index f9724816da..7e9eaf932f 100644
--- a/selfdrive/ui/.gitignore
+++ b/selfdrive/ui/.gitignore
@@ -3,9 +3,6 @@ moc_*
 
 translations/main_test_en.*
 
-_text
-_spinner
-
 ui
 mui
 watch3
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 8b14bec41b..05d407d10c 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,6 +1,5 @@
-import os
 import json
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
+Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
 
 base_libs = [common, messaging, visionipc, transformations,
              'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
@@ -73,10 +72,6 @@ if GetOption('extras'):
 
   qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
 
-  # spinner and text window
-  qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
-  qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
-
   # setup and factory resetter
   qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
   qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
@@ -87,8 +82,15 @@ if GetOption('extras'):
 
   if arch != "Darwin":
     # build installers
-    senv = qt_env.Clone()
-    senv['LINKFLAGS'].append('-Wl,-strip-debug')
+    raylib_env = env.Clone()
+    raylib_env['LIBPATH'] += [f'#third_party/raylib/{arch}/']
+    raylib_env['LINKFLAGS'].append('-Wl,-strip-debug')
+
+    raylib_libs = common + ["raylib"]
+    if arch == "larch64":
+      raylib_libs += ["GLESv2", "wayland-client", "wayland-egl", "EGL"]
+    else:
+      raylib_libs += ["GL"]
 
     release = "release3"
     installers = [
@@ -98,17 +100,19 @@ if GetOption('extras'):
       ("openpilot_internal", "nightly-dev"),
     ]
 
-    cont = senv.Command(f"installer/continue_openpilot.o", f"installer/continue_openpilot.sh",
-                        "ld -r -b binary -o $TARGET $SOURCE")
+    cont = raylib_env.Command("installer/continue_openpilot.o", "installer/continue_openpilot.sh",
+                              "ld -r -b binary -o $TARGET $SOURCE")
+    inter = raylib_env.Command("installer/inter_ttf.o", "installer/inter-ascii.ttf",
+                               "ld -r -b binary -o $TARGET $SOURCE")
     for name, branch in installers:
       d = {'BRANCH': f"'\"{branch}\"'"}
       if "internal" in name:
         d['INTERNAL'] = "1"
 
-      obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
-      f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
+      obj = raylib_env.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
+      f = raylib_env.Program(f"installer/installers/installer_{name}", [obj, cont, inter], LIBS=raylib_libs)
       # keep installers small
-      assert f[0].get_size() < 370*1e3
+      assert f[0].get_size() < 1300*1e3, f[0].get_size()
 
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 84486e61be..7326e089ab 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -1,19 +1,15 @@
-#include <unistd.h>
-
-#include <cstdlib>
+#include <array>
+#include <cassert>
 #include <fstream>
 #include <map>
-#include <string>
-
-#include <QDebug>
-#include <QDir>
-#include <QTimer>
-#include <QVBoxLayout>
 
+#include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/ui/installer/installer.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/qt_window.h"
+#include "third_party/raylib/include/raylib.h"
+
+int freshClone();
+int cachedFetch(const std::string &cache);
+int executeGitCommand(const std::string &cmd);
 
 std::string get_str(std::string const s) {
   std::string::size_type pos = s.find('?');
@@ -28,136 +24,108 @@ const std::string BRANCH_STR = get_str(BRANCH "?
 #define GIT_SSH_URL "git@github.com:commaai/openpilot.git"
 #define CONTINUE_PATH "/data/continue.sh"
 
-const QString CACHE_PATH = "/data/openpilot.cache";
+const std::string CACHE_PATH = "/data/openpilot.cache";
 
 #define INSTALL_PATH "/data/openpilot"
 #define TMP_INSTALL_PATH "/data/tmppilot"
 
 extern const uint8_t str_continue[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_start");
 extern const uint8_t str_continue_end[] asm("_binary_selfdrive_ui_installer_continue_openpilot_sh_end");
+extern const uint8_t inter_ttf[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_start");
+extern const uint8_t inter_ttf_end[] asm("_binary_selfdrive_ui_installer_inter_ascii_ttf_end");
+
+Font font;
 
 void run(const char* cmd) {
   int err = std::system(cmd);
   assert(err == 0);
 }
 
-Installer::Installer(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *layout = new QVBoxLayout(this);
-  layout->setContentsMargins(150, 290, 150, 150);
-  layout->setSpacing(0);
-
-  QLabel *title = new QLabel(tr("Installing..."));
-  title->setStyleSheet("font-size: 90px; font-weight: 600;");
-  layout->addWidget(title, 0, Qt::AlignTop);
-
-  layout->addSpacing(170);
-
-  bar = new QProgressBar();
-  bar->setRange(0, 100);
-  bar->setTextVisible(false);
-  bar->setFixedHeight(72);
-  layout->addWidget(bar, 0, Qt::AlignTop);
-
-  layout->addSpacing(30);
-
-  val = new QLabel("0%");
-  val->setStyleSheet("font-size: 70px; font-weight: 300;");
-  layout->addWidget(val, 0, Qt::AlignTop);
-
-  layout->addStretch();
-
-  QObject::connect(&proc, QOverload<int, QProcess::ExitStatus>::of(&QProcess::finished), this, &Installer::cloneFinished);
-  QObject::connect(&proc, &QProcess::readyReadStandardError, this, &Installer::readProgress);
-
-  QTimer::singleShot(100, this, &Installer::doInstall);
-
-  setStyleSheet(R"(
-    * {
-      font-family: Inter;
-      color: white;
-      background-color: black;
-    }
-    QProgressBar {
-      border: none;
-      background-color: #292929;
-    }
-    QProgressBar::chunk {
-      background-color: #364DEF;
-    }
-  )");
+void renderProgress(int progress) {
+  BeginDrawing();
+    ClearBackground(BLACK);
+    DrawTextEx(font, "Installing...", (Vector2){150, 290}, 110, 0, WHITE);
+    Rectangle bar = {150, 570, (float)GetScreenWidth() - 300, 72};
+    DrawRectangleRec(bar, (Color){41, 41, 41, 255});
+    progress = std::clamp(progress, 0, 100);
+    bar.width *= progress / 100.0f;
+    DrawRectangleRec(bar, (Color){70, 91, 234, 255});
+    DrawTextEx(font, (std::to_string(progress) + "%").c_str(), (Vector2){150, 670}, 85, 0, WHITE);
+  EndDrawing();
 }
 
-void Installer::updateProgress(int percent) {
-  bar->setValue(percent);
-  val->setText(QString("%1%").arg(percent));
-  update();
-}
-
-void Installer::doInstall() {
+int doInstall() {
   // wait for valid time
   while (!util::system_time_valid()) {
-    usleep(500 * 1000);
-    qDebug() << "Waiting for valid time";
+    util::sleep_for(500);
+    LOGD("Waiting for valid time");
   }
 
   // cleanup previous install attempts
   run("rm -rf " TMP_INSTALL_PATH " " INSTALL_PATH);
 
   // do the install
-  if (QDir(CACHE_PATH).exists()) {
-    cachedFetch(CACHE_PATH);
+  if (util::file_exists(CACHE_PATH)) {
+    return cachedFetch(CACHE_PATH);
   } else {
-    freshClone();
+    return freshClone();
   }
 }
 
-void Installer::freshClone() {
-  qDebug() << "Doing fresh clone";
-  proc.start("git", {"clone", "--progress", GIT_URL.c_str(), "-b", BRANCH_STR.c_str(),
-                     "--depth=1", "--recurse-submodules", TMP_INSTALL_PATH});
+int freshClone() {
+  LOGD("Doing fresh clone");
+  std::string cmd = util::string_format("git clone --progress %s -b %s --depth=1 --recurse-submodules %s 2>&1",
+                                        GIT_URL.c_str(), BRANCH_STR.c_str(), TMP_INSTALL_PATH);
+  return executeGitCommand(cmd);
 }
 
-void Installer::cachedFetch(const QString &cache) {
-  qDebug() << "Fetching with cache: " << cache;
+int cachedFetch(const std::string &cache) {
+  LOGD("Fetching with cache: %s", cache.c_str());
 
-  run(QString("cp -rp %1 %2").arg(cache, TMP_INSTALL_PATH).toStdString().c_str());
-  int err = chdir(TMP_INSTALL_PATH);
-  assert(err == 0);
-  run(("git remote set-branches --add origin " + BRANCH_STR).c_str());
+  run(util::string_format("cp -rp %s %s", cache.c_str(), TMP_INSTALL_PATH).c_str());
+  run(util::string_format("cd %s && git remote set-branches --add origin %s", TMP_INSTALL_PATH, BRANCH_STR.c_str()).c_str());
 
-  updateProgress(10);
+  renderProgress(10);
 
-  proc.setWorkingDirectory(TMP_INSTALL_PATH);
-  proc.start("git", {"fetch", "--progress", "origin", BRANCH_STR.c_str()});
+  return executeGitCommand(util::string_format("cd %s && git fetch --progress origin %s 2>&1", TMP_INSTALL_PATH, BRANCH_STR.c_str()));
 }
 
-void Installer::readProgress() {
-  const QVector<QPair<QString, int>> stages = {
+int executeGitCommand(const std::string &cmd) {
+  static const std::array stages = {
     // prefix, weight in percentage
-    {"Receiving objects: ", 91},
-    {"Resolving deltas: ", 2},
-    {"Updating files: ", 7},
+    std::pair{"Receiving objects: ", 91},
+    std::pair{"Resolving deltas: ", 2},
+    std::pair{"Updating files: ", 7},
   };
 
-  auto line = QString(proc.readAllStandardError());
+  FILE *pipe = popen(cmd.c_str(), "r");
+  if (!pipe) return -1;
 
-  int base = 0;
-  for (const QPair kv : stages) {
-    if (line.startsWith(kv.first)) {
-      auto perc = line.split(kv.first)[1].split("%")[0];
-      int p = base + int(perc.toFloat() / 100. * kv.second);
-      updateProgress(p);
-      break;
+  char buffer[512];
+  while (fgets(buffer, sizeof(buffer), pipe) != nullptr) {
+    std::string line(buffer);
+    int base = 0;
+    for (const auto &[text, weight] : stages) {
+      if (line.find(text) != std::string::npos) {
+        size_t percentPos = line.find("%");
+        if (percentPos != std::string::npos && percentPos >= 3) {
+          int percent = std::stoi(line.substr(percentPos - 3, 3));
+          int progress = base + int(percent / 100. * weight);
+          renderProgress(progress);
+        }
+        break;
+      }
+      base += weight;
     }
-    base += kv.second;
   }
+  return pclose(pipe);
 }
 
-void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
-  qDebug() << "git finished with " << exitCode;
+void cloneFinished(int exitCode) {
+  LOGD("git finished with %d", exitCode);
   assert(exitCode == 0);
 
-  updateProgress(100);
+  renderProgress(100);
 
   // ensure correct branch is checked out
   int err = chdir(TMP_INSTALL_PATH);
@@ -203,13 +171,17 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
   run("mv /data/continue.sh.new " CONTINUE_PATH);
 
   // wait for the installed software's UI to take over
-  QTimer::singleShot(60 * 1000, &QCoreApplication::quit);
+  util::sleep_for(60 * 1000);
 }
 
 int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-  QApplication a(argc, argv);
-  Installer installer;
-  setMainWindow(&installer);
-  return a.exec();
+  InitWindow(2160, 1080, "Installer");
+  font = LoadFontFromMemory(".ttf", inter_ttf, inter_ttf_end - inter_ttf, 120, NULL, 0);
+  SetTextureFilter(font.texture, TEXTURE_FILTER_BILINEAR);
+  renderProgress(0);
+  int result = doInstall();
+  cloneFinished(result);
+  CloseWindow();
+  UnloadFont(font);
+  return 0;
 }
diff --git a/selfdrive/ui/installer/installer.h b/selfdrive/ui/installer/installer.h
deleted file mode 100644
index de3af0ff39..0000000000
--- a/selfdrive/ui/installer/installer.h
+++ /dev/null
@@ -1,28 +0,0 @@
-#pragma once
-
-#include <QLabel>
-#include <QProcess>
-#include <QProgressBar>
-#include <QWidget>
-
-class Installer : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit Installer(QWidget *parent = 0);
-
-private slots:
-  void updateProgress(int percent);
-
-  void readProgress();
-  void cloneFinished(int exitCode, QProcess::ExitStatus exitStatus);
-
-private:
-  QLabel *val;
-  QProgressBar *bar;
-  QProcess proc;
-
-  void doInstall();
-  void freshClone();
-  void cachedFetch(const QString &cache);
-};
diff --git a/selfdrive/ui/installer/inter-ascii.ttf b/selfdrive/ui/installer/inter-ascii.ttf
new file mode 100644
index 0000000000..5d480c515a
--- /dev/null
+++ b/selfdrive/ui/installer/inter-ascii.ttf
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ef26a4099ef867f3493389379d882381a2491cdbfa41a086be8899a2154dcb3
+size 26160
diff --git a/system/camerad/snapshot/__init__.py b/selfdrive/ui/layouts/__init__.py
similarity index 100%
rename from system/camerad/snapshot/__init__.py
rename to selfdrive/ui/layouts/__init__.py
diff --git a/selfdrive/ui/layouts/home.py b/selfdrive/ui/layouts/home.py
new file mode 100644
index 0000000000..55de9e82f1
--- /dev/null
+++ b/selfdrive/ui/layouts/home.py
@@ -0,0 +1,212 @@
+import time
+import pyray as rl
+from collections.abc import Callable
+from enum import IntEnum
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.widgets.offroad_alerts import UpdateAlert, OffroadAlert
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.label import gui_label
+from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR
+
+
+HEADER_HEIGHT = 80
+HEAD_BUTTON_FONT_SIZE = 40
+CONTENT_MARGIN = 40
+SPACING = 25
+RIGHT_COLUMN_WIDTH = 750
+REFRESH_INTERVAL = 10.0
+
+PRIME_BG_COLOR = rl.Color(51, 51, 51, 255)
+
+
+class HomeLayoutState(IntEnum):
+  HOME = 0
+  UPDATE = 1
+  ALERTS = 2
+
+
+class HomeLayout:
+  def __init__(self):
+    self.params = Params()
+
+    self.update_alert = UpdateAlert()
+    self.offroad_alert = OffroadAlert()
+
+    self.current_state = HomeLayoutState.HOME
+    self.last_refresh = 0
+    self.settings_callback: callable | None = None
+
+    self.update_available = False
+    self.alert_count = 0
+
+    self.header_rect = rl.Rectangle(0, 0, 0, 0)
+    self.content_rect = rl.Rectangle(0, 0, 0, 0)
+    self.left_column_rect = rl.Rectangle(0, 0, 0, 0)
+    self.right_column_rect = rl.Rectangle(0, 0, 0, 0)
+
+    self.update_notif_rect = rl.Rectangle(0, 0, 200, HEADER_HEIGHT - 10)
+    self.alert_notif_rect = rl.Rectangle(0, 0, 220, HEADER_HEIGHT - 10)
+
+    self._setup_callbacks()
+
+  def _setup_callbacks(self):
+    self.update_alert.set_dismiss_callback(lambda: self._set_state(HomeLayoutState.HOME))
+    self.offroad_alert.set_dismiss_callback(lambda: self._set_state(HomeLayoutState.HOME))
+
+  def set_settings_callback(self, callback: Callable):
+    self.settings_callback = callback
+
+  def _set_state(self, state: HomeLayoutState):
+    self.current_state = state
+
+  def render(self, rect: rl.Rectangle):
+    self._update_layout_rects(rect)
+
+    current_time = time.time()
+    if current_time - self.last_refresh >= REFRESH_INTERVAL:
+      self._refresh()
+      self.last_refresh = current_time
+
+    self._handle_input()
+    self._render_header()
+
+    # Render content based on current state
+    if self.current_state == HomeLayoutState.HOME:
+      self._render_home_content()
+    elif self.current_state == HomeLayoutState.UPDATE:
+      self._render_update_view()
+    elif self.current_state == HomeLayoutState.ALERTS:
+      self._render_alerts_view()
+
+  def _update_layout_rects(self, rect: rl.Rectangle):
+    self.header_rect = rl.Rectangle(
+      rect.x + CONTENT_MARGIN, rect.y + CONTENT_MARGIN, rect.width - 2 * CONTENT_MARGIN, HEADER_HEIGHT
+    )
+
+    content_y = rect.y + CONTENT_MARGIN + HEADER_HEIGHT + SPACING
+    content_height = rect.height - CONTENT_MARGIN - HEADER_HEIGHT - SPACING - CONTENT_MARGIN
+
+    self.content_rect = rl.Rectangle(
+      rect.x + CONTENT_MARGIN, content_y, rect.width - 2 * CONTENT_MARGIN, content_height
+    )
+
+    left_width = self.content_rect.width - RIGHT_COLUMN_WIDTH - SPACING
+
+    self.left_column_rect = rl.Rectangle(self.content_rect.x, self.content_rect.y, left_width, self.content_rect.height)
+
+    self.right_column_rect = rl.Rectangle(
+      self.content_rect.x + left_width + SPACING, self.content_rect.y, RIGHT_COLUMN_WIDTH, self.content_rect.height
+    )
+
+    self.update_notif_rect.x = self.header_rect.x
+    self.update_notif_rect.y = self.header_rect.y + (self.header_rect.height - 60) // 2
+
+    notif_x = self.header_rect.x + (220 if self.update_available else 0)
+    self.alert_notif_rect.x = notif_x
+    self.alert_notif_rect.y = self.header_rect.y + (self.header_rect.height - 60) // 2
+
+  def _handle_input(self):
+    if not rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      return
+
+    mouse_pos = rl.get_mouse_position()
+
+    if self.update_available and rl.check_collision_point_rec(mouse_pos, self.update_notif_rect):
+      self._set_state(HomeLayoutState.UPDATE)
+      return
+
+    if self.alert_count > 0 and rl.check_collision_point_rec(mouse_pos, self.alert_notif_rect):
+      self._set_state(HomeLayoutState.ALERTS)
+      return
+
+    # Content area input handling
+    if self.current_state == HomeLayoutState.UPDATE:
+      self.update_alert.handle_input(mouse_pos, True)
+    elif self.current_state == HomeLayoutState.ALERTS:
+      self.offroad_alert.handle_input(mouse_pos, True)
+
+  def _render_header(self):
+    font = gui_app.font(FontWeight.MEDIUM)
+
+    # Update notification button
+    if self.update_available:
+      # Highlight if currently viewing updates
+      highlight_color = rl.Color(255, 140, 40, 255) if self.current_state == HomeLayoutState.UPDATE else rl.Color(255, 102, 0, 255)
+      rl.draw_rectangle_rounded(self.update_notif_rect, 0.3, 10, highlight_color)
+
+      text = "UPDATE"
+      text_width = measure_text_cached(font, text, HEAD_BUTTON_FONT_SIZE).x
+      text_x = self.update_notif_rect.x + (self.update_notif_rect.width - text_width) // 2
+      text_y = self.update_notif_rect.y + (self.update_notif_rect.height - HEAD_BUTTON_FONT_SIZE) // 2
+      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    # Alert notification button
+    if self.alert_count > 0:
+      # Highlight if currently viewing alerts
+      highlight_color = rl.Color(255, 70, 70, 255) if self.current_state == HomeLayoutState.ALERTS else rl.Color(226, 44, 44, 255)
+      rl.draw_rectangle_rounded(self.alert_notif_rect, 0.3, 10, highlight_color)
+
+      alert_text = f"{self.alert_count} ALERT{'S' if self.alert_count > 1 else ''}"
+      text_width = measure_text_cached(font, alert_text, HEAD_BUTTON_FONT_SIZE).x
+      text_x = self.alert_notif_rect.x + (self.alert_notif_rect.width - text_width) // 2
+      text_y = self.alert_notif_rect.y + (self.alert_notif_rect.height - HEAD_BUTTON_FONT_SIZE) // 2
+      rl.draw_text_ex(font, alert_text, rl.Vector2(int(text_x), int(text_y)), HEAD_BUTTON_FONT_SIZE, 0, rl.WHITE)
+
+    # Version text (right aligned)
+    version_text = self._get_version_text()
+    text_width = measure_text_cached(gui_app.font(FontWeight.NORMAL), version_text, 48).x
+    version_x = self.header_rect.x + self.header_rect.width - text_width
+    version_y = self.header_rect.y + (self.header_rect.height - 48) // 2
+    rl.draw_text_ex(gui_app.font(FontWeight.NORMAL), version_text, rl.Vector2(int(version_x), int(version_y)), 48, 0, DEFAULT_TEXT_COLOR)
+
+  def _render_home_content(self):
+    self._render_left_column()
+    self._render_right_column()
+
+  def _render_update_view(self):
+    self.update_alert.render(self.content_rect)
+
+  def _render_alerts_view(self):
+    self.offroad_alert.render(self.content_rect)
+
+  def _render_left_column(self):
+    rl.draw_rectangle_rounded(self.left_column_rect, 0.02, 10, PRIME_BG_COLOR)
+    gui_label(self.left_column_rect, "Prime Widget", 48, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+
+  def _render_right_column(self):
+    widget_height = (self.right_column_rect.height - SPACING) // 2
+
+    exp_rect = rl.Rectangle(
+      self.right_column_rect.x, self.right_column_rect.y, self.right_column_rect.width, widget_height
+    )
+    rl.draw_rectangle_rounded(exp_rect, 0.02, 10, PRIME_BG_COLOR)
+    gui_label(exp_rect, "Experimental Mode", 36, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+
+    setup_rect = rl.Rectangle(
+      self.right_column_rect.x,
+      self.right_column_rect.y + widget_height + SPACING,
+      self.right_column_rect.width,
+      widget_height,
+    )
+    rl.draw_rectangle_rounded(setup_rect, 0.02, 10, PRIME_BG_COLOR)
+    gui_label(setup_rect, "Setup", 36, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+
+  def _refresh(self):
+    self.update_available = self.update_alert.refresh()
+    self.alert_count = self.offroad_alert.refresh()
+    self._update_state_priority(self.update_available, self.alert_count > 0)
+
+  def _update_state_priority(self, update_available: bool, alerts_present: bool):
+    current_state = self.current_state
+
+    if not update_available and not alerts_present:
+      self.current_state = HomeLayoutState.HOME
+    elif update_available and (current_state == HomeLayoutState.HOME or (not alerts_present and current_state == HomeLayoutState.ALERTS)):
+      self.current_state = HomeLayoutState.UPDATE
+    elif alerts_present and (current_state == HomeLayoutState.HOME or (not update_available and current_state == HomeLayoutState.UPDATE)):
+      self.current_state = HomeLayoutState.ALERTS
+
+  def _get_version_text(self) -> str:
+    brand = "openpilot"
+    description = self.params.get("UpdaterCurrentDescription", encoding='utf-8')
+    return f"{brand} {description}" if description else brand
diff --git a/selfdrive/ui/layouts/main.py b/selfdrive/ui/layouts/main.py
new file mode 100644
index 0000000000..08ce50407d
--- /dev/null
+++ b/selfdrive/ui/layouts/main.py
@@ -0,0 +1,96 @@
+import pyray as rl
+from enum import IntEnum
+from openpilot.selfdrive.ui.layouts.sidebar import Sidebar, SIDEBAR_WIDTH
+from openpilot.selfdrive.ui.layouts.home import HomeLayout
+from openpilot.selfdrive.ui.layouts.settings.settings import SettingsLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.onroad.augmented_road_view import AugmentedRoadView
+
+
+class MainState(IntEnum):
+  HOME = 0
+  SETTINGS = 1
+  ONROAD = 2
+
+
+class MainLayout:
+  def __init__(self):
+    self._sidebar = Sidebar()
+    self._sidebar_visible = True
+    self._current_mode = MainState.HOME
+    self._prev_onroad = False
+    self._window_rect = None
+    self._current_callback: callable | None = None
+
+    # Initialize layouts
+    self._layouts = {MainState.HOME: HomeLayout(), MainState.SETTINGS: SettingsLayout(), MainState.ONROAD: AugmentedRoadView()}
+
+    self._sidebar_rect = rl.Rectangle(0, 0, 0, 0)
+    self._content_rect = rl.Rectangle(0, 0, 0, 0)
+
+    # Set callbacks
+    self._setup_callbacks()
+
+  def render(self, rect):
+    self._current_callback = None
+
+    self._update_layout_rects(rect)
+    self._handle_onroad_transition()
+    self._render_main_content()
+    self._handle_input()
+
+    if self._current_callback:
+      self._current_callback()
+
+  def _setup_callbacks(self):
+    self._sidebar.set_callbacks(
+      on_settings=lambda: setattr(self, '_current_callback', self._on_settings_clicked),
+      on_flag=lambda: setattr(self, '_current_callback', self._on_flag_clicked),
+    )
+    self._layouts[MainState.SETTINGS].set_callbacks(
+      on_close=lambda: setattr(self, '_current_callback', self._set_mode_for_state)
+    )
+
+  def _update_layout_rects(self, rect):
+    self._window_rect = rect
+    self._sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height)
+
+    x_offset = SIDEBAR_WIDTH if self._sidebar_visible else 0
+    self._content_rect = rl.Rectangle(rect.y + x_offset, rect.y, rect.width - x_offset, rect.height)
+
+  def _handle_onroad_transition(self):
+    if ui_state.started != self._prev_onroad:
+      self._prev_onroad = ui_state.started
+
+      self._set_mode_for_state()
+
+  def _set_mode_for_state(self):
+    if ui_state.started:
+      self._current_mode = MainState.ONROAD
+      self._sidebar_visible = False
+    else:
+      self._current_mode = MainState.HOME
+      self._sidebar_visible = True
+
+  def _on_settings_clicked(self):
+    self._current_mode = MainState.SETTINGS
+    self._sidebar_visible = False
+
+  def _on_flag_clicked(self):
+    pass
+
+  def _render_main_content(self):
+    # Render sidebar
+    if self._sidebar_visible:
+      self._sidebar.render(self._sidebar_rect)
+
+    content_rect = self._content_rect if self._sidebar_visible else self._window_rect
+    self._layouts[self._current_mode].render(content_rect)
+
+  def _handle_input(self):
+    if self._current_mode != MainState.ONROAD or not rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      return
+
+    mouse_pos = rl.get_mouse_position()
+    if rl.check_collision_point_rec(mouse_pos, self._content_rect):
+      self._sidebar_visible = not self._sidebar_visible
diff --git a/selfdrive/ui/layouts/network.py b/selfdrive/ui/layouts/network.py
new file mode 100644
index 0000000000..bf52f18876
--- /dev/null
+++ b/selfdrive/ui/layouts/network.py
@@ -0,0 +1,19 @@
+import pyray as rl
+from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
+from openpilot.system.ui.widgets.network import WifiManagerUI
+
+
+class NetworkLayout:
+  def __init__(self):
+    self.wifi_manager = WifiManagerWrapper()
+    self.wifi_ui = WifiManagerUI(self.wifi_manager)
+
+  def render(self, rect: rl.Rectangle):
+    self.wifi_ui.render(rect)
+
+  @property
+  def require_full_screen(self):
+    return self.wifi_ui.require_full_screen
+
+  def shutdown(self):
+    self.wifi_manager.shutdown()
diff --git a/selfdrive/ui/layouts/settings/developer.py b/selfdrive/ui/layouts/settings/developer.py
new file mode 100644
index 0000000000..6ab5be2792
--- /dev/null
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -0,0 +1,52 @@
+from openpilot.system.ui.lib.list_view import ListView,  toggle_item
+from openpilot.common.params import Params
+
+# Description constants
+DESCRIPTIONS = {
+  'enable_adb': (
+    "ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. " +
+    "See https://docs.comma.ai/how-to/connect-to-comma for more info."
+  ),
+  'joystick_debug_mode': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)",
+}
+
+
+class DeveloperLayout:
+  def __init__(self):
+    self._params = Params()
+    items = [
+      toggle_item(
+        "Enable ADB",
+        description=DESCRIPTIONS["enable_adb"],
+        initial_state=self._params.get_bool("AdbEnabled"),
+        callback=self._on_enable_adb,
+      ),
+      toggle_item(
+        "Joystick Debug Mode",
+        description=DESCRIPTIONS["joystick_debug_mode"],
+        initial_state=self._params.get_bool("JoystickDebugMode"),
+        callback=self._on_joystick_debug_mode,
+      ),
+      toggle_item(
+        "Longitudinal Maneuver Mode",
+        description="",
+        initial_state=self._params.get_bool("LongitudinalManeuverMode"),
+        callback=self._on_long_maneuver_mode,
+      ),
+      toggle_item(
+        "openpilot Longitudinal Control (Alpha)",
+        description="",
+        initial_state=self._params.get_bool("AlphaLongitudinalEnabled"),
+        callback=self._on_alpha_long_enabled,
+      ),
+    ]
+
+    self._list_widget = ListView(items)
+
+  def render(self, rect):
+    self._list_widget.render(rect)
+
+  def _on_enable_adb(self): pass
+  def _on_joystick_debug_mode(self): pass
+  def _on_long_maneuver_mode(self): pass
+  def _on_alpha_long_enabled(self): pass
diff --git a/selfdrive/ui/layouts/settings/device.py b/selfdrive/ui/layouts/settings/device.py
new file mode 100644
index 0000000000..5051dd6ba6
--- /dev/null
+++ b/selfdrive/ui/layouts/settings/device.py
@@ -0,0 +1,47 @@
+from openpilot.system.ui.lib.list_view import ListView, text_item, button_item
+from openpilot.common.params import Params
+from openpilot.system.hardware import TICI
+
+# Description constants
+DESCRIPTIONS = {
+  'pair_device': "Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.",
+  'driver_camera': "Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)",
+  'reset_calibration': (
+    "openpilot requires the device to be mounted within 4° left or right and within 5° " +
+    "up or 9° down. openpilot is continuously calibrating, resetting is rarely required."
+  ),
+  'review_guide': "Review the rules, features, and limitations of openpilot",
+}
+
+
+class DeviceLayout:
+  def __init__(self):
+    params = Params()
+    dongle_id = params.get("DongleId", encoding="utf-8") or "N/A"
+    serial = params.get("HardwareSerial") or "N/A"
+
+    items = [
+      text_item("Dongle ID", dongle_id),
+      text_item("Serial", serial),
+      button_item("Pair Device", "PAIR", DESCRIPTIONS['pair_device'], self._on_pair_device),
+      button_item("Driver Camera", "PREVIEW", DESCRIPTIONS['driver_camera'], self._on_driver_camera),
+      button_item("Reset Calibration", "RESET", DESCRIPTIONS['reset_calibration'], self._on_reset_calibration),
+      button_item("Review Training Guide", "REVIEW", DESCRIPTIONS['review_guide'], self._on_review_training_guide),
+    ]
+
+    if TICI:
+      items.append(button_item("Regulatory", "VIEW", callback=self._on_regulatory))
+
+    items.append(button_item("Change Language", "CHANGE", callback=self._on_change_language))
+
+    self._list_widget = ListView(items)
+
+  def render(self, rect):
+    self._list_widget.render(rect)
+
+  def _on_pair_device(self): pass
+  def _on_driver_camera(self): pass
+  def _on_reset_calibration(self): pass
+  def _on_review_training_guide(self): pass
+  def _on_regulatory(self): pass
+  def _on_change_language(self): pass
diff --git a/selfdrive/ui/layouts/settings/settings.py b/selfdrive/ui/layouts/settings/settings.py
new file mode 100644
index 0000000000..1afa4f8f4a
--- /dev/null
+++ b/selfdrive/ui/layouts/settings/settings.py
@@ -0,0 +1,183 @@
+import pyray as rl
+from dataclasses import dataclass
+from enum import IntEnum
+from collections.abc import Callable
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.layouts.settings.developer import DeveloperLayout
+from openpilot.selfdrive.ui.layouts.settings.device import DeviceLayout
+from openpilot.selfdrive.ui.layouts.settings.software import SoftwareLayout
+from openpilot.selfdrive.ui.layouts.settings.toggles import TogglesLayout
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.label import gui_text_box
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.selfdrive.ui.layouts.network import NetworkLayout
+
+# Import individual panels
+
+SETTINGS_CLOSE_TEXT = "X"
+# Constants
+SIDEBAR_WIDTH = 500
+CLOSE_BTN_SIZE = 200
+NAV_BTN_HEIGHT = 80
+PANEL_MARGIN = 50
+SCROLL_SPEED = 30
+
+# Colors
+SIDEBAR_COLOR = rl.BLACK
+PANEL_COLOR = rl.Color(41, 41, 41, 255)
+CLOSE_BTN_COLOR = rl.Color(41, 41, 41, 255)
+CLOSE_BTN_PRESSED = rl.Color(59, 59, 59, 255)
+TEXT_NORMAL = rl.Color(128, 128, 128, 255)
+TEXT_SELECTED = rl.Color(255, 255, 255, 255)
+TEXT_PRESSED = rl.Color(173, 173, 173, 255)
+
+
+class PanelType(IntEnum):
+  DEVICE = 0
+  NETWORK = 1
+  TOGGLES = 2
+  SOFTWARE = 3
+  FIREHOSE = 4
+  DEVELOPER = 5
+
+
+@dataclass
+class PanelInfo:
+  name: str
+  instance: object
+  button_rect: rl.Rectangle
+
+
+class SettingsLayout:
+  def __init__(self):
+    self._params = Params()
+    self._current_panel = PanelType.DEVICE
+    self._max_scroll = 0.0
+
+    # Panel configuration
+    self._panels = {
+      PanelType.DEVICE: PanelInfo("Device", DeviceLayout(), rl.Rectangle(0, 0, 0, 0)),
+      PanelType.TOGGLES: PanelInfo("Toggles", TogglesLayout(), rl.Rectangle(0, 0, 0, 0)),
+      PanelType.SOFTWARE: PanelInfo("Software", SoftwareLayout(), rl.Rectangle(0, 0, 0, 0)),
+      PanelType.FIREHOSE: PanelInfo("Firehose", None, rl.Rectangle(0, 0, 0, 0)),
+      PanelType.NETWORK: PanelInfo("Network", NetworkLayout(), rl.Rectangle(0, 0, 0, 0)),
+      PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayout(), rl.Rectangle(0, 0, 0, 0)),
+    }
+
+    self._font_medium = gui_app.font(FontWeight.MEDIUM)
+    self._font_bold = gui_app.font(FontWeight.SEMI_BOLD)
+
+    # Callbacks
+    self._close_callback: Callable | None = None
+
+  def set_callbacks(self, on_close: Callable):
+    self._close_callback = on_close
+
+  def render(self, rect: rl.Rectangle):
+    # Calculate layout
+    sidebar_rect = rl.Rectangle(rect.x, rect.y, SIDEBAR_WIDTH, rect.height)
+    panel_rect = rl.Rectangle(rect.x + SIDEBAR_WIDTH, rect.y, rect.width - SIDEBAR_WIDTH, rect.height)
+
+    # Draw components
+    self._draw_sidebar(sidebar_rect)
+    self._draw_current_panel(panel_rect)
+
+    if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      self.handle_mouse_release(rl.get_mouse_position())
+
+  def _draw_sidebar(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rec(rect, SIDEBAR_COLOR)
+
+    # Close button
+    close_btn_rect = rl.Rectangle(
+      rect.x + (rect.width - CLOSE_BTN_SIZE) / 2, rect.y + 45, CLOSE_BTN_SIZE, CLOSE_BTN_SIZE
+    )
+
+    pressed = (rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT) and
+               rl.check_collision_point_rec(rl.get_mouse_position(), close_btn_rect))
+    close_color = CLOSE_BTN_PRESSED if pressed else CLOSE_BTN_COLOR
+    rl.draw_rectangle_rounded(close_btn_rect, 1.0, 20, close_color)
+
+    close_text_size = measure_text_cached(self._font_bold, SETTINGS_CLOSE_TEXT, 140)
+    close_text_pos = rl.Vector2(
+      close_btn_rect.x + (close_btn_rect.width - close_text_size.x) / 2,
+      close_btn_rect.y + (close_btn_rect.height - close_text_size.y) / 2,
+    )
+    rl.draw_text_ex(self._font_bold, SETTINGS_CLOSE_TEXT, close_text_pos, 140, 0, TEXT_SELECTED)
+
+    # Store close button rect for click detection
+    self._close_btn_rect = close_btn_rect
+
+    # Navigation buttons
+    nav_start_y = rect.y + 300
+    button_spacing = 20
+
+    i = 0
+    for panel_type, panel_info in self._panels.items():
+      button_rect = rl.Rectangle(
+        rect.x + 50,
+        nav_start_y + i * (NAV_BTN_HEIGHT + button_spacing),
+        rect.width - 150,  # Right-aligned with margin
+        NAV_BTN_HEIGHT,
+      )
+
+      # Button styling
+      is_selected = panel_type == self._current_panel
+      text_color = TEXT_SELECTED if is_selected else TEXT_NORMAL
+      # Draw button text (right-aligned)
+      text_size = measure_text_cached(self._font_medium, panel_info.name, 65)
+      text_pos = rl.Vector2(
+        button_rect.x + button_rect.width - text_size.x, button_rect.y + (button_rect.height - text_size.y) / 2
+      )
+      rl.draw_text_ex(self._font_medium, panel_info.name, text_pos, 65, 0, text_color)
+
+      # Store button rect for click detection
+      panel_info.button_rect = button_rect
+      i += 1
+
+  def _draw_current_panel(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rounded(
+      rl.Rectangle(rect.x + 10, rect.y + 10, rect.width - 20, rect.height - 20), 0.04, 30, PANEL_COLOR
+    )
+    content_rect = rl.Rectangle(rect.x + PANEL_MARGIN, rect.y + 25, rect.width - (PANEL_MARGIN * 2), rect.height - 50)
+    # rl.draw_rectangle_rounded(content_rect, 0.03, 30, PANEL_COLOR)
+    panel = self._panels[self._current_panel]
+    if panel.instance:
+      panel.instance.render(content_rect)
+    else:
+      gui_text_box(
+        content_rect,
+        f"Demo {self._panels[self._current_panel].name} Panel",
+        font_size=170,
+        color=rl.WHITE,
+        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+        alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+      )
+
+  def handle_mouse_release(self, mouse_pos: rl.Vector2) -> bool:
+    # Check close button
+    if rl.check_collision_point_rec(mouse_pos, self._close_btn_rect):
+      if self._close_callback:
+        self._close_callback()
+      return True
+
+    # Check navigation buttons
+    for panel_type, panel_info in self._panels.items():
+      if rl.check_collision_point_rec(mouse_pos, panel_info.button_rect):
+        self._switch_to_panel(panel_type)
+        return True
+
+    return False
+
+  def _switch_to_panel(self, panel_type: PanelType):
+    if panel_type != self._current_panel:
+      self._current_panel = panel_type
+
+  def set_current_panel(self, index: int, param: str = ""):
+    panel_types = list(self._panels.keys())
+    if 0 <= index < len(panel_types):
+      self._switch_to_panel(panel_types[index])
+
+  def close_settings(self):
+    if self._close_callback:
+      self._close_callback()
diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py
new file mode 100644
index 0000000000..e57e13c148
--- /dev/null
+++ b/selfdrive/ui/layouts/settings/software.py
@@ -0,0 +1,21 @@
+from openpilot.system.ui.lib.list_view import ListView, button_item, text_item
+
+class SoftwareLayout:
+  def __init__(self):
+    items = [
+      text_item("Current Version", ""),
+      button_item("Download", "CHECK", callback=self._on_download_update),
+      button_item("Install Update", "INSTALL", callback=self._on_install_update),
+      button_item("Target Branch", "SELECT", callback=self._on_select_branch),
+      button_item("Uninstall", "UNINSTALL", callback=self._on_uninstall),
+    ]
+
+    self._list_widget = ListView(items)
+
+  def render(self, rect):
+    self._list_widget.render(rect)
+
+  def _on_download_update(self): pass
+  def _on_install_update(self): pass
+  def _on_select_branch(self): pass
+  def _on_uninstall(self): pass
diff --git a/selfdrive/ui/layouts/settings/toggles.py b/selfdrive/ui/layouts/settings/toggles.py
new file mode 100644
index 0000000000..d966baf9cd
--- /dev/null
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -0,0 +1,68 @@
+from openpilot.system.ui.lib.list_view import ListView, toggle_item
+from openpilot.common.params import Params
+
+# Description constants
+DESCRIPTIONS = {
+  "OpenpilotEnabledToggle": (
+    "Use the openpilot system for adaptive cruise control and lane keep driver assistance. " +
+    "Your attention is required at all times to use this feature."
+  ),
+  "DisengageOnAccelerator": "When enabled, pressing the accelerator pedal will disengage openpilot.",
+  "IsLdwEnabled": (
+    "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line " +
+     "without a turn signal activated while driving over 31 mph (50 km/h)."
+  ),
+  "AlwaysOnDM": "Enable driver monitoring even when openpilot is not engaged.",
+  'RecordFront': "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
+  "IsMetric": "Display speed in km/h instead of mph.",
+}
+
+
+class TogglesLayout:
+  def __init__(self):
+    self._params = Params()
+    items = [
+      toggle_item(
+        "Enable openpilot",
+        DESCRIPTIONS["OpenpilotEnabledToggle"],
+        self._params.get_bool("OpenpilotEnabledToggle"),
+        icon="chffr_wheel.png",
+      ),
+      toggle_item(
+        "Experimental Mode",
+        initial_state=self._params.get_bool("ExperimentalMode"),
+        icon="experimental_white.png",
+      ),
+      toggle_item(
+        "Disengage on Accelerator Pedal",
+        DESCRIPTIONS["DisengageOnAccelerator"],
+        self._params.get_bool("DisengageOnAccelerator"),
+        icon="disengage_on_accelerator.png",
+      ),
+      toggle_item(
+        "Enable Lane Departure Warnings",
+        DESCRIPTIONS["IsLdwEnabled"],
+        self._params.get_bool("IsLdwEnabled"),
+        icon="warning.png",
+      ),
+      toggle_item(
+        "Always-On Driver Monitoring",
+        DESCRIPTIONS["AlwaysOnDM"],
+        self._params.get_bool("AlwaysOnDM"),
+        icon="monitoring.png",
+      ),
+      toggle_item(
+        "Record and Upload Driver Camera",
+        DESCRIPTIONS["RecordFront"],
+        self._params.get_bool("RecordFront"),
+        icon="monitoring.png",
+      ),
+      toggle_item(
+        "Use Metric System", DESCRIPTIONS["IsMetric"], self._params.get_bool("IsMetric"), icon="monitoring.png"
+      ),
+    ]
+
+    self._list_widget = ListView(items)
+
+  def render(self, rect):
+    self._list_widget.render(rect)
diff --git a/selfdrive/ui/layouts/sidebar.py b/selfdrive/ui/layouts/sidebar.py
new file mode 100644
index 0000000000..343efe5851
--- /dev/null
+++ b/selfdrive/ui/layouts/sidebar.py
@@ -0,0 +1,208 @@
+import pyray as rl
+import time
+from dataclasses import dataclass
+from collections.abc import Callable
+from cereal import log
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+SIDEBAR_WIDTH = 300
+METRIC_HEIGHT = 126
+METRIC_WIDTH = 240
+METRIC_MARGIN = 30
+
+SETTINGS_BTN = rl.Rectangle(50, 35, 200, 117)
+HOME_BTN = rl.Rectangle(60, 860, 180, 180)
+
+ThermalStatus = log.DeviceState.ThermalStatus
+NetworkType = log.DeviceState.NetworkType
+
+# Color scheme
+class Colors:
+  SIDEBAR_BG = rl.Color(57, 57, 57, 255)
+  WHITE = rl.Color(255, 255, 255, 255)
+  WHITE_DIM = rl.Color(255, 255, 255, 85)
+  GRAY = rl.Color(84, 84, 84, 255)
+
+  # Status colors
+  GOOD = rl.Color(255, 255, 255, 255)
+  WARNING = rl.Color(218, 202, 37, 255)
+  DANGER = rl.Color(201, 34, 49, 255)
+
+  # UI elements
+  METRIC_BORDER = rl.Color(255, 255, 255, 85)
+  BUTTON_NORMAL = rl.Color(255, 255, 255, 255)
+  BUTTON_PRESSED = rl.Color(255, 255, 255, 166)
+
+NETWORK_TYPES = {
+  NetworkType.none: "Offline",
+  NetworkType.wifi: "WiFi",
+  NetworkType.cell2G: "2G",
+  NetworkType.cell3G: "3G",
+  NetworkType.cell4G: "LTE",
+  NetworkType.cell5G: "5G",
+  NetworkType.ethernet: "Ethernet",
+}
+
+
+@dataclass(slots=True)
+class MetricData:
+  label: str
+  value: str
+  color: rl.Color
+
+  def update(self, label: str, value: str, color: rl.Color):
+    self.label = label
+    self.value = value
+    self.color = color
+
+class Sidebar:
+  def __init__(self):
+    self._net_type = NETWORK_TYPES.get(NetworkType.none)
+    self._net_strength = 0
+
+    self._temp_status = MetricData("TEMP", "GOOD", Colors.GOOD)
+    self._panda_status = MetricData("VEHICLE", "ONLINE", Colors.GOOD)
+    self._connect_status = MetricData("CONNECT", "OFFLINE", Colors.WARNING)
+
+    self._home_img = gui_app.texture("images/button_home.png", HOME_BTN.width, HOME_BTN.height)
+    self._flag_img = gui_app.texture("images/button_flag.png", HOME_BTN.width, HOME_BTN.height)
+    self._settings_img = gui_app.texture("images/button_settings.png", SETTINGS_BTN.width, SETTINGS_BTN.height)
+    self._font_regular = gui_app.font(FontWeight.NORMAL)
+    self._font_bold = gui_app.font(FontWeight.SEMI_BOLD)
+
+     # Callbacks
+    self._on_settings_click: Callable | None = None
+    self._on_flag_click: Callable | None = None
+
+  def set_callbacks(self, on_settings: Callable | None = None, on_flag: Callable | None = None):
+    self._on_settings_click = on_settings
+    self._on_flag_click = on_flag
+
+  def render(self, rect: rl.Rectangle):
+    self.update_state()
+
+    # Background
+    rl.draw_rectangle_rec(rect, Colors.SIDEBAR_BG)
+
+    self._draw_buttons(rect)
+    self._draw_network_indicator(rect)
+    self._draw_metrics(rect)
+
+    self._handle_mouse_release()
+
+  def update_state(self):
+    sm = ui_state.sm
+    if not sm.updated['deviceState']:
+      return
+
+    device_state = sm['deviceState']
+
+    self._update_network_status(device_state)
+    self._update_temperature_status(device_state)
+    self._update_connection_status(device_state)
+    self._update_panda_status()
+
+  def _update_network_status(self, device_state):
+    self._net_type = NETWORK_TYPES.get(device_state.networkType.raw, "Unknown")
+    strength = device_state.networkStrength
+    self._net_strength = max(0, min(5, strength.raw + 1)) if strength > 0 else 0
+
+  def _update_temperature_status(self, device_state):
+    thermal_status = device_state.thermalStatus
+
+    if thermal_status == ThermalStatus.green:
+      self._temp_status.update("TEMP", "GOOD", Colors.GOOD)
+    elif thermal_status == ThermalStatus.yellow:
+      self._temp_status.update("TEMP", "OK", Colors.WARNING)
+    else:
+      self._temp_status.update("TEMP", "HIGH", Colors.DANGER)
+
+  def _update_connection_status(self, device_state):
+    last_ping = device_state.lastAthenaPingTime
+    if last_ping == 0:
+      self._connect_status.update("CONNECT", "OFFLINE", Colors.WARNING)
+    elif time.monotonic_ns() - last_ping < 80_000_000_000:  # 80 seconds in nanoseconds
+      self._connect_status.update("CONNECT", "ONLINE", Colors.GOOD)
+    else:
+      self._connect_status.update("CONNECT", "ERROR", Colors.DANGER)
+
+  def _update_panda_status(self):
+    if ui_state.panda_type == log.PandaState.PandaType.unknown:
+      self._panda_status.update("NO", "PANDA", Colors.DANGER)
+    else:
+      self._panda_status.update("VEHICLE", "ONLINE", Colors.GOOD)
+
+  def _handle_mouse_release(self):
+    if not rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      return
+
+    mouse_pos = rl.get_mouse_position()
+    if rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN):
+      if self._on_settings_click:
+        self._on_settings_click()
+    elif rl.check_collision_point_rec(mouse_pos, HOME_BTN) and ui_state.started:
+      if self._on_flag_click:
+        self._on_flag_click()
+
+  def _draw_buttons(self, rect: rl.Rectangle):
+    mouse_pos = rl.get_mouse_position()
+    mouse_down = rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT)
+
+
+    # Settings button
+    settings_down = mouse_down and rl.check_collision_point_rec(mouse_pos, SETTINGS_BTN)
+    tint = Colors.BUTTON_PRESSED if settings_down else Colors.BUTTON_NORMAL
+    rl.draw_texture(self._settings_img, int(SETTINGS_BTN.x), int(SETTINGS_BTN.y), tint)
+
+    # Home/Flag button
+    flag_pressed = mouse_down and rl.check_collision_point_rec(mouse_pos, HOME_BTN)
+    button_img = self._flag_img if ui_state.started else self._home_img
+
+    tint = Colors.BUTTON_PRESSED if (ui_state.started and flag_pressed) else Colors.BUTTON_NORMAL
+    rl.draw_texture(button_img, int(HOME_BTN.x), int(HOME_BTN.y), tint)
+
+  def _draw_network_indicator(self, rect: rl.Rectangle):
+    # Signal strength dots
+    x_start = rect.x + 58
+    y_pos = rect.y + 196
+    dot_size = 27
+    dot_spacing = 37
+
+    for i in range(5):
+      color = Colors.WHITE if i < self._net_strength else Colors.GRAY
+      x = int(x_start + i * dot_spacing + dot_size // 2)
+      y = int(y_pos + dot_size // 2)
+      rl.draw_circle(x, y, dot_size // 2, color)
+
+    # Network type text
+    text_y = rect.y + 247
+    text_pos = rl.Vector2(rect.x + 58, text_y)
+    rl.draw_text_ex(self._font_regular, self._net_type, text_pos, 35, 0, Colors.WHITE)
+
+  def _draw_metrics(self, rect: rl.Rectangle):
+    metrics = [(self._temp_status, 338), (self._panda_status, 496), (self._connect_status, 654)]
+
+    for metric, y_offset in metrics:
+      self._draw_metric(rect, metric, rect.y + y_offset)
+
+  def _draw_metric(self, rect: rl.Rectangle, metric: MetricData, y: float):
+    metric_rect = rl.Rectangle(rect.x + METRIC_MARGIN, y, METRIC_WIDTH, METRIC_HEIGHT)
+    # Draw colored left edge (clipped rounded rectangle)
+    edge_rect = rl.Rectangle(metric_rect.x + 4, metric_rect.y + 4, 100, 118)
+    rl.begin_scissor_mode(int(metric_rect.x + 4), int(metric_rect.y), 18, int(metric_rect.height))
+    rl.draw_rectangle_rounded(edge_rect, 0.18, 10, metric.color)
+    rl.end_scissor_mode()
+
+    # Draw border
+    rl.draw_rectangle_rounded_lines_ex(metric_rect, 0.15, 10, 2, Colors.METRIC_BORDER)
+
+    # Draw text
+    text = f"{metric.label}\n{metric.value}"
+    text_size = measure_text_cached(self._font_bold, text, 35)
+    text_pos = rl.Vector2(
+      metric_rect.x + 22 + (metric_rect.width - 22 - text_size.x) / 2,
+      metric_rect.y + (metric_rect.height - text_size.y) / 2
+    )
+    rl.draw_text_ex(self._font_bold, text, text_pos, 35, 0, Colors.WHITE)
diff --git a/selfdrive/ui/onroad/__init__.py b/selfdrive/ui/onroad/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/ui/onroad/alert_renderer.py b/selfdrive/ui/onroad/alert_renderer.py
new file mode 100644
index 0000000000..7b0128271e
--- /dev/null
+++ b/selfdrive/ui/onroad/alert_renderer.py
@@ -0,0 +1,159 @@
+import time
+import pyray as rl
+from dataclasses import dataclass
+from cereal import messaging, log
+from openpilot.system.hardware import TICI
+from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_FPS
+from openpilot.system.ui.lib.label import gui_text_box
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+ALERT_MARGIN = 40
+ALERT_PADDING = 60
+ALERT_LINE_SPACING = 45
+ALERT_BORDER_RADIUS = 30
+
+ALERT_FONT_SMALL = 66
+ALERT_FONT_MEDIUM = 74
+ALERT_FONT_BIG = 88
+
+SELFDRIVE_STATE_TIMEOUT = 5  # Seconds
+SELFDRIVE_UNRESPONSIVE_TIMEOUT = 10  # Seconds
+
+
+# Constants
+ALERT_COLORS = {
+  log.SelfdriveState.AlertStatus.normal: rl.Color(0, 0, 0, 235),  # Black
+  log.SelfdriveState.AlertStatus.userPrompt: rl.Color(0xFE, 0x8C, 0x34, 235),  # Orange
+  log.SelfdriveState.AlertStatus.critical: rl.Color(0xC9, 0x22, 0x31, 235),  # Red
+}
+
+
+@dataclass
+class Alert:
+  text1: str = ""
+  text2: str = ""
+  size: int = 0
+  status: int = 0
+
+
+# Pre-defined alert instances
+ALERT_STARTUP_PENDING = Alert(
+  text1="openpilot Unavailable",
+  text2="Waiting to start",
+  size=log.SelfdriveState.AlertSize.mid,
+  status=log.SelfdriveState.AlertStatus.normal,
+)
+
+ALERT_CRITICAL_TIMEOUT = Alert(
+  text1="TAKE CONTROL IMMEDIATELY",
+  text2="System Unresponsive",
+  size=log.SelfdriveState.AlertSize.full,
+  status=log.SelfdriveState.AlertStatus.critical,
+)
+
+ALERT_CRITICAL_REBOOT = Alert(
+  text1="System Unresponsive",
+  text2="Reboot Device",
+  size=log.SelfdriveState.AlertSize.full,
+  status=log.SelfdriveState.AlertStatus.critical,
+)
+
+
+class AlertRenderer:
+  def __init__(self):
+    self.font_regular: rl.Font = gui_app.font(FontWeight.NORMAL)
+    self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+
+  def get_alert(self, sm: messaging.SubMaster) -> Alert | None:
+    """Generate the current alert based on selfdrive state."""
+    ss = sm['selfdriveState']
+
+    # Check if selfdriveState messages have stopped arriving
+    if not sm.updated['selfdriveState']:
+      recv_frame = sm.recv_frame['selfdriveState']
+      if (sm.frame - recv_frame) > 5 * DEFAULT_FPS:
+        # Check if waiting to start
+        if recv_frame < ui_state.started_frame:
+          return ALERT_STARTUP_PENDING
+
+        # Handle selfdrive timeout
+        if TICI:
+          ss_missing = time.monotonic() - sm.recv_time['selfdriveState']
+          if ss_missing > SELFDRIVE_STATE_TIMEOUT:
+            if ss.enabled and (ss_missing - SELFDRIVE_STATE_TIMEOUT) < SELFDRIVE_UNRESPONSIVE_TIMEOUT:
+              return ALERT_CRITICAL_TIMEOUT
+            return ALERT_CRITICAL_REBOOT
+
+    # No alert if size is none
+    if ss.alertSize == 0:
+      return None
+
+    # Return current alert
+    return Alert(text1=ss.alertText1, text2=ss.alertText2, size=ss.alertSize, status=ss.alertStatus)
+
+  def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster) -> None:
+    alert = self.get_alert(sm)
+    if not alert:
+      return
+
+    alert_rect = self._get_alert_rect(rect, alert.size)
+    self._draw_background(alert_rect, alert)
+
+    text_rect = rl.Rectangle(
+      alert_rect.x + ALERT_PADDING,
+      alert_rect.y + ALERT_PADDING,
+      alert_rect.width - 2 * ALERT_PADDING,
+      alert_rect.height - 2 * ALERT_PADDING
+    )
+    self._draw_text(text_rect, alert)
+
+  def _get_alert_rect(self, rect: rl.Rectangle, size: int) -> rl.Rectangle:
+    if size == log.SelfdriveState.AlertSize.full:
+      return rect
+
+    height = (ALERT_FONT_MEDIUM + 2 * ALERT_PADDING if size == log.SelfdriveState.AlertSize.small else
+             ALERT_FONT_BIG + ALERT_LINE_SPACING + ALERT_FONT_SMALL + 2 * ALERT_PADDING)
+
+    return rl.Rectangle(
+      rect.x + ALERT_MARGIN,
+      rect.y + rect.height - ALERT_MARGIN - height,
+      rect.width - 2 * ALERT_MARGIN,
+      height
+    )
+
+  def _draw_background(self, rect: rl.Rectangle, alert: Alert) -> None:
+    color = ALERT_COLORS.get(alert.status, ALERT_COLORS[log.SelfdriveState.AlertStatus.normal])
+
+    if alert.size != log.SelfdriveState.AlertSize.full:
+      roundness = ALERT_BORDER_RADIUS / (min(rect.width, rect.height) / 2)
+      rl.draw_rectangle_rounded(rect, roundness, 10, color)
+    else:
+      rl.draw_rectangle_rec(rect, color)
+
+  def _draw_text(self, rect: rl.Rectangle, alert: Alert) -> None:
+    if alert.size == log.SelfdriveState.AlertSize.small:
+      self._draw_centered(alert.text1, rect, self.font_bold, ALERT_FONT_MEDIUM)
+
+    elif alert.size == log.SelfdriveState.AlertSize.mid:
+      self._draw_centered(alert.text1, rect, self.font_bold, ALERT_FONT_BIG, center_y=False)
+      rect.y += ALERT_FONT_BIG + ALERT_LINE_SPACING
+      self._draw_centered(alert.text2, rect, self.font_regular, ALERT_FONT_SMALL, center_y=False)
+
+    else:
+      is_long = len(alert.text1) > 15
+      font_size1 = 132 if is_long else 177
+      align_ment = rl.GuiTextAlignment.TEXT_ALIGN_CENTER
+      vertical_align = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE
+      text_rect = rl.Rectangle(rect.x, rect.y, rect.width, rect.height // 2)
+
+      gui_text_box(text_rect, alert.text1, font_size1, alignment=align_ment, alignment_vertical=vertical_align, font_weight=FontWeight.BOLD)
+      text_rect.y = rect.y + rect.height // 2
+      gui_text_box(text_rect, alert.text2, ALERT_FONT_BIG, alignment=align_ment)
+
+  def _draw_centered(self, text, rect, font, font_size, center_y=True, color=rl.WHITE) -> None:
+    text_size = measure_text_cached(font, text, font_size)
+    x = rect.x + (rect.width - text_size.x) / 2
+    y = rect.y + ((rect.height - text_size.y) / 2 if center_y else 0)
+    rl.draw_text_ex(font, text, rl.Vector2(x, y), font_size, 0, color)
diff --git a/selfdrive/ui/onroad/augmented_road_view.py b/selfdrive/ui/onroad/augmented_road_view.py
new file mode 100644
index 0000000000..47769f268e
--- /dev/null
+++ b/selfdrive/ui/onroad/augmented_road_view.py
@@ -0,0 +1,195 @@
+import numpy as np
+import pyray as rl
+
+from cereal import log
+from msgq.visionipc import VisionStreamType
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus, UI_BORDER_SIZE
+from openpilot.selfdrive.ui.onroad.alert_renderer import AlertRenderer
+from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
+from openpilot.selfdrive.ui.onroad.hud_renderer import HudRenderer
+from openpilot.selfdrive.ui.onroad.model_renderer import ModelRenderer
+from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.common.transformations.camera import DEVICE_CAMERAS, DeviceCameraConfig, view_frame_from_device_frame
+from openpilot.common.transformations.orientation import rot_from_euler
+
+
+OpState = log.SelfdriveState.OpenpilotState
+CALIBRATED = log.LiveCalibrationData.Status.calibrated
+ROAD_CAM = VisionStreamType.VISION_STREAM_ROAD
+WIDE_CAM = VisionStreamType.VISION_STREAM_WIDE_ROAD
+DEFAULT_DEVICE_CAMERA = DEVICE_CAMERAS["tici", "ar0231"]
+
+BORDER_COLORS = {
+  UIStatus.DISENGAGED: rl.Color(0x17, 0x33, 0x49, 0xC8),   # Blue for disengaged state
+  UIStatus.OVERRIDE: rl.Color(0x91, 0x9B, 0x95, 0xF1),     # Gray for override state
+  UIStatus.ENGAGED: rl.Color(0x17, 0x86, 0x44, 0xF1),      # Green for engaged state
+}
+
+
+class AugmentedRoadView(CameraView):
+  def __init__(self, stream_type: VisionStreamType = VisionStreamType.VISION_STREAM_ROAD):
+    super().__init__("camerad", stream_type)
+    self._set_placeholder_color(BORDER_COLORS[UIStatus.DISENGAGED])
+
+    self.device_camera: DeviceCameraConfig | None = None
+    self.view_from_calib = view_frame_from_device_frame.copy()
+    self.view_from_wide_calib = view_frame_from_device_frame.copy()
+
+    self._last_calib_time: float = 0
+    self._last_rect_dims = (0.0, 0.0)
+    self._last_stream_type = stream_type
+    self._cached_matrix: np.ndarray | None = None
+    self._content_rect = rl.Rectangle()
+
+    self.model_renderer = ModelRenderer()
+    self._hud_renderer = HudRenderer()
+    self.alert_renderer = AlertRenderer()
+    self.driver_state_renderer = DriverStateRenderer()
+
+  def render(self, rect):
+    # Only render when system is started to avoid invalid data access
+    if not ui_state.started:
+      return
+
+    # Update calibration before rendering
+    self._update_calibration()
+
+    # Create inner content area with border padding
+    self._content_rect = rl.Rectangle(
+      rect.x + UI_BORDER_SIZE,
+      rect.y + UI_BORDER_SIZE,
+      rect.width - 2 * UI_BORDER_SIZE,
+      rect.height - 2 * UI_BORDER_SIZE,
+    )
+
+    # Draw colored border based on driving state
+    self._draw_border(rect)
+
+    # Enable scissor mode to clip all rendering within content rectangle boundaries
+    # This creates a rendering viewport that prevents graphics from drawing outside the border
+    rl.begin_scissor_mode(
+      int(self._content_rect.x),
+      int(self._content_rect.y),
+      int(self._content_rect.width),
+      int(self._content_rect.height)
+    )
+
+    # Render the base camera view
+    super().render(rect)
+
+    # Draw all UI overlays
+    self.model_renderer.draw(self._content_rect, ui_state.sm)
+    self._hud_renderer.draw(self._content_rect, ui_state.sm)
+    self.alert_renderer.draw(self._content_rect, ui_state.sm)
+    self.driver_state_renderer.draw(self._content_rect, ui_state.sm)
+
+    # Custom UI extension point - add custom overlays here
+    # Use self._content_rect for positioning within camera bounds
+
+    # End clipping region
+    rl.end_scissor_mode()
+
+  def _draw_border(self, rect: rl.Rectangle):
+    border_color = BORDER_COLORS.get(ui_state.status, BORDER_COLORS[UIStatus.DISENGAGED])
+    rl.draw_rectangle_lines_ex(rect, UI_BORDER_SIZE, border_color)
+
+  def _update_calibration(self):
+    # Update device camera if not already set
+    sm = ui_state.sm
+    if not self.device_camera and sm.seen['roadCameraState'] and sm.seen['deviceState']:
+      self.device_camera = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
+
+    # Check if live calibration data is available and valid
+    if not (sm.updated["liveCalibration"] and sm.valid['liveCalibration']):
+      return
+
+    calib = sm['liveCalibration']
+    if len(calib.rpyCalib) != 3 or calib.calStatus != CALIBRATED:
+      return
+
+    # Update view_from_calib matrix
+    device_from_calib = rot_from_euler(calib.rpyCalib)
+    self.view_from_calib = view_frame_from_device_frame @ device_from_calib
+
+    # Update wide calibration if available
+    if hasattr(calib, 'wideFromDeviceEuler') and len(calib.wideFromDeviceEuler) == 3:
+      wide_from_device = rot_from_euler(calib.wideFromDeviceEuler)
+      self.view_from_wide_calib = view_frame_from_device_frame @ wide_from_device @ device_from_calib
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    # Check if we can use cached matrix
+    calib_time = ui_state.sm.recv_frame['liveCalibration']
+    current_dims = (self._content_rect.width, self._content_rect.height)
+    if (self._last_calib_time == calib_time and
+        self._last_rect_dims == current_dims and
+        self._last_stream_type == self.stream_type and
+        self._cached_matrix is not None):
+      return self._cached_matrix
+
+    # Get camera configuration
+    device_camera = self.device_camera or DEFAULT_DEVICE_CAMERA
+    is_wide_camera = self.stream_type == VisionStreamType.VISION_STREAM_WIDE_ROAD
+    intrinsic = device_camera.ecam.intrinsics if is_wide_camera else device_camera.fcam.intrinsics
+    calibration = self.view_from_wide_calib if is_wide_camera else self.view_from_calib
+    zoom = 2.0 if is_wide_camera else 1.1
+
+    # Calculate transforms for vanishing point
+    inf_point = np.array([1000.0, 0.0, 0.0])
+    calib_transform = intrinsic @ calibration
+    kep = calib_transform @ inf_point
+
+    # Calculate center points and dimensions
+    x, y = self._content_rect.x, self._content_rect.y
+    w, h = self._content_rect.width, self._content_rect.height
+    cx, cy = intrinsic[0, 2], intrinsic[1, 2]
+
+    # Calculate max allowed offsets with margins
+    margin = 5
+    max_x_offset = cx * zoom - w / 2 - margin
+    max_y_offset = cy * zoom - h / 2 - margin
+
+    # Calculate and clamp offsets to prevent out-of-bounds issues
+    try:
+      if abs(kep[2]) > 1e-6:
+        x_offset = np.clip((kep[0] / kep[2] - cx) * zoom, -max_x_offset, max_x_offset)
+        y_offset = np.clip((kep[1] / kep[2] - cy) * zoom, -max_y_offset, max_y_offset)
+      else:
+        x_offset, y_offset = 0, 0
+    except (ZeroDivisionError, OverflowError):
+      x_offset, y_offset = 0, 0
+
+    # Cache the computed transformation matrix to avoid recalculations
+    self._last_calib_time = calib_time
+    self._last_rect_dims = current_dims
+    self._last_stream_type = self.stream_type
+    self._cached_matrix = np.array([
+      [zoom * 2 * cx / w, 0, -x_offset / w * 2],
+      [0, zoom * 2 * cy / h, -y_offset / h * 2],
+      [0, 0, 1.0]
+    ])
+
+    video_transform = np.array([
+        [zoom, 0.0, (w / 2 + x - x_offset) - (cx * zoom)],
+        [0.0, zoom, (h / 2 + y - y_offset) - (cy * zoom)],
+        [0.0, 0.0, 1.0]
+    ])
+    self.model_renderer.set_transform(video_transform @ calib_transform)
+
+    return self._cached_matrix
+
+
+if __name__ == "__main__":
+  gui_app.init_window("OnRoad Camera View")
+  road_camera_view = AugmentedRoadView(ROAD_CAM)
+  print("***press space to switch camera view***")
+  try:
+    for _ in gui_app.render():
+      ui_state.update()
+      if rl.is_key_released(rl.KeyboardKey.KEY_SPACE):
+        if WIDE_CAM in road_camera_view.available_streams:
+          stream = ROAD_CAM if road_camera_view.stream_type == WIDE_CAM else WIDE_CAM
+          road_camera_view.switch_stream(stream)
+      road_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+  finally:
+    road_camera_view.close()
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
new file mode 100644
index 0000000000..9f58133abf
--- /dev/null
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -0,0 +1,340 @@
+import numpy as np
+import pyray as rl
+
+from openpilot.system.hardware import TICI
+from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.egl import init_egl, create_egl_image, destroy_egl_image, bind_egl_image_to_texture, EGLImage
+
+
+CONNECTION_RETRY_INTERVAL = 0.2  # seconds between connection attempts
+
+VERTEX_SHADER = """
+#version 300 es
+in vec3 vertexPosition;
+in vec2 vertexTexCoord;
+in vec3 vertexNormal;
+in vec4 vertexColor;
+uniform mat4 mvp;
+out vec2 fragTexCoord;
+out vec4 fragColor;
+void main() {
+  fragTexCoord = vertexTexCoord;
+  fragColor = vertexColor;
+  gl_Position = mvp * vec4(vertexPosition, 1.0);
+}
+"""
+
+# Choose fragment shader based on platform capabilities
+if TICI:
+  FRAME_FRAGMENT_SHADER = """
+    #version 300 es
+    #extension GL_OES_EGL_image_external_essl3 : enable
+    precision mediump float;
+    in vec2 fragTexCoord;
+    uniform samplerExternalOES texture0;
+    out vec4 fragColor;
+    void main() {
+      vec4 color = texture(texture0, fragTexCoord);
+      fragColor = vec4(pow(color.rgb, vec3(1.0/1.28)), color.a);
+    }
+    """
+else:
+  FRAME_FRAGMENT_SHADER = """
+    #version 300 es
+    precision mediump float;
+    in vec2 fragTexCoord;
+    uniform sampler2D texture0;
+    uniform sampler2D texture1;
+    out vec4 fragColor;
+    void main() {
+      float y = texture(texture0, fragTexCoord).r;
+      vec2 uv = texture(texture1, fragTexCoord).ra - 0.5;
+      fragColor = vec4(y + 1.402*uv.y, y - 0.344*uv.x - 0.714*uv.y, y + 1.772*uv.x, 1.0);
+    }
+    """
+
+class CameraView:
+  def __init__(self, name: str, stream_type: VisionStreamType):
+    self._name = name
+    # Primary stream
+    self.client = VisionIpcClient(name, stream_type, conflate=True)
+    self._stream_type = stream_type
+    self.available_streams: list[VisionStreamType] = []
+
+    # Target stream for switching
+    self._target_client: VisionIpcClient | None = None
+    self._target_stream_type: VisionStreamType | None = None
+    self._switching: bool = False
+
+
+    self._texture_needs_update = True
+    self.last_connection_attempt: float = 0.0
+    self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAME_FRAGMENT_SHADER)
+    self._texture1_loc: int = rl.get_shader_location(self.shader, "texture1") if not TICI else -1
+
+    self.frame: VisionBuf | None = None
+    self.texture_y: rl.Texture | None = None
+    self.texture_uv: rl.Texture | None = None
+
+    # EGL resources
+    self.egl_images: dict[int, EGLImage] = {}
+    self.egl_texture: rl.Texture | None = None
+
+    self._placeholder_color : rl.Color | None = None
+
+    # Initialize EGL for zero-copy rendering on TICI
+    if TICI:
+      if not init_egl():
+        raise RuntimeError("Failed to initialize EGL")
+
+      # Create a 1x1 pixel placeholder texture for EGL image binding
+      temp_image = rl.gen_image_color(1, 1, rl.BLACK)
+      self.egl_texture = rl.load_texture_from_image(temp_image)
+      rl.unload_image(temp_image)
+
+  def _set_placeholder_color(self, color: rl.Color):
+    """Set a placeholder color to be drawn when no frame is available."""
+    self._placeholder_color = color
+
+  def switch_stream(self, stream_type: VisionStreamType) -> None:
+    if self._stream_type == stream_type:
+      return
+
+    if self._switching and self._target_stream_type == stream_type:
+      return
+
+    cloudlog.debug(f'Preparing switch from {self._stream_type} to {stream_type}')
+
+    if self._target_client:
+      del self._target_client
+
+    self._target_stream_type = stream_type
+    self._target_client = VisionIpcClient(self._name, stream_type, conflate=True)
+    self._switching = True
+
+  @property
+  def stream_type(self) -> VisionStreamType:
+    return self._stream_type
+
+  def close(self) -> None:
+    self._clear_textures()
+
+    # Clean up EGL texture
+    if TICI and self.egl_texture:
+      rl.unload_texture(self.egl_texture)
+      self.egl_texture = None
+
+    # Clean up shader
+    if self.shader and self.shader.id:
+      rl.unload_shader(self.shader)
+
+    self.client = None
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    if not self.frame:
+      return np.eye(3)
+
+    # Calculate aspect ratios
+    widget_aspect_ratio = rect.width / rect.height
+    frame_aspect_ratio = self.frame.width / self.frame.height
+
+    # Calculate scaling factors to maintain aspect ratio
+    zx = min(frame_aspect_ratio / widget_aspect_ratio, 1.0)
+    zy = min(widget_aspect_ratio / frame_aspect_ratio, 1.0)
+
+    return np.array([
+        [zx, 0.0, 0.0],
+        [0.0, zy, 0.0],
+        [0.0, 0.0, 1.0]
+    ])
+
+  def render(self, rect: rl.Rectangle):
+    if self._switching:
+      self._handle_switch()
+
+    if not self._ensure_connection():
+      self._draw_placeholder(rect)
+      return
+
+    # Try to get a new buffer without blocking
+    buffer = self.client.recv(timeout_ms=0)
+    if buffer:
+      self._texture_needs_update = True
+      self.frame = buffer
+
+    if not self.frame:
+      self._draw_placeholder(rect)
+      return
+
+    transform = self._calc_frame_matrix(rect)
+    src_rect = rl.Rectangle(0, 0, float(self.frame.width), float(self.frame.height))
+
+    # Calculate scale
+    scale_x = rect.width * transform[0, 0]  # zx
+    scale_y = rect.height * transform[1, 1]  # zy
+
+    # Calculate base position (centered)
+    x_offset = rect.x + (rect.width - scale_x) / 2
+    y_offset = rect.y + (rect.height - scale_y) / 2
+
+    x_offset += transform[0, 2] * rect.width / 2
+    y_offset += transform[1, 2] * rect.height / 2
+
+    dst_rect = rl.Rectangle(x_offset, y_offset, scale_x, scale_y)
+
+    # Render with appropriate method
+    if TICI:
+      self._render_egl(src_rect, dst_rect)
+    else:
+      self._render_textures(src_rect, dst_rect)
+
+  def _draw_placeholder(self, rect: rl.Rectangle):
+    if self._placeholder_color:
+      rl.draw_rectangle_rec(rect, self._placeholder_color)
+
+  def _render_egl(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> None:
+    """Render using EGL for direct buffer access"""
+    if self.frame is None or self.egl_texture is None:
+      return
+
+    idx = self.frame.idx
+    egl_image = self.egl_images.get(idx)
+
+    # Create EGL image if needed
+    if egl_image is None:
+      egl_image = create_egl_image(self.frame.width, self.frame.height, self.frame.stride, self.frame.fd, self.frame.uv_offset)
+      if egl_image:
+        self.egl_images[idx] = egl_image
+      else:
+        return
+
+    # Update texture dimensions to match current frame
+    self.egl_texture.width = self.frame.width
+    self.egl_texture.height = self.frame.height
+
+    # Bind the EGL image to our texture
+    bind_egl_image_to_texture(self.egl_texture.id, egl_image)
+
+    # Render with shader
+    rl.begin_shader_mode(self.shader)
+    rl.draw_texture_pro(self.egl_texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+    rl.end_shader_mode()
+
+  def _render_textures(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> None:
+    """Render using texture copies"""
+    if not self.texture_y or not self.texture_uv or self.frame is None:
+      return
+
+    # Update textures with new frame data
+    if self._texture_needs_update:
+      y_data = self.frame.data[: self.frame.uv_offset]
+      uv_data = self.frame.data[self.frame.uv_offset :]
+
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      self._texture_needs_update = False
+
+    # Render with shader
+    rl.begin_shader_mode(self.shader)
+    rl.set_shader_value_texture(self.shader, self._texture1_loc, self.texture_uv)
+    rl.draw_texture_pro(self.texture_y, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
+    rl.end_shader_mode()
+
+  def _ensure_connection(self) -> bool:
+    if not self.client.is_connected():
+      self.frame = None
+      self.available_streams.clear()
+
+      # Throttle connection attempts
+      current_time = rl.get_time()
+      if current_time - self.last_connection_attempt < CONNECTION_RETRY_INTERVAL:
+        return False
+      self.last_connection_attempt = current_time
+
+      if not self.client.connect(False) or not self.client.num_buffers:
+        return False
+
+      cloudlog.debug(f"Connected to {self._name} stream: {self._stream_type}, buffers: {self.client.num_buffers}")
+      self._initialize_textures()
+      self.available_streams = self.client.available_streams(self._name, block=False)
+
+    return True
+
+  def _handle_switch(self) -> None:
+    """Check if target stream is ready and switch immediately."""
+    if not self._target_client or not self._switching:
+        return
+
+    # Try to connect target if needed
+    if not self._target_client.is_connected():
+      if not self._target_client.connect(False) or not self._target_client.num_buffers:
+        return
+
+      cloudlog.debug(f"Target stream connected: {self._target_stream_type}")
+
+    # Check if target has frames ready
+    target_frame = self._target_client.recv(timeout_ms=0)
+    if target_frame:
+      self.frame = target_frame # Update current frame to target frame
+      self._complete_switch()
+
+  def _complete_switch(self) -> None:
+      """Instantly switch to target stream."""
+      cloudlog.debug(f"Switching to {self._target_stream_type}")
+      # Clean up current resources
+      if self.client:
+        del self.client
+
+      # Switch to target
+      self.client = self._target_client
+      self._stream_type = self._target_stream_type
+      self._texture_needs_update = True
+
+      # Reset state
+      self._target_client = None
+      self._target_stream_type = None
+      self._switching = False
+
+      # Initialize textures for new stream
+      self._initialize_textures()
+
+  def _initialize_textures(self):
+      self._clear_textures()
+      if not TICI:
+        self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
+          int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
+        self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
+          int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
+
+  def _clear_textures(self):
+    if self.texture_y and self.texture_y.id:
+      rl.unload_texture(self.texture_y)
+      self.texture_y = None
+
+    if self.texture_uv and self.texture_uv.id:
+      rl.unload_texture(self.texture_uv)
+      self.texture_uv = None
+
+    # Clean up EGL resources
+    if TICI:
+      for data in self.egl_images.values():
+        destroy_egl_image(data)
+      self.egl_images = {}
+
+
+if __name__ == "__main__":
+  gui_app.init_window("watch3")
+  road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_ROAD)
+  driver_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
+  wide_road_camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD)
+  try:
+    for _ in gui_app.render():
+      road_camera_view.render(rl.Rectangle(gui_app.width // 4, 0, gui_app.width // 2, gui_app.height // 2))
+      driver_camera_view.render(rl.Rectangle(0, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
+      wide_road_camera_view.render(rl.Rectangle(gui_app.width // 2, gui_app.height // 2, gui_app.width // 2, gui_app.height // 2))
+  finally:
+    road_camera_view.close()
+    driver_camera_view.close()
+    wide_road_camera_view.close()
diff --git a/selfdrive/ui/onroad/driver_camera_view.py b/selfdrive/ui/onroad/driver_camera_view.py
new file mode 100644
index 0000000000..2f9ff2ca7a
--- /dev/null
+++ b/selfdrive/ui/onroad/driver_camera_view.py
@@ -0,0 +1,94 @@
+import numpy as np
+import pyray as rl
+from cereal import messaging
+from msgq.visionipc import VisionStreamType
+from openpilot.selfdrive.ui.onroad.cameraview import CameraView
+from openpilot.selfdrive.ui.onroad.driver_state import DriverStateRenderer
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.label import gui_label
+
+
+class DriverCameraView(CameraView):
+  def __init__(self, stream_type: VisionStreamType):
+    super().__init__("camerad", stream_type)
+    self.driver_state_renderer = DriverStateRenderer()
+
+  def render(self, rect, sm):
+    super().render(rect)
+
+    if not self.frame:
+      gui_label(
+        rect,
+        "camera starting",
+        font_size=100,
+        font_weight=FontWeight.BOLD,
+        alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
+      )
+      return
+
+    self._draw_face_detection(rect, sm)
+    self.driver_state_renderer.draw(rect, sm)
+
+  def _draw_face_detection(self, rect: rl.Rectangle, sm) -> None:
+    driver_state = sm["driverStateV2"]
+    is_rhd = driver_state.wheelOnRightProb > 0.5
+    driver_data = driver_state.rightDriverData if is_rhd else driver_state.leftDriverData
+    face_detect = driver_data.faceProb > 0.7
+    if not face_detect:
+      return
+
+    # Get face position and orientation
+    face_x, face_y = driver_data.facePosition
+    face_std = max(driver_data.faceOrientationStd[0], driver_data.faceOrientationStd[1])
+    alpha = 0.7
+    if face_std > 0.15:
+      alpha = max(0.7 - (face_std - 0.15) * 3.5, 0.0)
+
+    # use approx instead of distort_points
+    # TODO: replace with distort_points
+    fbox_x = int(1080.0 - 1714.0 * face_x)
+    fbox_y = int(-135.0 + (504.0 + abs(face_x) * 112.0) + (1205.0 - abs(face_x) * 724.0) * face_y)
+    box_size = 220
+
+    line_color = rl.Color(255, 255, 255, int(alpha * 255))
+    rl.draw_rectangle_rounded_lines_ex(
+      rl.Rectangle(fbox_x - box_size / 2, fbox_y - box_size / 2, box_size, box_size),
+      35.0 / box_size / 2,
+      10,
+      10,
+      line_color,
+    )
+
+  def _calc_frame_matrix(self, rect: rl.Rectangle) -> np.ndarray:
+    driver_view_ratio = 2.0
+
+    # Get stream dimensions
+    if self.frame:
+      stream_width = self.frame.width
+      stream_height = self.frame.height
+    else:
+      # Default values if frame not available
+      stream_width = 1928
+      stream_height = 1208
+
+    yscale = stream_height * driver_view_ratio / stream_width
+    xscale = yscale * rect.height / rect.width * stream_width / stream_height
+
+    return np.array([
+      [xscale, 0.0, 0.0],
+      [0.0, yscale, 0.0],
+      [0.0, 0.0, 1.0]
+    ])
+
+
+if __name__ == "__main__":
+  gui_app.init_window("Driver Camera View")
+  sm = messaging.SubMaster(["selfdriveState", "driverStateV2", "driverMonitoringState"])
+
+  driver_camera_view = DriverCameraView(VisionStreamType.VISION_STREAM_DRIVER)
+  try:
+    for _ in gui_app.render():
+      sm.update()
+      driver_camera_view.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height), sm)
+  finally:
+    driver_camera_view.close()
diff --git a/selfdrive/ui/onroad/driver_state.py b/selfdrive/ui/onroad/driver_state.py
new file mode 100644
index 0000000000..8e950f514e
--- /dev/null
+++ b/selfdrive/ui/onroad/driver_state.py
@@ -0,0 +1,239 @@
+import numpy as np
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.selfdrive.ui.ui_state import ui_state, UI_BORDER_SIZE
+from openpilot.system.ui.lib.application import gui_app
+
+
+# Default 3D coordinates for face keypoints as a NumPy array
+DEFAULT_FACE_KPTS_3D = np.array([
+    [-5.98, -51.20, 8.00], [-17.64, -49.14, 8.00], [-23.81, -46.40, 8.00], [-29.98, -40.91, 8.00],
+    [-32.04, -37.49, 8.00], [-34.10, -32.00, 8.00], [-36.16, -21.03, 8.00], [-36.16, 6.40, 8.00],
+    [-35.47, 10.51, 8.00], [-32.73, 19.43, 8.00], [-29.30, 26.29, 8.00], [-24.50, 33.83, 8.00],
+    [-19.01, 41.37, 8.00], [-14.21, 46.17, 8.00], [-12.16, 47.54, 8.00], [-4.61, 49.60, 8.00],
+    [4.99, 49.60, 8.00], [12.53, 47.54, 8.00], [14.59, 46.17, 8.00], [19.39, 41.37, 8.00],
+    [24.87, 33.83, 8.00], [29.67, 26.29, 8.00], [33.10, 19.43, 8.00], [35.84, 10.51, 8.00],
+    [36.53, 6.40, 8.00], [36.53, -21.03, 8.00], [34.47, -32.00, 8.00], [32.42, -37.49, 8.00],
+    [30.36, -40.91, 8.00], [24.19, -46.40, 8.00], [18.02, -49.14, 8.00], [6.36, -51.20, 8.00],
+    [-5.98, -51.20, 8.00],
+], dtype=np.float32)
+
+# UI constants
+BTN_SIZE = 192
+IMG_SIZE = 144
+ARC_LENGTH = 133
+ARC_THICKNESS_DEFAULT = 6.7
+ARC_THICKNESS_EXTEND = 12.0
+
+SCALES_POS = np.array([0.9, 0.4, 0.4], dtype=np.float32)
+SCALES_NEG = np.array([0.7, 0.4, 0.4], dtype=np.float32)
+
+ARC_POINT_COUNT = 37  # Number of points in the arc
+ARC_ANGLES = np.linspace(0.0, np.pi, ARC_POINT_COUNT, dtype=np.float32)
+
+@dataclass
+class ArcData:
+  """Data structure for arc rendering parameters."""
+  x: float
+  y: float
+  width: float
+  height: float
+  thickness: float
+
+class DriverStateRenderer:
+  def __init__(self):
+    # Initial state with NumPy arrays
+    self.face_kpts_draw = DEFAULT_FACE_KPTS_3D.copy()
+    self.is_active = False
+    self.is_rhd = False
+    self.dm_fade_state = 0.0
+    self.state_updated = False
+    self.last_rect: rl.Rectangle = rl.Rectangle(0, 0, 0, 0)
+    self.driver_pose_vals = np.zeros(3, dtype=np.float32)
+    self.driver_pose_diff = np.zeros(3, dtype=np.float32)
+    self.driver_pose_sins = np.zeros(3, dtype=np.float32)
+    self.driver_pose_coss = np.zeros(3, dtype=np.float32)
+    self.face_keypoints_transformed = np.zeros((DEFAULT_FACE_KPTS_3D.shape[0], 2), dtype=np.float32)
+    self.position_x: float = 0.0
+    self.position_y: float = 0.0
+    self.h_arc_data = None
+    self.v_arc_data = None
+
+    # Pre-allocate drawing arrays
+    self.face_lines = [rl.Vector2(0, 0) for _ in range(len(DEFAULT_FACE_KPTS_3D))]
+    self.h_arc_lines = [rl.Vector2(0, 0) for _ in range(ARC_POINT_COUNT)]
+    self.v_arc_lines = [rl.Vector2(0, 0) for _ in range(ARC_POINT_COUNT)]
+
+    # Load the driver face icon
+    self.dm_img = gui_app.texture("icons/driver_face.png", IMG_SIZE, IMG_SIZE)
+
+    # Colors
+    self.white_color = rl.Color(255, 255, 255, 255)
+    self.arc_color = rl.Color(26, 242, 66, 255)
+    self.engaged_color = rl.Color(26, 242, 66, 255)
+    self.disengaged_color = rl.Color(139, 139, 139, 255)
+
+  def draw(self, rect, sm):
+    if not self._is_visible(sm):
+      return
+
+    self._update_state(sm, rect)
+    if not self.state_updated:
+      return
+
+    # Set opacity based on active state
+    opacity = 0.65 if self.is_active else 0.2
+
+    # Draw background circle
+    rl.draw_circle(int(self.position_x), int(self.position_y), BTN_SIZE // 2, rl.Color(0, 0, 0, 70))
+
+    # Draw face icon
+    icon_pos = rl.Vector2(self.position_x - self.dm_img.width // 2, self.position_y - self.dm_img.height // 2)
+    rl.draw_texture_v(self.dm_img, icon_pos, rl.Color(255, 255, 255, int(255 * opacity)))
+
+    # Draw face outline
+    self.white_color.a = int(255 * opacity)
+    rl.draw_spline_linear(self.face_lines, len(self.face_lines), 5.2, self.white_color)
+
+    # Set arc color based on engaged state
+    self.arc_color = self.engaged_color if ui_state.engaged else self.disengaged_color
+    self.arc_color.a = int(0.4 * 255 * (1.0 - self.dm_fade_state))  # Fade out when inactive
+
+    # Draw arcs
+    if self.h_arc_data:
+      rl.draw_spline_linear(self.h_arc_lines, len(self.h_arc_lines), self.h_arc_data.thickness, self.arc_color)
+    if self.v_arc_data:
+      rl.draw_spline_linear(self.v_arc_lines, len(self.v_arc_lines), self.v_arc_data.thickness, self.arc_color)
+
+  def _is_visible(self, sm):
+    """Check if the visualization should be rendered."""
+    return (sm.recv_frame['driverStateV2'] > ui_state.started_frame and
+            sm.seen['driverMonitoringState'] and
+            sm['selfdriveState'].alertSize == 0)
+
+  def _update_state(self, sm, rect):
+    """Update the driver monitoring state based on model data"""
+    if  not sm.updated["driverMonitoringState"]:
+      if self.state_updated and (rect.x != self.last_rect.x or rect.y != self.last_rect.y or \
+         rect.width != self.last_rect.width or rect.height != self.last_rect.height):
+        self._pre_calculate_drawing_elements(rect)
+      return
+
+    # Get monitoring state
+    dm_state = sm["driverMonitoringState"]
+    self.is_active = dm_state.isActiveMode
+    self.is_rhd = dm_state.isRHD
+
+    # Update fade state (smoother transition between active/inactive)
+    fade_target = 0.0 if self.is_active else 0.5
+    self.dm_fade_state = np.clip(self.dm_fade_state + 0.2 * (fade_target - self.dm_fade_state), 0.0, 1.0)
+
+    # Get driver orientation data from appropriate camera
+    driverstate = sm["driverStateV2"]
+    driver_data = driverstate.rightDriverData if self.is_rhd else driverstate.leftDriverData
+    driver_orient = driver_data.faceOrientation
+
+    # Update pose values with scaling and smoothing
+    driver_orient = np.array(driver_orient)
+    scales = np.where(driver_orient < 0, SCALES_NEG, SCALES_POS)
+    v_this = driver_orient * scales
+    self.driver_pose_diff = np.abs(self.driver_pose_vals - v_this)
+    self.driver_pose_vals = 0.8 * v_this + 0.2 * self.driver_pose_vals  # Smooth changes
+
+    # Apply fade to rotation and compute sin/cos
+    rotation_amount = self.driver_pose_vals * (1.0 - self.dm_fade_state)
+    self.driver_pose_sins = np.sin(rotation_amount)
+    self.driver_pose_coss = np.cos(rotation_amount)
+
+    # Create rotation matrix for 3D face model
+    sin_y, sin_x, sin_z = self.driver_pose_sins
+    cos_y, cos_x, cos_z = self.driver_pose_coss
+    r_xyz = np.array(
+      [
+        [cos_x * cos_z, cos_x * sin_z, -sin_x],
+        [-sin_y * sin_x * cos_z - cos_y * sin_z, -sin_y * sin_x * sin_z + cos_y * cos_z, -sin_y * cos_x],
+        [cos_y * sin_x * cos_z - sin_y * sin_z, cos_y * sin_x * sin_z + sin_y * cos_z, cos_y * cos_x],
+      ]
+    )
+
+    # Transform face keypoints using vectorized matrix multiplication
+    self.face_kpts_draw = DEFAULT_FACE_KPTS_3D @ r_xyz.T
+    self.face_kpts_draw[:, 2] = self.face_kpts_draw[:, 2] * (1.0 - self.dm_fade_state) + 8 * self.dm_fade_state
+
+    # Pre-calculate the transformed keypoints
+    kp_depth = (self.face_kpts_draw[:, 2] - 8) / 120.0 + 1.0
+    self.face_keypoints_transformed = self.face_kpts_draw[:, :2] * kp_depth[:, None]
+
+    # Pre-calculate all drawing elements
+    self._pre_calculate_drawing_elements(rect)
+    self.state_updated = True
+
+  def _pre_calculate_drawing_elements(self, rect):
+    """Pre-calculate all drawing elements based on the current rectangle"""
+    # Calculate icon position (bottom-left or bottom-right)
+    width, height = rect.width, rect.height
+    offset = UI_BORDER_SIZE + BTN_SIZE // 2
+    self.position_x = rect.x + (width - offset if self.is_rhd else offset)
+    self.position_y = rect.y + height - offset
+
+    # Pre-calculate the face lines positions
+    positioned_keypoints = self.face_keypoints_transformed + np.array([self.position_x, self.position_y])
+    for i in range(len(positioned_keypoints)):
+      self.face_lines[i].x = positioned_keypoints[i][0]
+      self.face_lines[i].y = positioned_keypoints[i][1]
+
+    # Calculate arc dimensions based on head rotation
+    delta_x = -self.driver_pose_sins[1] * ARC_LENGTH / 2.0  # Horizontal movement
+    delta_y = -self.driver_pose_sins[0] * ARC_LENGTH / 2.0  # Vertical movement
+
+    # Horizontal arc
+    h_width = abs(delta_x)
+    self.h_arc_data = self._calculate_arc_data(
+        delta_x, h_width, self.position_x, self.position_y - ARC_LENGTH / 2,
+        self.driver_pose_sins[1], self.driver_pose_diff[1], is_horizontal=True
+    )
+
+    # Vertical arc
+    v_height = abs(delta_y)
+    self.v_arc_data = self._calculate_arc_data(
+        delta_y, v_height, self.position_x - ARC_LENGTH / 2, self.position_y,
+        self.driver_pose_sins[0], self.driver_pose_diff[0], is_horizontal=False
+    )
+
+  def _calculate_arc_data(
+    self, delta: float, size: float, x: float, y: float, sin_val: float, diff_val: float, is_horizontal: bool
+  ):
+    """Calculate arc data and pre-compute arc points."""
+    if size <= 0:
+      return None
+
+    thickness = ARC_THICKNESS_DEFAULT + ARC_THICKNESS_EXTEND * min(1.0, diff_val * 5.0)
+    start_angle = (90 if sin_val > 0 else -90) if is_horizontal else (0 if sin_val > 0 else 180)
+    x = min(x + delta, x) if is_horizontal else x
+    y = y if is_horizontal else min(y + delta, y)
+
+    arc_data = ArcData(
+      x=x,
+      y=y,
+      width=size if is_horizontal else ARC_LENGTH,
+      height=ARC_LENGTH if is_horizontal else size,
+      thickness=thickness,
+    )
+
+    # Pre-calculate arc points
+    angles = ARC_ANGLES + np.deg2rad(start_angle)
+
+    center_x = x + arc_data.width / 2
+    center_y = y + arc_data.height / 2
+    radius_x = arc_data.width / 2
+    radius_y = arc_data.height / 2
+
+    x_coords = center_x + np.cos(angles) * radius_x
+    y_coords = center_y + np.sin(angles) * radius_y
+
+    arc_lines = self.h_arc_lines if is_horizontal else self.v_arc_lines
+    for i, (x_coord, y_coord) in enumerate(zip(x_coords, y_coords, strict=True)):
+      arc_lines[i].x = x_coord
+      arc_lines[i].y = y_coord
+
+    return arc_data
diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py
new file mode 100644
index 0000000000..0e893acfe9
--- /dev/null
+++ b/selfdrive/ui/onroad/hud_renderer.py
@@ -0,0 +1,178 @@
+import pyray as rl
+from dataclasses import dataclass
+from cereal.messaging import SubMaster
+from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.common.conversions import Conversions as CV
+
+# Constants
+SET_SPEED_NA = 255
+KM_TO_MILE = 0.621371
+CRUISE_DISABLED_CHAR = '–'
+
+
+@dataclass(frozen=True)
+class UIConfig:
+  header_height: int = 300
+  border_size: int = 30
+  button_size: int = 192
+  set_speed_width_metric: int = 200
+  set_speed_width_imperial: int = 172
+  set_speed_height: int = 204
+  wheel_icon_size: int = 144
+
+
+@dataclass(frozen=True)
+class FontSizes:
+  current_speed: int = 176
+  speed_unit: int = 66
+  max_speed: int = 40
+  set_speed: int = 90
+
+
+@dataclass(frozen=True)
+class Colors:
+  white: rl.Color = rl.Color(255, 255, 255, 255)
+  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
+  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
+  engaged: rl.Color = rl.Color(128, 216, 166, 255)
+  disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
+  override_bg: rl.Color = rl.Color(145, 155, 149, 204)
+  engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
+  grey: rl.Color = rl.Color(166, 166, 166, 255)
+  dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
+  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
+  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
+  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
+  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
+  header_gradient_end: rl.Color = rl.Color(0, 0, 0, 0)
+
+
+UI_CONFIG = UIConfig()
+FONT_SIZES = FontSizes()
+COLORS = Colors()
+
+
+class HudRenderer:
+  def __init__(self):
+    """Initialize the HUD renderer."""
+    self.is_cruise_set: bool = False
+    self.is_cruise_available: bool = False
+    self.set_speed: float = SET_SPEED_NA
+    self.speed: float = 0.0
+    self.v_ego_cluster_seen: bool = False
+    self._wheel_texture: rl.Texture = gui_app.texture('icons/chffr_wheel.png', UI_CONFIG.wheel_icon_size, UI_CONFIG.wheel_icon_size)
+    self._font_semi_bold: rl.Font = gui_app.font(FontWeight.SEMI_BOLD)
+    self._font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
+    self._font_medium: rl.Font = gui_app.font(FontWeight.MEDIUM)
+
+  def _update_state(self, sm: SubMaster) -> None:
+    """Update HUD state based on car state and controls state."""
+    if sm.recv_frame["carState"] < ui_state.started_frame:
+      self.is_cruise_set = False
+      self.set_speed = SET_SPEED_NA
+      self.speed = 0.0
+      return
+
+    controls_state = sm['controlsState']
+    car_state = sm['carState']
+
+    v_cruise_cluster = car_state.vCruiseCluster
+    self.set_speed = (
+      controls_state.vCruiseDEPRECATED if v_cruise_cluster == 0.0 else v_cruise_cluster
+    )
+    self.is_cruise_set = 0 < self.set_speed < SET_SPEED_NA
+    self.is_cruise_available = self.set_speed != -1
+
+    if self.is_cruise_set and not ui_state.is_metric:
+      self.set_speed *= KM_TO_MILE
+
+    v_ego_cluster = car_state.vEgoCluster
+    self.v_ego_cluster_seen = self.v_ego_cluster_seen or v_ego_cluster != 0.0
+    v_ego = v_ego_cluster if self.v_ego_cluster_seen else car_state.vEgo
+    speed_conversion = CV.MS_TO_KPH if ui_state.is_metric else CV.MS_TO_MPH
+    self.speed = max(0.0, v_ego * speed_conversion)
+
+  def draw(self, rect: rl.Rectangle, sm: SubMaster) -> None:
+    """Render HUD elements to the screen."""
+    self._update_state(sm)
+    rl.draw_rectangle_gradient_v(
+      int(rect.x),
+      int(rect.y),
+      int(rect.width),
+      UI_CONFIG.header_height,
+      COLORS.header_gradient_start,
+      COLORS.header_gradient_end,
+    )
+
+    if self.is_cruise_available:
+      self._draw_set_speed(rect)
+
+    self._draw_current_speed(rect)
+    self._draw_wheel_icon(rect)
+
+  def _draw_set_speed(self, rect: rl.Rectangle) -> None:
+    """Draw the MAX speed indicator box."""
+    set_speed_width = UI_CONFIG.set_speed_width_metric if ui_state.is_metric else UI_CONFIG.set_speed_width_imperial
+    x = rect.x + 60 + (UI_CONFIG.set_speed_width_imperial - set_speed_width) // 2
+    y = rect.y + 45
+
+    set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
+    rl.draw_rectangle_rounded(set_speed_rect, 0.2, 30, COLORS.black_translucent)
+    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.2, 30, 6, COLORS.border_translucent)
+
+    max_color = COLORS.grey
+    set_speed_color = COLORS.dark_grey
+    if self.is_cruise_set:
+      set_speed_color = COLORS.white
+      if ui_state.status == UIStatus.ENGAGED:
+        max_color = COLORS.engaged
+      elif ui_state.status == UIStatus.DISENGAGED:
+        max_color = COLORS.disengaged
+      elif ui_state.status == UIStatus.OVERRIDE:
+        max_color = COLORS.override
+
+    max_text = "MAX"
+    max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x
+    rl.draw_text_ex(
+      self._font_semi_bold,
+      max_text,
+      rl.Vector2(x + (set_speed_width - max_text_width) / 2, y + 27),
+      FONT_SIZES.max_speed,
+      0,
+      max_color,
+    )
+
+    set_speed_text = CRUISE_DISABLED_CHAR if not self.is_cruise_set else str(round(self.set_speed))
+    speed_text_width = measure_text_cached(self._font_bold, set_speed_text, FONT_SIZES.set_speed).x
+    rl.draw_text_ex(
+      self._font_bold,
+      set_speed_text,
+      rl.Vector2(x + (set_speed_width - speed_text_width) / 2, y + 77),
+      FONT_SIZES.set_speed,
+      0,
+      set_speed_color,
+    )
+
+  def _draw_current_speed(self, rect: rl.Rectangle) -> None:
+    """Draw the current vehicle speed and unit."""
+    speed_text = str(round(self.speed))
+    speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
+    speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
+
+    unit_text = "km/h" if ui_state.is_metric else "mph"
+    unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
+    unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
+
+  def _draw_wheel_icon(self, rect: rl.Rectangle) -> None:
+    """Draw the steering wheel icon with status-based opacity."""
+    center_x = int(rect.x + rect.width - UI_CONFIG.border_size - UI_CONFIG.button_size / 2)
+    center_y = int(rect.y + UI_CONFIG.border_size + UI_CONFIG.button_size / 2)
+    rl.draw_circle(center_x, center_y, UI_CONFIG.button_size / 2, COLORS.black_translucent)
+
+    opacity = 0.7 if ui_state.status == UIStatus.DISENGAGED else 1.0
+    img_pos = rl.Vector2(center_x - self._wheel_texture.width / 2, center_y - self._wheel_texture.height / 2)
+    rl.draw_texture_v(self._wheel_texture, img_pos, rl.Color(255, 255, 255, int(255 * opacity)))
diff --git a/selfdrive/ui/onroad/model_renderer.py b/selfdrive/ui/onroad/model_renderer.py
new file mode 100644
index 0000000000..ad037f8af3
--- /dev/null
+++ b/selfdrive/ui/onroad/model_renderer.py
@@ -0,0 +1,439 @@
+import colorsys
+import numpy as np
+import pyray as rl
+from cereal import messaging, car
+from dataclasses import dataclass, field
+from openpilot.common.params import Params
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import DEFAULT_FPS
+from openpilot.system.ui.lib.shader_polygon import draw_polygon
+from openpilot.selfdrive.locationd.calibrationd import HEIGHT_INIT
+
+
+CLIP_MARGIN = 500
+MIN_DRAW_DISTANCE = 10.0
+MAX_DRAW_DISTANCE = 100.0
+PATH_COLOR_TRANSITION_DURATION = 0.5  # Seconds for color transition animation
+PATH_BLEND_INCREMENT = 1.0 / (PATH_COLOR_TRANSITION_DURATION * DEFAULT_FPS)
+
+MAX_POINTS = 200
+
+THROTTLE_COLORS = [
+  rl.Color(13, 248, 122, 102),   # HSLF(148/360, 0.94, 0.51, 0.4)
+  rl.Color(114, 255, 92, 89),    # HSLF(112/360, 1.0, 0.68, 0.35)
+  rl.Color(114, 255, 92, 0),     # HSLF(112/360, 1.0, 0.68, 0.0)
+]
+
+NO_THROTTLE_COLORS = [
+  rl.Color(242, 242, 242, 102), # HSLF(148/360, 0.0, 0.95, 0.4)
+  rl.Color(242, 242, 242, 89),  # HSLF(112/360, 0.0, 0.95, 0.35)
+  rl.Color(242, 242, 242, 0),   # HSLF(112/360, 0.0, 0.95, 0.0)
+]
+
+
+@dataclass
+class ModelPoints:
+  raw_points: np.ndarray = field(default_factory=lambda: np.empty((0, 3), dtype=np.float32))
+  projected_points: np.ndarray = field(default_factory=lambda: np.empty((0, 2), dtype=np.float32))
+
+@dataclass
+class LeadVehicle:
+  glow: list[float] = field(default_factory=list)
+  chevron: list[float] = field(default_factory=list)
+  fill_alpha: int = 0
+
+
+class ModelRenderer:
+  def __init__(self):
+    self._longitudinal_control = False
+    self._experimental_mode = False
+    self._blend_factor = 1.0
+    self._prev_allow_throttle = True
+    self._lane_line_probs = np.zeros(4, dtype=np.float32)
+    self._road_edge_stds = np.zeros(2, dtype=np.float32)
+    self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
+    self._path_offset_z = HEIGHT_INIT[0]
+
+    # Initialize ModelPoints objects
+    self._path = ModelPoints()
+    self._lane_lines = [ModelPoints() for _ in range(4)]
+    self._road_edges = [ModelPoints() for _ in range(2)]
+    self._acceleration_x = np.empty((0,), dtype=np.float32)
+
+    # Transform matrix (3x3 for car space to screen space)
+    self._car_space_transform = np.zeros((3, 3), dtype=np.float32)
+    self._transform_dirty = True
+    self._clip_region = None
+    self._rect = None
+
+    # Pre-allocated arrays for polygon conversion
+    self._temp_points_3d = np.empty((MAX_POINTS * 2, 3), dtype=np.float32)
+    self._temp_proj = np.empty((3, MAX_POINTS * 2), dtype=np.float32)
+
+    self._exp_gradient = {
+      'start': (0.0, 1.0),  # Bottom of path
+      'end': (0.0, 0.0),  # Top of path
+      'colors': [],
+      'stops': [],
+    }
+
+    # Get longitudinal control setting from car parameters
+    if car_params := Params().get("CarParams"):
+      cp = messaging.log_from_bytes(car_params, car.CarParams)
+      self._longitudinal_control = cp.openpilotLongitudinalControl
+
+  def set_transform(self, transform: np.ndarray):
+    self._car_space_transform = transform.astype(np.float32)
+    self._transform_dirty = True
+
+  def draw(self, rect: rl.Rectangle, sm: messaging.SubMaster):
+    # Check if data is up-to-date
+    if (sm.recv_frame["liveCalibration"] < ui_state.started_frame or
+        sm.recv_frame["modelV2"] < ui_state.started_frame):
+      return
+
+    # Set up clipping region
+    self._rect = rect
+    self._clip_region = rl.Rectangle(
+      rect.x - CLIP_MARGIN, rect.y - CLIP_MARGIN, rect.width + 2 * CLIP_MARGIN, rect.height + 2 * CLIP_MARGIN
+    )
+
+    # Update state
+    self._experimental_mode = sm['selfdriveState'].experimentalMode
+
+    live_calib = sm['liveCalibration']
+    self._path_offset_z = live_calib.height[0] if live_calib.height else HEIGHT_INIT[0]
+
+    if sm.updated['carParams']:
+      self._longitudinal_control = sm['carParams'].openpilotLongitudinalControl
+
+    model = sm['modelV2']
+    radar_state = sm['radarState'] if sm.valid['radarState'] else None
+    lead_one = radar_state.leadOne if radar_state else None
+    render_lead_indicator = self._longitudinal_control and radar_state is not None
+
+    # Update model data when needed
+    model_updated = sm.updated['modelV2']
+    if model_updated or sm.updated['radarState'] or self._transform_dirty:
+      if model_updated:
+        self._update_raw_points(model)
+
+      path_x_array = self._path.raw_points[:, 0]
+      if path_x_array.size == 0:
+        return
+
+      self._update_model(lead_one, path_x_array)
+      if render_lead_indicator:
+        self._update_leads(radar_state, path_x_array)
+      self._transform_dirty = False
+
+
+    # Draw elements
+    self._draw_lane_lines()
+    self._draw_path(sm)
+
+    if render_lead_indicator and radar_state:
+      self._draw_lead_indicator()
+
+  def _update_raw_points(self, model):
+    """Update raw 3D points from model data"""
+    self._path.raw_points = np.array([model.position.x, model.position.y, model.position.z], dtype=np.float32).T
+
+    for i, lane_line in enumerate(model.laneLines):
+      self._lane_lines[i].raw_points = np.array([lane_line.x, lane_line.y, lane_line.z], dtype=np.float32).T
+
+    for i, road_edge in enumerate(model.roadEdges):
+      self._road_edges[i].raw_points = np.array([road_edge.x, road_edge.y, road_edge.z], dtype=np.float32).T
+
+    self._lane_line_probs = np.array(model.laneLineProbs, dtype=np.float32)
+    self._road_edge_stds = np.array(model.roadEdgeStds, dtype=np.float32)
+    self._acceleration_x = np.array(model.acceleration.x, dtype=np.float32)
+
+  def _update_leads(self, radar_state, path_x_array):
+    """Update positions of lead vehicles"""
+    self._lead_vehicles = [LeadVehicle(), LeadVehicle()]
+    leads = [radar_state.leadOne, radar_state.leadTwo]
+
+    for i, lead_data in enumerate(leads):
+      if lead_data and lead_data.status:
+        d_rel, y_rel, v_rel = lead_data.dRel, lead_data.yRel, lead_data.vRel
+        idx = self._get_path_length_idx(path_x_array, d_rel)
+
+        # Get z-coordinate from path at the lead vehicle position
+        z = self._path.raw_points[idx, 2] if idx < len(self._path.raw_points) else 0.0
+        point = self._map_to_screen(d_rel, -y_rel, z + self._path_offset_z)
+        if point:
+          self._lead_vehicles[i] = self._update_lead_vehicle(d_rel, v_rel, point, self._rect)
+
+  def _update_model(self, lead, path_x_array):
+    """Update model visualization data based on model message"""
+    max_distance = np.clip(path_x_array[-1], MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE)
+    max_idx = self._get_path_length_idx(self._lane_lines[0].raw_points[:, 0], max_distance)
+
+    # Update lane lines using raw points
+    for i, lane_line in enumerate(self._lane_lines):
+      lane_line.projected_points = self._map_line_to_polygon(
+        lane_line.raw_points, 0.025 * self._lane_line_probs[i], 0.0, max_idx
+      )
+
+    # Update road edges using raw points
+    for road_edge in self._road_edges:
+      road_edge.projected_points = self._map_line_to_polygon(road_edge.raw_points, 0.025, 0.0, max_idx)
+
+    # Update path using raw points
+    if lead and lead.status:
+      lead_d = lead.dRel * 2.0
+      max_distance = np.clip(lead_d - min(lead_d * 0.35, 10.0), 0.0, max_distance)
+
+    max_idx = self._get_path_length_idx(path_x_array, max_distance)
+    self._path.projected_points = self._map_line_to_polygon(
+      self._path.raw_points, 0.9, self._path_offset_z, max_idx, allow_invert=False
+    )
+
+    self._update_experimental_gradient(self._rect.height)
+
+  def _update_experimental_gradient(self, height):
+    """Pre-calculate experimental mode gradient colors"""
+    if not self._experimental_mode:
+      return
+
+    max_len = min(len(self._path.projected_points) // 2, len(self._acceleration_x))
+
+    segment_colors = []
+    gradient_stops = []
+
+    i = 0
+    while i < max_len:
+      track_idx = max_len - i - 1  # flip idx to start from bottom right
+      track_y = self._path.projected_points[track_idx][1]
+      if track_y < 0 or track_y > height:
+        i += 1
+        continue
+
+      # Calculate color based on acceleration
+      lin_grad_point = (height - track_y) / height
+
+      # speed up: 120, slow down: 0
+      path_hue = max(min(60 + self._acceleration_x[i] * 35, 120), 0)
+      path_hue = int(path_hue * 100 + 0.5) / 100
+
+      saturation = min(abs(self._acceleration_x[i] * 1.5), 1)
+      lightness = self._map_val(saturation, 0.0, 1.0, 0.95, 0.62)
+      alpha = self._map_val(lin_grad_point, 0.75 / 2.0, 0.75, 0.4, 0.0)
+
+      # Use HSL to RGB conversion
+      color = self._hsla_to_color(path_hue / 360.0, saturation, lightness, alpha)
+
+      gradient_stops.append(lin_grad_point)
+      segment_colors.append(color)
+
+      # Skip a point, unless next is last
+      i += 1 + (1 if (i + 2) < max_len else 0)
+
+    # Store the gradient in the path object
+    self._exp_gradient['colors'] = segment_colors
+    self._exp_gradient['stops'] = gradient_stops
+
+  def _update_lead_vehicle(self, d_rel, v_rel, point, rect):
+    speed_buff, lead_buff = 10.0, 40.0
+
+    # Calculate fill alpha
+    fill_alpha = 0
+    if d_rel < lead_buff:
+      fill_alpha = 255 * (1.0 - (d_rel / lead_buff))
+      if v_rel < 0:
+        fill_alpha += 255 * (-1 * (v_rel / speed_buff))
+      fill_alpha = min(fill_alpha, 255)
+
+    # Calculate size and position
+    sz = np.clip((25 * 30) / (d_rel / 3 + 30), 15.0, 30.0) * 2.35
+    x = np.clip(point[0], 0.0, rect.width - sz / 2)
+    y = min(point[1], rect.height - sz * 0.6)
+
+    g_xo = sz / 5
+    g_yo = sz / 10
+
+    glow = [(x + (sz * 1.35) + g_xo, y + sz + g_yo), (x, y - g_yo), (x - (sz * 1.35) - g_xo, y + sz + g_yo)]
+    chevron = [(x + (sz * 1.25), y + sz), (x, y), (x - (sz * 1.25), y + sz)]
+
+    return LeadVehicle(glow=glow,chevron=chevron, fill_alpha=int(fill_alpha))
+
+  def _draw_lane_lines(self):
+    """Draw lane lines and road edges"""
+    for i, lane_line in enumerate(self._lane_lines):
+      if lane_line.projected_points.size == 0:
+        continue
+
+      alpha = np.clip(self._lane_line_probs[i], 0.0, 0.7)
+      color = rl.Color(255, 255, 255, int(alpha * 255))
+      draw_polygon(self._rect, lane_line.projected_points, color)
+
+    for i, road_edge in enumerate(self._road_edges):
+      if road_edge.projected_points.size == 0:
+        continue
+
+      alpha = np.clip(1.0 - self._road_edge_stds[i], 0.0, 1.0)
+      color = rl.Color(255, 0, 0, int(alpha * 255))
+      draw_polygon(self._rect, road_edge.projected_points, color)
+
+  def _draw_path(self, sm):
+    """Draw path with dynamic coloring based on mode and throttle state."""
+    if not self._path.projected_points.size:
+      return
+
+    if self._experimental_mode:
+      # Draw with acceleration coloring
+      if len(self._exp_gradient['colors']) > 2:
+        draw_polygon(self._rect, self._path.projected_points, gradient=self._exp_gradient)
+      else:
+        draw_polygon(self._rect, self._path.projected_points, rl.Color(255, 255, 255, 30))
+    else:
+      # Draw with throttle/no throttle gradient
+      allow_throttle = sm['longitudinalPlan'].allowThrottle or not self._longitudinal_control
+
+      # Start transition if throttle state changes
+      if allow_throttle != self._prev_allow_throttle:
+        self._prev_allow_throttle = allow_throttle
+        self._blend_factor = max(1.0 - self._blend_factor, 0.0)
+
+      # Update blend factor
+      if self._blend_factor < 1.0:
+        self._blend_factor = min(self._blend_factor + PATH_BLEND_INCREMENT, 1.0)
+
+      begin_colors = NO_THROTTLE_COLORS if allow_throttle else THROTTLE_COLORS
+      end_colors = THROTTLE_COLORS if allow_throttle else NO_THROTTLE_COLORS
+
+      # Blend colors based on transition
+      blended_colors = self._blend_colors(begin_colors, end_colors, self._blend_factor)
+      gradient = {
+        'start': (0.0, 1.0),  # Bottom of path
+        'end': (0.0, 0.0),  # Top of path
+        'colors': blended_colors,
+        'stops': [0.0, 0.5, 1.0],
+      }
+      draw_polygon(self._rect, self._path.projected_points, gradient=gradient)
+
+  def _draw_lead_indicator(self):
+    # Draw lead vehicles if available
+    for lead in self._lead_vehicles:
+      if not lead.glow or not lead.chevron:
+        continue
+
+      rl.draw_triangle_fan(lead.glow, len(lead.glow), rl.Color(218, 202, 37, 255))
+      rl.draw_triangle_fan(lead.chevron, len(lead.chevron), rl.Color(201, 34, 49, lead.fill_alpha))
+
+  @staticmethod
+  def _get_path_length_idx(pos_x_array: np.ndarray, path_height: float) -> int:
+    """Get the index corresponding to the given path height"""
+    if len(pos_x_array) == 0:
+      return 0
+    indices = np.where(pos_x_array <= path_height)[0]
+    return indices[-1] if indices.size > 0 else 0
+
+  def _map_to_screen(self, in_x, in_y, in_z):
+    """Project a point in car space to screen space"""
+    input_pt = np.array([in_x, in_y, in_z])
+    pt = self._car_space_transform @ input_pt
+
+    if abs(pt[2]) < 1e-6:
+      return None
+
+    x, y = pt[0] / pt[2], pt[1] / pt[2]
+
+    clip = self._clip_region
+    if not (clip.x <= x <= clip.x + clip.width and clip.y <= y <= clip.y + clip.height):
+      return None
+
+    return (x, y)
+
+  def _map_line_to_polygon(self, line: np.ndarray, y_off: float, z_off: float, max_idx: int, allow_invert: bool = True) -> np.ndarray:
+    """Convert 3D line to 2D polygon for rendering."""
+    if line.shape[0] == 0:
+      return np.empty((0, 2), dtype=np.float32)
+
+    # Slice points and filter non-negative x-coordinates
+    points = line[:max_idx + 1]
+    points = points[points[:, 0] >= 0]
+    if points.shape[0] == 0:
+      return np.empty((0, 2), dtype=np.float32)
+
+    # Create left and right 3D points in one array
+    n_points = points.shape[0]
+    points_3d = self._temp_points_3d[:n_points * 2]
+    points_3d[:n_points, 0] = points_3d[n_points:, 0] = points[:, 0]
+    points_3d[:n_points, 1] = points[:, 1] - y_off
+    points_3d[n_points:, 1] = points[:, 1] + y_off
+    points_3d[:n_points, 2] = points_3d[n_points:, 2] = points[:, 2] + z_off
+
+    # Single matrix multiplication for projections
+    proj = np.ascontiguousarray(self._temp_proj[:, :n_points * 2])  # Slice the pre-allocated array
+    np.dot(self._car_space_transform, points_3d.T, out=proj)
+    valid_z = np.abs(proj[2]) > 1e-6
+    if not np.any(valid_z):
+      return np.empty((0, 2), dtype=np.float32)
+
+    # Compute screen coordinates
+    screen = proj[:2, valid_z] / proj[2, valid_z][None, :]
+    left_screen = screen[:, :n_points].T
+    right_screen = screen[:, n_points:].T
+
+    # Ensure consistent shapes by re-aligning valid points
+    valid_points = np.minimum(left_screen.shape[0], right_screen.shape[0])
+    if valid_points == 0:
+      return np.empty((0, 2), dtype=np.float32)
+    left_screen = left_screen[:valid_points]
+    right_screen = right_screen[:valid_points]
+
+    if self._clip_region:
+      clip = self._clip_region
+      bounds_mask = (
+        (left_screen[:, 0] >= clip.x) & (left_screen[:, 0] <= clip.x + clip.width) &
+        (left_screen[:, 1] >= clip.y) & (left_screen[:, 1] <= clip.y + clip.height) &
+        (right_screen[:, 0] >= clip.x) & (right_screen[:, 0] <= clip.x + clip.width) &
+        (right_screen[:, 1] >= clip.y) & (right_screen[:, 1] <= clip.y + clip.height)
+      )
+      if not np.any(bounds_mask):
+        return np.empty((0, 2), dtype=np.float32)
+      left_screen = left_screen[bounds_mask]
+      right_screen = right_screen[bounds_mask]
+
+    if not allow_invert and left_screen.shape[0] > 1:
+      keep = np.concatenate(([True], np.diff(left_screen[:, 1]) < 0))
+      left_screen = left_screen[keep]
+      right_screen = right_screen[keep]
+      if left_screen.shape[0] == 0:
+        return np.empty((0, 2), dtype=np.float32)
+
+    return np.vstack((left_screen, right_screen[::-1])).astype(np.float32)
+
+  @staticmethod
+  def _map_val(x, x0, x1, y0, y1):
+    x = np.clip(x, x0, x1)
+    ra = x1 - x0
+    rb = y1 - y0
+    return (x - x0) * rb / ra + y0 if ra != 0 else y0
+
+  @staticmethod
+  def _hsla_to_color(h, s, l, a):
+    rgb = colorsys.hls_to_rgb(h, l, s)
+    return rl.Color(
+        int(rgb[0] * 255),
+        int(rgb[1] * 255),
+        int(rgb[2] * 255),
+        int(a * 255)
+    )
+
+  @staticmethod
+  def _blend_colors(begin_colors, end_colors, t):
+    if t >= 1.0:
+      return end_colors
+    if t <= 0.0:
+      return begin_colors
+
+    inv_t = 1.0 - t
+    return [rl.Color(
+      int(inv_t * start.r + t * end.r),
+      int(inv_t * start.g + t * end.g),
+      int(inv_t * start.b + t * end.b),
+      int(inv_t * start.a + t * end.a)
+    ) for start, end in zip(begin_colors, end_colors, strict=True)]
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index 02c137413c..7754e6e5ba 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -79,7 +79,8 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
 }
 
 void Networking::setPrimeType(PrimeState::Type type) {
-  an->setGsmVisible(type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE);
+  an->setGsmVisible(type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_UNKNOWN || \
+                    type == PrimeState::PRIME_TYPE_PURPLE ||  type == PrimeState::PRIME_TYPE_LITE);
   wifi->ipv4_forward = (type == PrimeState::PRIME_TYPE_NONE || type == PrimeState::PRIME_TYPE_LITE);
 }
 
@@ -179,14 +180,36 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   });
   list->addItem(editApnButton);
 
-  // Metered toggle
+  // Cellular metered toggle (prime lite or none)
   const bool metered = params.getBool("GsmMetered");
-  meteredToggle = new ToggleControl(tr("Cellular Metered"), tr("Prevent large data uploads when on a metered connection"), "", metered);
-  QObject::connect(meteredToggle, &SshToggle::toggleFlipped, [=](bool state) {
+  cellularMeteredToggle = new ToggleControl(tr("Cellular Metered"), tr("Prevent large data uploads when on a metered cellular connection"), "", metered);
+  QObject::connect(cellularMeteredToggle, &SshToggle::toggleFlipped, [=](bool state) {
     params.putBool("GsmMetered", state);
     wifi->updateGsmSettings(params.getBool("GsmRoaming"), QString::fromStdString(params.get("GsmApn")), state);
   });
-  list->addItem(meteredToggle);
+  list->addItem(cellularMeteredToggle);
+
+  // Wi-Fi metered toggle
+  std::vector<QString> metered_button_texts{tr("default"), tr("metered"), tr("unmetered")};
+  wifiMeteredToggle = new MultiButtonControl(tr("Wi-Fi Network Metered"), tr("Prevent large data uploads when on a metered Wi-Fi connection"), "", metered_button_texts);
+  QObject::connect(wifiMeteredToggle, &MultiButtonControl::buttonClicked, [=](int id) {
+    wifiMeteredToggle->setEnabled(false);
+    MeteredType metered = MeteredType::UNKNOWN;
+    if (id == NM_METERED_YES) {
+      metered = MeteredType::YES;
+    } else if (id == NM_METERED_NO) {
+      metered = MeteredType::NO;
+    }
+    auto pending_call = wifi->setCurrentNetworkMetered(metered);
+    if (pending_call) {
+      QDBusPendingCallWatcher *watcher = new QDBusPendingCallWatcher(*pending_call);
+      QObject::connect(watcher, &QDBusPendingCallWatcher::finished, this, [=]() {
+        refresh();
+        watcher->deleteLater();
+      });
+    }
+  });
+  list->addItem(wifiMeteredToggle);
 
   // Hidden Network
   hiddenNetworkButton = new ButtonControl(tr("Hidden Network"), tr("CONNECT"));
@@ -217,18 +240,32 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
 void AdvancedNetworking::setGsmVisible(bool visible) {
   roamingToggle->setVisible(visible);
   editApnButton->setVisible(visible);
-  meteredToggle->setVisible(visible);
+  cellularMeteredToggle->setVisible(visible);
 }
 
 void AdvancedNetworking::refresh() {
   ipLabel->setText(wifi->ipv4_address);
   tetheringToggle->setEnabled(true);
+
+  if (wifi->isTetheringEnabled() || wifi->ipv4_address == "") {
+    wifiMeteredToggle->setEnabled(false);
+    wifiMeteredToggle->setCheckedButton(0);
+  } else if (wifi->ipv4_address != "") {
+    MeteredType metered = wifi->currentNetworkMetered();
+    wifiMeteredToggle->setEnabled(true);
+    wifiMeteredToggle->setCheckedButton(static_cast<int>(metered));
+  }
+
   update();
 }
 
 void AdvancedNetworking::toggleTethering(bool enabled) {
   wifi->setTetheringEnabled(enabled);
   tetheringToggle->setEnabled(false);
+  if (enabled) {
+    wifiMeteredToggle->setEnabled(false);
+    wifiMeteredToggle->setCheckedButton(0);
+  }
 }
 
 // WifiUI functions
@@ -240,12 +277,12 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi)
 
   // load imgs
   for (const auto &s : {"low", "medium", "high", "full"}) {
-    QPixmap pix(ASSET_PATH + "/offroad/icon_wifi_strength_" + s + ".svg");
+    QPixmap pix(ASSET_PATH + "/icons/wifi_strength_" + s + ".svg");
     strengths.push_back(pix.scaledToHeight(68, Qt::SmoothTransformation));
   }
-  lock = QPixmap(ASSET_PATH + "offroad/icon_lock_closed.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation);
-  checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation);
-  circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation);
+  lock = QPixmap(ASSET_PATH + "icons/lock_closed.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation);
+  checkmark = QPixmap(ASSET_PATH + "icons/checkmark.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation);
+  circled_slash = QPixmap(ASSET_PATH + "icons/circled_slash.svg").scaledToWidth(ICON_WIDTH, Qt::SmoothTransformation);
 
   scanningLabel = new QLabel(tr("Scanning for networks..."));
   scanningLabel->setStyleSheet("font-size: 65px;");
diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h
index a5bb83f8ac..73c2226a34 100644
--- a/selfdrive/ui/qt/network/networking.h
+++ b/selfdrive/ui/qt/network/networking.h
@@ -11,6 +11,7 @@
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 #define ButtonControl ButtonControlSP
+#define MultiButtonControl MultiButtonControlSP
 #define ElidedLabel ElidedLabelSP
 #define LabelControl LabelControlSP
 #define ListWidget ListWidgetSP
@@ -76,7 +77,8 @@ private:
   ToggleControl* roamingToggle;
   ButtonControl* editApnButton;
   ButtonControl* hiddenNetworkButton;
-  ToggleControl* meteredToggle;
+  ToggleControl* cellularMeteredToggle;
+  MultiButtonControl* wifiMeteredToggle;
   WifiManager* wifi = nullptr;
   Params params;
 
diff --git a/selfdrive/ui/qt/network/wifi_manager.cc b/selfdrive/ui/qt/network/wifi_manager.cc
index f0f851f9fb..8a104c0fbe 100644
--- a/selfdrive/ui/qt/network/wifi_manager.cc
+++ b/selfdrive/ui/qt/network/wifi_manager.cc
@@ -353,6 +353,7 @@ void WifiManager::activateModemConnection(const QDBusObjectPath &path) {
 }
 
 // function matches tici/hardware.py
+// FIXME: it can mistakenly show CELL when connected to WIFI
 NetworkType WifiManager::currentNetworkType() {
   auto primary_conn = call<QDBusObjectPath>(NM_DBUS_PATH, NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE, "PrimaryConnection");
   auto primary_type = call<QString>(primary_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type");
@@ -372,6 +373,44 @@ NetworkType WifiManager::currentNetworkType() {
   return NetworkType::NONE;
 }
 
+MeteredType WifiManager::currentNetworkMetered() {
+  MeteredType metered = MeteredType::UNKNOWN;
+  for (const auto &active_conn : getActiveConnections()) {
+    QString type = call<QString>(active_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type");
+    if (type == "802-11-wireless") {
+      QDBusObjectPath conn = call<QDBusObjectPath>(active_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Connection");
+      if (!conn.path().isEmpty()) {
+        Connection settings = getConnectionSettings(conn);
+        int metered_prop = settings.value("connection").value("metered").toInt();
+        if (metered_prop == NM_METERED_YES) {
+          metered = MeteredType::YES;
+        } else if (metered_prop == NM_METERED_NO) {
+          metered = MeteredType::NO;
+        }
+      }
+      break;
+    }
+  }
+  return metered;
+}
+
+std::optional<QDBusPendingCall> WifiManager::setCurrentNetworkMetered(MeteredType metered) {
+  for (const auto &active_conn : getActiveConnections()) {
+    QString type = call<QString>(active_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Type");
+    if (type == "802-11-wireless") {
+      if (!isTetheringEnabled()) {
+        QDBusObjectPath conn = call<QDBusObjectPath>(active_conn.path(), NM_DBUS_INTERFACE_PROPERTIES, "Get", NM_DBUS_INTERFACE_ACTIVE_CONNECTION, "Connection");
+        if (!conn.path().isEmpty()) {
+          Connection settings = getConnectionSettings(conn);
+          settings["connection"]["metered"] = static_cast<int>(metered);
+          return asyncCall(conn.path(), NM_DBUS_INTERFACE_SETTINGS_CONNECTION, "Update", QVariant::fromValue(settings));
+        }
+      }
+    }
+  }
+  return std::nullopt;
+}
+
 void WifiManager::updateGsmSettings(bool roaming, QString apn, bool metered) {
   if (!lteConnectionPath.path().isEmpty()) {
     bool changes = false;
@@ -439,7 +478,7 @@ void WifiManager::addTetheringConnection() {
   address["prefix"] = 24u;
   connection["ipv4"]["address-data"] = QVariant::fromValue(IpConfig() << address);
   connection["ipv4"]["gateway"] = "192.168.43.1";
-  connection["ipv4"]["route-metric"] = 1100;
+  connection["ipv4"]["never-default"] = true;
   connection["ipv6"]["method"] = "ignore";
 
   asyncCall(NM_DBUS_PATH_SETTINGS, NM_DBUS_INTERFACE_SETTINGS, "AddConnection", QVariant::fromValue(connection));
diff --git a/selfdrive/ui/qt/network/wifi_manager.h b/selfdrive/ui/qt/network/wifi_manager.h
index e5f79c5149..cab932a388 100644
--- a/selfdrive/ui/qt/network/wifi_manager.h
+++ b/selfdrive/ui/qt/network/wifi_manager.h
@@ -22,6 +22,11 @@ enum class NetworkType {
   CELL,
   ETHERNET
 };
+enum class MeteredType {
+  UNKNOWN,
+  YES,
+  NO
+};
 
 typedef QMap<QString, QVariantMap> Connection;
 typedef QVector<QVariantMap> IpConfig;
@@ -53,6 +58,8 @@ public:
   bool isKnownConnection(const QString &ssid);
   std::optional<QDBusPendingCall> activateWifiConnection(const QString &ssid);
   NetworkType currentNetworkType();
+  MeteredType currentNetworkMetered();
+  std::optional<QDBusPendingCall> setCurrentNetworkMetered(MeteredType metered);
   void updateGsmSettings(bool roaming, QString apn, bool metered);
   void connect(const Network &ssid, const bool is_hidden = false, const QString &password = {}, const QString &username = {});
 
diff --git a/selfdrive/ui/qt/offroad/developer_panel.cc b/selfdrive/ui/qt/offroad/developer_panel.cc
index efada663c4..3e9647d2cf 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.cc
+++ b/selfdrive/ui/qt/offroad/developer_panel.cc
@@ -31,12 +31,12 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   addItem(longManeuverToggle);
 
   experimentalLongitudinalToggle = new ParamControl(
-    "ExperimentalLongitudinalEnabled",
-    tr("sunnypilot Longitudinal Control (Alpha)"),
+    "AlphaLongitudinalEnabled",
+    tr("openpilot Longitudinal Control (Alpha)"),
     QString("<b>%1</b><br><br>%2")
-      .arg(tr("WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of sunnypilot's longitudinal control. "
-              "Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.")),
+      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, sunnypilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
+              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
     ""
   );
   experimentalLongitudinalToggle->setConfirmation(true, false);
@@ -45,18 +45,6 @@ DeveloperPanel::DeveloperPanel(SettingsWindow *parent) : ListWidget(parent) {
   });
   addItem(experimentalLongitudinalToggle);
 
-  // TODO-SP: Move to Vehicles panel when ported back
-  hyundaiRadarTracksToggle = new ParamControl(
-    "HyundaiRadarTracksToggle",
-    tr("Hyundai: Enable Radar Tracks"),
-    tr("Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. "
-       "This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance."), "");
-  hyundaiRadarTracksToggle->setConfirmation(true, false);
-  QObject::connect(hyundaiRadarTracksToggle, &ParamControl::toggleFlipped, [=](bool state) {
-    updateToggles(offroad);
-  });
-  addItem(hyundaiRadarTracksToggle);
-
   enableGithubRunner = new ParamControl("EnableGithubRunner", tr("Enable GitHub runner service"), tr("Enables or disables the github runner service."), "");
   addItem(enableGithubRunner);
 
@@ -96,11 +84,8 @@ void DeveloperPanel::updateToggles(bool _offroad) {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
-    auto hyundai = CP.getBrand() == "hyundai";
-    auto hyundai_mando_radar = hyundai && (CP.getFlags() & 4096);
-
-    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
-      params.remove("ExperimentalLongitudinalEnabled");
+    if (!CP.getAlphaLongitudinalAvailable() || is_release) {
+      params.remove("AlphaLongitudinalEnabled");
       experimentalLongitudinalToggle->setEnabled(false);
     }
 
@@ -109,14 +94,12 @@ void DeveloperPanel::updateToggles(bool _offroad) {
      * - is not a release branch, and
      * - the car supports experimental longitudinal control (alpha)
      */
-    experimentalLongitudinalToggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
+    experimentalLongitudinalToggle->setVisible(CP.getAlphaLongitudinalAvailable() && !is_release);
 
     longManeuverToggle->setEnabled(hasLongitudinalControl(CP) && _offroad);
-    hyundaiRadarTracksToggle->setVisible(hyundai_mando_radar && hasLongitudinalControl(CP));
   } else {
     longManeuverToggle->setEnabled(false);
     experimentalLongitudinalToggle->setVisible(false);
-    hyundaiRadarTracksToggle->setVisible(false);
   }
   experimentalLongitudinalToggle->refresh();
 
diff --git a/selfdrive/ui/qt/offroad/developer_panel.h b/selfdrive/ui/qt/offroad/developer_panel.h
index 591e5f0fdf..c15b574f5a 100644
--- a/selfdrive/ui/qt/offroad/developer_panel.h
+++ b/selfdrive/ui/qt/offroad/developer_panel.h
@@ -19,7 +19,6 @@ private:
   ButtonControl* errorLogBtn;
   ParamControl* longManeuverToggle;
   ParamControl* experimentalLongitudinalToggle;
-  ParamControl* hyundaiRadarTracksToggle;
   ParamControl* enableGithubRunner;
   bool is_release;
   bool offroad = false;
diff --git a/selfdrive/ui/qt/offroad/experimental_mode.cc b/selfdrive/ui/qt/offroad/experimental_mode.cc
index 457b4053a7..a3288a3e96 100644
--- a/selfdrive/ui/qt/offroad/experimental_mode.cc
+++ b/selfdrive/ui/qt/offroad/experimental_mode.cc
@@ -15,8 +15,8 @@ constexpr int toggles_settings_index = 2;
 #endif
 
 ExperimentalModeButton::ExperimentalModeButton(QWidget *parent) : QPushButton(parent) {
-  chill_pixmap = QPixmap("../assets/img_couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
-  experimental_pixmap = QPixmap("../assets/img_experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
+  chill_pixmap = QPixmap("../assets/icons/couch.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
+  experimental_pixmap = QPixmap("../assets/icons/experimental_grey.svg").scaledToWidth(img_width, Qt::SmoothTransformation);
 
   // go to toggles and expand experimental mode description
   connect(this, &QPushButton::clicked, [=]() { emit openSettings(toggles_settings_index, "ExperimentalMode"); });
diff --git a/selfdrive/ui/qt/offroad/offroad_home.cc b/selfdrive/ui/qt/offroad/offroad_home.cc
index 6fcb6a71ae..9ca41e5567 100644
--- a/selfdrive/ui/qt/offroad/offroad_home.cc
+++ b/selfdrive/ui/qt/offroad/offroad_home.cc
@@ -18,7 +18,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
   main_layout->setContentsMargins(40, 40, 40, 40);
 
   // top header
-  QHBoxLayout* header_layout = new QHBoxLayout();
+  header_layout = new QHBoxLayout();
   header_layout->setContentsMargins(0, 0, 0, 0);
   header_layout->setSpacing(16);
 
diff --git a/selfdrive/ui/qt/offroad/offroad_home.h b/selfdrive/ui/qt/offroad/offroad_home.h
index 40b63ce8d8..cac37d58cd 100644
--- a/selfdrive/ui/qt/offroad/offroad_home.h
+++ b/selfdrive/ui/qt/offroad/offroad_home.h
@@ -39,11 +39,13 @@ public:
 
 protected:
   QHBoxLayout *home_layout;
+  QHBoxLayout *header_layout;
+
+  void showEvent(QShowEvent *event) override;
+  void refresh();
 
 private:
-  void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent *event) override;
-  void refresh();
 
   Params params;
 
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index f0332dbe34..4a2bfd9dd3 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -17,55 +17,63 @@
 #include "selfdrive/ui/qt/offroad/firehose.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
-  // param, title, desc, icon
-  std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
+  // param, title, desc, icon, restart needed
+  std::vector<std::tuple<QString, QString, QString, QString, bool>> toggle_defs{
     {
       "OpenpilotEnabledToggle",
       tr("Enable sunnypilot"),
-      tr("Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
-      "../assets/img_chffr_wheel.png",
+      tr("Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature."),
+      "../assets/icons/chffr_wheel.png",
+      true,
     },
     {
       "ExperimentalMode",
       tr("Experimental Mode"),
       "",
-      "../assets/img_experimental_white.svg",
+      "../assets/icons/experimental_white.svg",
+      false,
     },
     {
       "DynamicExperimentalControl",
       tr("Enable Dynamic Experimental Control"),
       tr("Enable toggle to allow the model to determine when to use sunnypilot ACC or sunnypilot End to End Longitudinal."),
       "../assets/offroad/icon_blank.png",
+      false,
     },
     {
       "DisengageOnAccelerator",
       tr("Disengage on Accelerator Pedal"),
       tr("When enabled, pressing the accelerator pedal will disengage sunnypilot."),
-      "../assets/offroad/icon_disengage_on_accelerator.svg",
+      "../assets/icons/disengage_on_accelerator.svg",
+      false,
     },
     {
       "IsLdwEnabled",
       tr("Enable Lane Departure Warnings"),
       tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
-      "../assets/offroad/icon_warning.png",
+      "../assets/icons/warning.png",
+      false,
     },
     {
       "AlwaysOnDM",
       tr("Always-On Driver Monitoring"),
       tr("Enable driver monitoring even when sunnypilot is not engaged."),
-      "../assets/offroad/icon_monitoring.png",
+      "../assets/icons/monitoring.png",
+      false,
     },
     {
       "RecordFront",
       tr("Record and Upload Driver Camera"),
       tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
-      "../assets/offroad/icon_monitoring.png",
+      "../assets/icons/monitoring.png",
+      true,
     },
     {
       "IsMetric",
       tr("Use Metric System"),
       tr("Display speed in km/h instead of mph."),
-      "../assets/offroad/icon_metric.png",
+      "../assets/icons/metric.png",
+      false,
     },
   };
 
@@ -75,18 +83,30 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
                                           tr("Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. "
                                              "In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with "
                                              "your steering wheel distance button."),
-                                          "../assets/offroad/icon_speed_limit.png",
+                                          "../assets/icons/speed_limit.png",
                                           longi_button_texts);
 
   // set up uiState update for personality setting
   QObject::connect(uiState(), &UIState::uiUpdate, this, &TogglesPanel::updateState);
 
-  for (auto &[param, title, desc, icon] : toggle_defs) {
+  for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
     bool locked = params.getBool((param + "Lock").toStdString());
     toggle->setEnabled(!locked);
 
+    if (needs_restart && !locked) {
+      toggle->setDescription(toggle->getDescription() + tr(" Changing this setting will restart openpilot if the car is powered on."));
+
+      QObject::connect(uiState(), &UIState::engagedChanged, [toggle](bool engaged) {
+        toggle->setEnabled(!engaged);
+      });
+
+      QObject::connect(toggle, &ParamControl::toggleFlipped, [=](bool state) {
+        params.putBool("OnroadCycleRequested", true);
+      });
+    }
+
     addItem(toggle);
     toggles[param.toStdString()] = toggle;
 
@@ -98,7 +118,7 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 
   // Toggles with confirmation dialogs
 #ifndef SUNNYPILOT
-  toggles["ExperimentalMode"]->setActiveIcon("../assets/img_experimental.svg");
+  toggles["ExperimentalMode"]->setActiveIcon("../assets/icons/experimental.svg");
 #endif
   toggles["ExperimentalMode"]->setConfirmation(true, true);
 }
@@ -159,8 +179,8 @@ void TogglesPanel::updateToggles() {
       const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
 
       QString long_desc = unavailable + " " + \
-                          tr("sunnypilot longitudinal control may come in a future update.");
-      if (CP.getExperimentalLongitudinalAvailable()) {
+                          tr("openpilot longitudinal control may come in a future update.");
+      if (CP.getAlphaLongitudinalAvailable()) {
         if (is_release) {
           long_desc = unavailable + " " + tr("An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
         } else {
@@ -205,9 +225,20 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
   connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription);
   connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
-    if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
-      params.remove("CalibrationParams");
-      params.remove("LiveTorqueParameters");
+    if (!uiState()->engaged()) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
+        // Check engaged again in case it changed while the dialog was open
+        if (!uiState()->engaged()) {
+          params.remove("CalibrationParams");
+          params.remove("LiveTorqueParameters");
+          params.remove("LiveParameters");
+          params.remove("LiveParametersV2");
+          params.remove("LiveDelay");
+          params.putBool("OnroadCycleRequested", true);
+        }
+      }
+    } else {
+      ConfirmationDialog::alert(tr("Disengage to Reset Calibration"), this);
     }
   });
   addItem(resetCalibBtn);
@@ -246,7 +277,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
-      if (btn != pair_device) {
+      if (btn != pair_device && btn != resetCalibBtn) {
         btn->setEnabled(offroad);
       }
     }
@@ -302,6 +333,7 @@ void DevicePanel::updateCalibDescription() {
       qInfo() << "invalid CalibrationParams";
     }
   }
+  desc += tr(" Resetting calibration will restart openpilot if the car is powered on.");
   qobject_cast<ButtonControl *>(sender())->setDescription(desc);
 }
 
@@ -341,7 +373,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
     if (param.endsWith("Panel")) {
       QString panelName = param;
       panelName.chop(5); // Remove "Panel" suffix
-      
+
       // Find the panel by name
       for (int i = 0; i < nav_btns->buttons().size(); i++) {
         bool panel_trimmed = false;
@@ -357,7 +389,7 @@ void SettingsWindow::setCurrentPanel(int index, const QString &param) {
       emit expandToggleDescription(param);
     }
   }
-  
+
   panel_widget->setCurrentIndex(index);
   nav_btns->buttons()[index]->setChecked(true);
 }
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 219b39546f..e3ca837907 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -9,7 +9,9 @@
 #ifdef SUNNYPILOT
 #include "selfdrive/ui/sunnypilot/qt/onroad/buttons.h"
 #include "selfdrive/ui/sunnypilot/qt/onroad/hud.h"
+#include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
 #define ExperimentalButton ExperimentalButtonSP
+#define ModelRenderer ModelRendererSP
 #else
 #include "selfdrive/ui/qt/onroad/buttons.h"
 #include "selfdrive/ui/qt/onroad/hud.h"
diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc
index 94f042c406..75b8a8b7e6 100644
--- a/selfdrive/ui/qt/onroad/buttons.cc
+++ b/selfdrive/ui/qt/onroad/buttons.cc
@@ -19,8 +19,8 @@ void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrus
 ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
   setFixedSize(btn_size, btn_size);
 
-  engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
-  experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
+  engage_img = loadPixmap("../assets/icons/chffr_wheel.png", {img_size, img_size});
+  experimental_img = loadPixmap("../assets/icons/experimental.svg", {img_size, img_size});
   QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
 }
 
diff --git a/selfdrive/ui/qt/onroad/driver_monitoring.cc b/selfdrive/ui/qt/onroad/driver_monitoring.cc
index afd003cf8f..49f2c950b4 100644
--- a/selfdrive/ui/qt/onroad/driver_monitoring.cc
+++ b/selfdrive/ui/qt/onroad/driver_monitoring.cc
@@ -21,7 +21,7 @@ static const QColor DMON_ENGAGED_COLOR = QColor::fromRgbF(0.1, 0.945, 0.26);
 static const QColor DMON_DISENGAGED_COLOR = QColor::fromRgbF(0.545, 0.545, 0.545);
 
 DriverMonitorRenderer::DriverMonitorRenderer() : face_kpts_draw(std::size(DEFAULT_FACE_KPTS_3D)) {
-  dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
+  dm_img = loadPixmap("../assets/icons/driver_face.png", {img_size + 5, img_size + 5});
 }
 
 void DriverMonitorRenderer::updateState(const UIState &s) {
diff --git a/selfdrive/ui/qt/onroad/model.cc b/selfdrive/ui/qt/onroad/model.cc
index 52902abdc8..dc801e591f 100644
--- a/selfdrive/ui/qt/onroad/model.cc
+++ b/selfdrive/ui/qt/onroad/model.cc
@@ -1,18 +1,5 @@
 #include "selfdrive/ui/qt/onroad/model.h"
 
-constexpr int CLIP_MARGIN = 500;
-constexpr float MIN_DRAW_DISTANCE = 10.0;
-constexpr float MAX_DRAW_DISTANCE = 100.0;
-
-static int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
-  const auto &line_x = line.getX();
-  int max_idx = 0;
-  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
-    max_idx = i;
-  }
-  return max_idx;
-}
-
 void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
   auto *s = uiState();
   auto &sm = *(s->sm);
@@ -35,7 +22,7 @@ void ModelRenderer::draw(QPainter &painter, const QRect &surface_rect) {
 
   update_model(model, lead_one);
   drawLaneLines(painter);
-  drawPath(painter, model, surface_rect.height());
+  drawPath(painter, model, surface_rect);
 
   if (longitudinal_control && sm.alive("radarState")) {
     update_leads(radar_state, model.getPosition());
diff --git a/selfdrive/ui/qt/onroad/model.h b/selfdrive/ui/qt/onroad/model.h
index 7e1b43acb4..85eb236e76 100644
--- a/selfdrive/ui/qt/onroad/model.h
+++ b/selfdrive/ui/qt/onroad/model.h
@@ -9,21 +9,39 @@
 #include "selfdrive/ui/ui.h"
 #endif
 
+constexpr int CLIP_MARGIN = 500;
+constexpr float MIN_DRAW_DISTANCE = 10.0;
+constexpr float MAX_DRAW_DISTANCE = 100.0;
+
+inline int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
+  const auto &line_x = line.getX();
+  int max_idx = 0;
+  for (int i = 1; i < line_x.size() && line_x[i] <= path_height; ++i) {
+    max_idx = i;
+  }
+  return max_idx;
+}
+
 class ModelRenderer {
 public:
+  virtual ~ModelRenderer() = default;
+
   ModelRenderer() {}
   void setTransform(const Eigen::Matrix3f &transform) { car_space_transform = transform; }
   void draw(QPainter &painter, const QRect &surface_rect);
 
-private:
+protected:
   bool mapToScreen(float in_x, float in_y, float in_z, QPointF *out);
   void mapLineToPolygon(const cereal::XYZTData::Reader &line, float y_off, float z_off,
                         QPolygonF *pvd, int max_idx, bool allow_invert = true);
   void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, const QRect &surface_rect);
   void update_leads(const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
-  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
+  virtual void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead);
   void drawLaneLines(QPainter &painter);
   void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, int height);
+  virtual void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {;
+    drawPath(painter, model, surface_rect.height());
+  }
   void updatePathGradient(QLinearGradient &bg);
   QColor blendColors(const QColor &start, const QColor &end, float t);
 
diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py
index 88c36290d9..1f6d43f309 100644
--- a/selfdrive/ui/qt/python_helpers.py
+++ b/selfdrive/ui/qt/python_helpers.py
@@ -1,11 +1,14 @@
 import os
+import platform
 from cffi import FFI
 
 import sip
 
-from openpilot.common.ffi_wrapper import suffix
 from openpilot.common.basedir import BASEDIR
 
+def suffix():
+  return ".dylib" if platform.system() == "Darwin" else ".so"
+
 
 def get_ffi():
   lib = os.path.join(BASEDIR, "selfdrive", "ui", "qt", "libpython_helpers" + suffix())
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index a9d447fc1b..382a15db91 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -98,7 +98,7 @@ QWidget * Setup::low_voltage() {
   main_layout->addLayout(inner_layout);
 
   QLabel *triangle = new QLabel();
-  triangle->setPixmap(QPixmap(ASSET_PATH + "offroad/icon_warning.png"));
+  triangle->setPixmap(QPixmap(ASSET_PATH + "icons/warning.png"));
   inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft);
   inner_layout->addSpacing(80);
 
@@ -159,7 +159,7 @@ QWidget * Setup::getting_started() {
   vlayout->addStretch();
 
   QPushButton *btn = new QPushButton();
-  btn->setIcon(QIcon(":/img_continue_triangle.svg"));
+  btn->setIcon(QIcon(":/images/button_continue_triangle.svg"));
   btn->setIconSize(QSize(54, 106));
   btn->setFixedSize(310, 1080);
   btn->setProperty("primary", true);
@@ -251,7 +251,7 @@ QWidget * radio_button(QString title, QButtonGroup *group) {
   )");
 
   // checkmark icon
-  QPixmap pix(":/img_circled_check.svg");
+  QPixmap pix(":/icons/circled_check.svg");
   btn->setIcon(pix);
   btn->setIconSize(QSize(0, 0));
   btn->setLayoutDirection(Qt::RightToLeft);
diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc
deleted file mode 100644
index 2404efa668..0000000000
--- a/selfdrive/ui/qt/spinner.cc
+++ /dev/null
@@ -1,120 +0,0 @@
-#include "selfdrive/ui/qt/spinner.h"
-
-#include <algorithm>
-#include <cstdio>
-#include <iostream>
-#include <string>
-
-#include <QApplication>
-#include <QGridLayout>
-#include <QPainter>
-#include <QString>
-#include <QTransform>
-
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/util.h"
-
-TrackWidget::TrackWidget(QWidget *parent) : QWidget(parent) {
-  setAttribute(Qt::WA_OpaquePaintEvent);
-  setFixedSize(spinner_size);
-
-  // pre-compute all the track imgs. make this a gif instead?
-  QPixmap comma_img = loadPixmap("../assets/img_spinner_comma.png", spinner_size);
-  QPixmap track_img = loadPixmap("../assets/img_spinner_track.png", spinner_size);
-
-  QTransform transform(1, 0, 0, 1, width() / 2, height() / 2);
-  QPixmap pm(spinner_size);
-  QPainter p(&pm);
-  p.setRenderHint(QPainter::SmoothPixmapTransform);
-  for (int i = 0; i < track_imgs.size(); ++i) {
-    p.resetTransform();
-    p.fillRect(0, 0, spinner_size.width(), spinner_size.height(), Qt::black);
-    p.drawPixmap(0, 0, comma_img);
-    p.setTransform(transform.rotate(360 / spinner_fps));
-    p.drawPixmap(-width() / 2, -height() / 2, track_img);
-    track_imgs[i] = pm.copy();
-  }
-
-  m_anim.setDuration(1000);
-  m_anim.setStartValue(0);
-  m_anim.setEndValue(int(track_imgs.size() -1));
-  m_anim.setLoopCount(-1);
-  m_anim.start();
-  connect(&m_anim, SIGNAL(valueChanged(QVariant)), SLOT(update()));
-}
-
-void TrackWidget::paintEvent(QPaintEvent *event) {
-  QPainter painter(this);
-  painter.drawPixmap(0, 0, track_imgs[m_anim.currentValue().toInt()]);
-}
-
-// Spinner
-
-Spinner::Spinner(QWidget *parent) : QWidget(parent) {
-  QGridLayout *main_layout = new QGridLayout(this);
-  main_layout->setSpacing(0);
-  main_layout->setMargin(200);
-
-  main_layout->addWidget(new TrackWidget(this), 0, 0, Qt::AlignHCenter | Qt::AlignVCenter);
-
-  text = new QLabel();
-  text->setWordWrap(true);
-  text->setVisible(false);
-  text->setAlignment(Qt::AlignCenter);
-  main_layout->addWidget(text, 1, 0, Qt::AlignHCenter);
-
-  progress_bar = new QProgressBar();
-  progress_bar->setRange(5, 100);
-  progress_bar->setTextVisible(false);
-  progress_bar->setVisible(false);
-  progress_bar->setFixedHeight(20);
-  main_layout->addWidget(progress_bar, 1, 0, Qt::AlignHCenter);
-
-  setStyleSheet(R"(
-    Spinner {
-      background-color: black;
-    }
-    QLabel {
-      color: white;
-      font-size: 80px;
-      background-color: transparent;
-    }
-    QProgressBar {
-      background-color: #373737;
-      width: 1000px;
-      border solid white;
-      border-radius: 10px;
-    }
-    QProgressBar::chunk {
-      border-radius: 10px;
-      background-color: white;
-    }
-  )");
-
-  notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read);
-  QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update);
-}
-
-void Spinner::update(int n) {
-  std::string line;
-  std::getline(std::cin, line);
-
-  if (line.length()) {
-    bool number = std::all_of(line.begin(), line.end(), ::isdigit);
-    text->setVisible(!number);
-    progress_bar->setVisible(number);
-    text->setText(QString::fromStdString(line));
-    if (number) {
-      progress_bar->setValue(std::stoi(line));
-    }
-  }
-}
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-  QApplication a(argc, argv);
-  Spinner spinner;
-  setMainWindow(&spinner);
-  return a.exec();
-}
diff --git a/selfdrive/ui/qt/spinner.h b/selfdrive/ui/qt/spinner.h
deleted file mode 100644
index 43d90a75b0..0000000000
--- a/selfdrive/ui/qt/spinner.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#include <array>
-
-#include <QLabel>
-#include <QPixmap>
-#include <QProgressBar>
-#include <QSocketNotifier>
-#include <QVariantAnimation>
-#include <QWidget>
-
-constexpr int spinner_fps = 30;
-constexpr QSize spinner_size = QSize(360, 360);
-
-class TrackWidget : public QWidget  {
-  Q_OBJECT
-public:
-  TrackWidget(QWidget *parent = nullptr);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-  std::array<QPixmap, spinner_fps> track_imgs;
-  QVariantAnimation m_anim;
-};
-
-class Spinner : public QWidget {
-  Q_OBJECT
-
-public:
-  explicit Spinner(QWidget *parent = 0);
-
-private:
-  QLabel *text;
-  QProgressBar *progress_bar;
-  QSocketNotifier *notifier;
-
-public slots:
-  void update(int n);
-};
diff --git a/selfdrive/ui/qt/spinner_larch64 b/selfdrive/ui/qt/spinner_larch64
deleted file mode 100755
index 74081a6925..0000000000
--- a/selfdrive/ui/qt/spinner_larch64
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:81d7073d16e8ddc40d4d81fc88f8fc11c434df241593b455e2787935371383e4
-size 3821728
diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc
deleted file mode 100644
index 21ec5eedcf..0000000000
--- a/selfdrive/ui/qt/text.cc
+++ /dev/null
@@ -1,64 +0,0 @@
-#include <QApplication>
-#include <QLabel>
-#include <QPushButton>
-#include <QScrollBar>
-#include <QVBoxLayout>
-#include <QWidget>
-
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/qt_window.h"
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-
-int main(int argc, char *argv[]) {
-  initApp(argc, argv);
-  QApplication a(argc, argv);
-  QWidget window;
-  setMainWindow(&window);
-
-  QGridLayout *main_layout = new QGridLayout(&window);
-  main_layout->setMargin(50);
-
-  QLabel *label = new QLabel(argv[1]);
-  label->setWordWrap(true);
-  label->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
-  ScrollView *scroll = new ScrollView(label);
-  scroll->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
-  main_layout->addWidget(scroll, 0, 0, Qt::AlignTop);
-
-  // Scroll to the bottom
-  QObject::connect(scroll->verticalScrollBar(), &QAbstractSlider::rangeChanged, [=]() {
-    scroll->verticalScrollBar()->setValue(scroll->verticalScrollBar()->maximum());
-  });
-
-  QPushButton *btn = new QPushButton();
-#ifdef __aarch64__
-  btn->setText(QObject::tr("Reboot"));
-  QObject::connect(btn, &QPushButton::clicked, [=]() {
-    Hardware::reboot();
-  });
-#else
-  btn->setText(QObject::tr("Exit"));
-  QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit);
-#endif
-  main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom);
-
-  window.setStyleSheet(R"(
-    * {
-      outline: none;
-      color: white;
-      background-color: black;
-      font-size: 60px;
-    }
-    QPushButton {
-      padding: 50px;
-      padding-right: 100px;
-      padding-left: 100px;
-      border: 2px solid white;
-      border-radius: 20px;
-      margin-right: 40px;
-    }
-  )");
-
-  return a.exec();
-}
diff --git a/selfdrive/ui/qt/text_larch64 b/selfdrive/ui/qt/text_larch64
deleted file mode 100755
index 7d74f4d31c..0000000000
--- a/selfdrive/ui/qt/text_larch64
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:61f539845ebfc9568c8d28867f1e5642e882f52ead8862c9b2224b7139f4a552
-size 3787480
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index ee090f24d7..dedc59f0e4 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -193,8 +193,8 @@ QPixmap bootstrapPixmap(const QString &id) {
 bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
   // Using the experimental longitudinal toggle, returns whether longitudinal control
   // will be active without needing a restart of openpilot
-  return car_params.getExperimentalLongitudinalAvailable()
-             ? Params().getBool("ExperimentalLongitudinalEnabled")
+  return car_params.getAlphaLongitudinalAvailable()
+             ? Params().getBool("AlphaLongitudinalEnabled")
              : car_params.getOpenpilotLongitudinalControl();
 }
 
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index 9562c4ad22..bf56ab185d 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -183,10 +183,10 @@ private:
   bool store_confirm = false;
 };
 
-class ButtonParamControl : public AbstractControl {
+class MultiButtonControl : public AbstractControl {
   Q_OBJECT
 public:
-  ButtonParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+  MultiButtonControl(const QString &title, const QString &desc, const QString &icon,
                      const std::vector<QString> &button_texts, const int minimum_button_width = 225) : AbstractControl(title, desc, icon) {
     const QString style = R"(
       QPushButton {
@@ -204,28 +204,27 @@ public:
       QPushButton:checked:enabled {
         background-color: #33Ab4C;
       }
+      QPushButton:checked:disabled {
+        background-color: #9933Ab4C;
+      }
       QPushButton:disabled {
         color: #33E4E4E4;
       }
     )";
-    key = param.toStdString();
-    int value = atoi(params.get(key).c_str());
 
     button_group = new QButtonGroup(this);
     button_group->setExclusive(true);
     for (int i = 0; i < button_texts.size(); i++) {
       QPushButton *button = new QPushButton(button_texts[i], this);
       button->setCheckable(true);
-      button->setChecked(i == value);
+      button->setChecked(i == 0);
       button->setStyleSheet(style);
       button->setMinimumWidth(minimum_button_width);
       hlayout->addWidget(button);
       button_group->addButton(button, i);
     }
 
-    QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), [=](int id) {
-      params.put(key, std::to_string(id));
-    });
+    QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), this, &MultiButtonControl::buttonClicked);
   }
 
   void setEnabled(bool enable) {
@@ -238,6 +237,31 @@ public:
     button_group->button(id)->setChecked(true);
   }
 
+signals:
+  void buttonClicked(int id);
+
+protected:
+  QButtonGroup *button_group;
+};
+
+class ButtonParamControl : public MultiButtonControl {
+  Q_OBJECT
+public:
+  ButtonParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 225) : MultiButtonControl(title, desc, icon,
+                                                                                                                          button_texts, minimum_button_width) {
+    key = param.toStdString();
+    int value = atoi(params.get(key).c_str());
+
+    if (value > 0 && value < button_group->buttons().size()) {
+      button_group->button(value)->setChecked(true);
+    }
+
+    QObject::connect(this, QOverload<int>::of(&MultiButtonControl::buttonClicked), [=](int id) {
+      params.put(key, std::to_string(id));
+    });
+  }
+
   void refresh() {
     int value = atoi(params.get(key).c_str());
     button_group->button(value)->setChecked(true);
@@ -250,7 +274,6 @@ public:
 private:
   std::string key;
   Params params;
-  QButtonGroup *button_group;
 };
 
 class ListWidget : public QWidget {
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index b0b6b4c23b..0cbf14931b 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -120,11 +120,11 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s
     eye_btn->setFixedSize(150, 120);
     QObject::connect(eye_btn, &QPushButton::toggled, [=](bool checked) {
       if (checked) {
-        eye_btn->setIcon(QIcon(ASSET_PATH + "img_eye_closed.svg"));
+        eye_btn->setIcon(QIcon(ASSET_PATH + "icons/eye_closed.svg"));
         eye_btn->setIconSize(QSize(81, 54));
         line->setEchoMode(QLineEdit::Password);
       } else {
-        eye_btn->setIcon(QIcon(ASSET_PATH + "img_eye_open.svg"));
+        eye_btn->setIcon(QIcon(ASSET_PATH + "icons/eye_open.svg"));
         eye_btn->setIconSize(QSize(81, 44));
         line->setEchoMode(QLineEdit::Normal);
       }
diff --git a/selfdrive/ui/spinner b/selfdrive/ui/spinner
deleted file mode 100755
index 965c8f581a..0000000000
--- a/selfdrive/ui/spinner
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/sh
-
-if [ -f /TICI ] && [ ! -f _spinner ]; then
-  cp qt/spinner_larch64 _spinner
-fi
-
-exec ./_spinner "$1"
diff --git a/selfdrive/ui/sunnypilot/SConscript b/selfdrive/ui/sunnypilot/SConscript
index deeec44732..41cc09141b 100644
--- a/selfdrive/ui/sunnypilot/SConscript
+++ b/selfdrive/ui/sunnypilot/SConscript
@@ -3,6 +3,7 @@ widgets_src = [
   "sunnypilot/qt/widgets/toggle.cc",
   "sunnypilot/qt/widgets/controls.cc",
   "sunnypilot/qt/widgets/drive_stats.cc",
+  "sunnypilot/qt/widgets/expandable_row.cc",
   "sunnypilot/qt/widgets/prime.cc",
   "sunnypilot/qt/widgets/scrollview.cc",
   "sunnypilot/qt/network/networking.cc",
@@ -18,16 +19,22 @@ qt_src = [
   "sunnypilot/qt/sidebar.cc",
   "sunnypilot/qt/window.cc",
   "sunnypilot/qt/home.cc",
+  "sunnypilot/qt/offroad/exit_offroad_button.cc",
   "sunnypilot/qt/offroad/offroad_home.cc",
   "sunnypilot/qt/offroad/settings/device_panel.cc",
   "sunnypilot/qt/offroad/settings/lateral_panel.cc",
+  "sunnypilot/qt/offroad/settings/longitudinal_panel.cc",
   "sunnypilot/qt/offroad/settings/max_time_offroad.cc",
+  "sunnypilot/qt/offroad/settings/brightness.cc",
+  "sunnypilot/qt/offroad/settings/models_panel.cc",
+  "sunnypilot/qt/offroad/settings/osm_panel.cc",
   "sunnypilot/qt/offroad/settings/settings.cc",
   "sunnypilot/qt/offroad/settings/software_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink_panel.cc",
   "sunnypilot/qt/offroad/settings/sunnylink/sponsor_widget.cc",
   "sunnypilot/qt/offroad/settings/trips_panel.cc",
   "sunnypilot/qt/offroad/settings/vehicle_panel.cc",
+  "sunnypilot/qt/offroad/settings/visuals_panel.cc",
   "sunnypilot/qt/onroad/annotated_camera.cc",
   "sunnypilot/qt/onroad/buttons.cc",
   "sunnypilot/qt/onroad/hud.cc",
@@ -36,11 +43,16 @@ qt_src = [
 ]
 
 lateral_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/lane_change_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/mads_settings.cc",
   "sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.cc",
 ]
 
+longitudinal_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc",
+]
+
 network_src = [
   "sunnypilot/qt/network/sunnylink/sunnylink_client.cc",
   "sunnypilot/qt/network/sunnylink/services/base_device_service.cc",
@@ -48,12 +60,34 @@ network_src = [
   "sunnypilot/qt/network/sunnylink/services/user_service.cc",
 ]
 
+osm_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/osm/models_fetcher.cc",
+]
+
 vehicle_panel_qt_src = [
+  "sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc",
   "sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc",
 ]
 
+brand_settings_qt_src = [
+  "sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc",
+  "sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc",
+]
+
+
 sp_widgets_src = widgets_src + network_src
-sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src
+sp_qt_src = qt_src + lateral_panel_qt_src + vehicle_panel_qt_src + brand_settings_qt_src + longitudinal_panel_qt_src + osm_panel_qt_src
 sp_qt_util = qt_util
 
 Export('sp_widgets_src', 'sp_qt_src', "sp_qt_util")
diff --git a/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h b/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h
new file mode 100644
index 0000000000..5691f600a6
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/common/json_fetcher.h
@@ -0,0 +1,41 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <QNetworkReply>
+#include <QJsonDocument>
+#include <QJsonObject>
+#include <QEventLoop>
+
+class JsonFetcher {
+public:
+  static QJsonObject getJsonFromURL(const QString &url) {
+    const auto qurl = QUrl(url);
+    QNetworkAccessManager manager;
+    const QNetworkRequest request(qurl);
+    QNetworkReply *reply = manager.get(request);
+    QEventLoop loop;
+
+    // Send GET request
+
+    QObject::connect(reply, &QNetworkReply::finished, &loop, &QEventLoop::quit);
+    loop.exec();
+
+    if (reply->error() != QNetworkReply::NoError) {
+      qWarning() << "Failed to fetch data from URL: " << reply->errorString();
+      return QJsonObject();
+    }
+
+    const QByteArray responseData = reply->readAll();
+    const QJsonDocument doc = QJsonDocument::fromJson(responseData);
+    QJsonObject json = doc.object();
+
+    reply->deleteLater();
+    return json;
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.cc b/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.cc
new file mode 100644
index 0000000000..0c7902476a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.cc
@@ -0,0 +1,100 @@
+#include <QDebug>
+#include <QHBoxLayout>
+#include <QPainter>
+#include <QPainterPath>
+#include <QStyle>
+
+#include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/widgets/input.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h"
+
+
+ExitOffroadButton::ExitOffroadButton(QWidget *parent) : QPushButton(parent), glowTimer(new QTimer(this)) {
+  setMouseTracking(true);
+
+  connect(glowTimer, &QTimer::timeout, this, [this]() {
+    // Pulse alpha up and down
+    glowAlpha += glowDelta;
+    if (glowAlpha > 220 || glowAlpha < 10) {
+      glowDelta *= -1;
+    }
+    update(); // trigger repaint
+  });
+
+  glowTimer->start(45);
+  
+  pixmap = QPixmap("../../sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png").scaledToWidth(img_width, Qt::SmoothTransformation);
+
+  // go to toggles and expand experimental mode description
+  connect(this, &QPushButton::clicked, [=]() {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to exit Always Offroad mode?"), tr("Confirm"), this)) {
+      params.remove("OffroadMode");
+    }
+  });
+
+  setFixedHeight(125);
+  QHBoxLayout *main_layout = new QHBoxLayout;
+  main_layout->setContentsMargins(horizontal_padding, 0, horizontal_padding, 0);
+
+  mode_label = new QLabel(tr("EXIT ALWAYS OFFROAD MODE"));
+  mode_icon = new QLabel;
+  mode_icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+  mode_icon->setPixmap(pixmap);
+
+  main_layout->addWidget(mode_label, 1, Qt::AlignLeft);
+  main_layout->addWidget(mode_icon, 0, Qt::AlignRight);
+
+  setLayout(main_layout);
+
+  setStyleSheet(R"(
+    QPushButton {
+      border: none;
+    }
+
+    QLabel {
+      font-size: 45px;
+      font-weight: 300;
+      text-align: left;
+      font-family: JetBrainsMono;
+      color: #000000;
+    }
+  )");
+}
+
+void drawPulsingGlowOverlay(QPainter &p, QPainterPath path, int glowAlpha) {
+  // Draw pulsing glow effect clipped to button area
+  p.save();
+  p.setClipPath(path);
+  p.setCompositionMode(QPainter::CompositionMode_HardLight);
+
+  const QColor animatedGlowColor(255, 255, 255, std::min(255, glowAlpha));
+  QPen glowPen(animatedGlowColor, 8);
+  glowPen.setJoinStyle(Qt::RoundJoin);
+  p.setPen(glowPen);
+  p.drawPath(path);
+  
+  p.restore();
+}
+
+void ExitOffroadButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setRenderHint(QPainter::Antialiasing);
+
+  QPainterPath path;
+  path.addRoundedRect(rect(), 10, 10);
+
+  // gradient
+  bool pressed = isDown();
+  QLinearGradient gradient(rect().left(), 0, rect().right(), 0);
+  gradient.setColorAt(0, QColor(35, 149, 255, pressed ? 0xcc : 0xff));
+  gradient.setColorAt(0.3, QColor(35, 149, 255, pressed ? 0xcc : 0xff));
+  gradient.setColorAt(1, QColor(20, 255, 171, pressed ? 0xcc : 0xff));
+  p.fillPath(path, gradient);
+
+  drawPulsingGlowOverlay(p, path, glowAlpha);
+
+  // vertical line
+  p.setPen(QPen(QColor(0, 0, 0, 0x4d), 3, Qt::SolidLine));
+  int line_x = rect().right() - img_width - (2 * horizontal_padding);
+  p.drawLine(line_x, rect().bottom(), line_x, rect().top());
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h b/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h
new file mode 100644
index 0000000000..673d9fff73
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <QLabel>
+#include <QPushButton>
+
+#include "common/params.h"
+
+class ExitOffroadButton : public QPushButton {
+  Q_OBJECT
+
+private:
+  QTimer *glowTimer;
+  int glowAlpha = 100;  // Current alpha of glow
+  int glowDelta = 10;    // Change per tick
+  
+public:
+  explicit ExitOffroadButton(QWidget* parent = 0);
+
+  Params params;
+  bool offroad_mode;
+  int img_width = 100;
+  int horizontal_padding = 30;
+  QPixmap pixmap;
+  QLabel *mode_label;
+  QLabel *mode_icon;
+
+protected:
+  void paintEvent(QPaintEvent *event) override;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
index 05b1d80846..cc82e6ddb9 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.cc
@@ -5,16 +5,45 @@
  * See the LICENSE.md file in the root directory for more details.
  */
 
-#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h"
-
 #include <QStackedWidget>
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/drive_stats.h"
 
 OffroadHomeSP::OffroadHomeSP(QWidget *parent) : OffroadHome(parent) {
-  QStackedWidget *left_widget = new QStackedWidget(this);
-  left_widget->addWidget(new DriveStats(this));
+  QFrame *left_widget = new QFrame(this);
+  QVBoxLayout *left_layout = new QVBoxLayout(left_widget);
+  left_layout->setContentsMargins(0, 0, 0, 0);
+  left_layout->setSpacing(30);
+
+  btn_exit_offroad = new ExitOffroadButton(this);
+  QObject::connect(btn_exit_offroad, &ExitOffroadButton::clicked, [=]() {
+    refreshOffroadStatus();
+  });
+  left_layout->addWidget(btn_exit_offroad);
+
+  left_layout->addWidget(new DriveStats(this));
   left_widget->setStyleSheet("border-radius: 10px;");
 
   home_layout->insertWidget(0, left_widget);
+
+  offroad_notif = new QPushButton(tr("ALWAYS OFFROAD ACTIVE"));
+  offroad_notif->setVisible(false);
+  offroad_notif->setStyleSheet("background-color: #E22C2C;");
+  header_layout->insertWidget(0, offroad_notif, 0, Qt::AlignHCenter | Qt::AlignLeft);
+
+  QObject::connect(deviceSP(), &DeviceSP::displayPowerChanged, this, &OffroadHomeSP::refreshOffroadStatus);
+
+}
+
+void OffroadHomeSP::showEvent(QShowEvent *event) {
+  refreshOffroadStatus();
+  OffroadHome::showEvent(event);
+}
+
+void OffroadHomeSP::refreshOffroadStatus() {
+  bool is_offroad = params.getBool("OffroadMode");
+  btn_exit_offroad->setVisible(is_offroad);
+  offroad_notif->setVisible(is_offroad);
+  OffroadHome::refresh();
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h
index 9710150d57..30816f666c 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/offroad_home.h
@@ -8,10 +8,19 @@
 #pragma once
 
 #include "selfdrive/ui/qt/offroad/offroad_home.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/exit_offroad_button.h"
 
 class OffroadHomeSP : public OffroadHome {
   Q_OBJECT
 
 public:
   explicit OffroadHomeSP(QWidget *parent = 0);
+
+private:
+  ExitOffroadButton *btn_exit_offroad;
+  QPushButton *offroad_notif;
+  Params params;
+
+  void showEvent(QShowEvent *event) override;
+  void refreshOffroadStatus();
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc
new file mode 100644
index 0000000000..ffd3ce1d8b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.cc
@@ -0,0 +1,50 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h"
+
+// Map of Brightness Options
+const QMap<QString, QString> Brightness::brightness_options = {
+  {"0", "1"},  // Auto (Dark)
+  {"1", "0"},  // Auto
+  {"2", "10"},
+  {"3", "20"},
+  {"4", "30"},
+  {"5", "40"},
+  {"6", "50"},
+  {"7", "60"},
+  {"8", "70"},
+  {"9", "80"},
+  {"10", "90"},
+  {"11", "100"}
+};
+
+Brightness::Brightness() : OptionControlSP(
+  "Brightness",
+  tr("Brightness"),
+  tr("Overrides the brightness of the device."),
+  "../assets/offroad/icon_blank.png",
+  {0, 11}, 1, true, &brightness_options) {
+
+  refresh();
+}
+
+void Brightness::refresh() {
+  const int brightness = QString::fromStdString(params.get("Brightness")).toInt();
+  
+  QString label;
+  if (brightness == 1) {
+    label = tr("Auto (Dark)");
+  } else if (brightness == 0) {
+    label = tr("Auto");
+  } else {
+    const int value = brightness;
+    label = QString("%1").arg(value);
+  }
+  
+  setLabel(label);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h
new file mode 100644
index 0000000000..20d0a291d9
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h
@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class Brightness : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  static const QMap<QString, QString> brightness_options;
+
+  Brightness();
+  void refresh();
+
+private:
+  Params params;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
index 3e613e1022..b89116d424 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.cc
@@ -80,6 +80,19 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
   connect(maxTimeOffroad, &OptionControlSP::updateLabels, maxTimeOffroad, &MaxTimeOffroad::refresh);
   addItem(maxTimeOffroad);
 
+    toggleDeviceBootMode = new ButtonParamControlSP("DeviceBootMode", tr("Wake-Up Behavior"), "", "", {"Default", "Offroad"}, 375, true);
+  addItem(toggleDeviceBootMode);
+
+  connect(toggleDeviceBootMode, &ButtonParamControlSP::buttonClicked, this, [=](int index) {
+    params.put("DeviceBootMode", QString::number(index).toStdString());
+    updateState();
+  });
+  
+  // Brightness
+  brightness = new Brightness();
+  connect(brightness, &OptionControlSP::updateLabels, brightness, &Brightness::refresh);
+  addItem(brightness);
+
   addItem(device_grid_layout);
 
   // offroad mode and power buttons
@@ -112,9 +125,18 @@ DevicePanelSP::DevicePanelSP(SettingsWindowSP *parent) : DevicePanel(parent) {
 
   addItem(power_group_layout);
 
+  std::vector always_enabled_btns = {
+    rebootBtn,
+    poweroffBtn,
+    offroadBtn,
+    buttons["quietModeBtn"],
+  };
+
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<PushButtonSP*>()) {
-      if (btn != rebootBtn && btn != poweroffBtn && btn != offroadBtn) {
+      bool always_enabled = std::find(always_enabled_btns.begin(), always_enabled_btns.end(), btn) != always_enabled_btns.end();
+
+      if (!always_enabled) {
         btn->setEnabled(offroad);
       }
     }
@@ -170,4 +192,10 @@ void DevicePanelSP::updateState() {
   bool offroad_mode_param = params.getBool("OffroadMode");
   offroadBtn->setText(offroad_mode_param ? tr("Exit Always Offroad") : tr("Always Offroad"));
   offroadBtn->setStyleSheet(offroad_mode_param ? alwaysOffroadStyle : autoOffroadStyle);
+
+  DeviceSleepModeStatus currStatus = DeviceSleepModeStatus::DEFAULT;
+  if (params.get("DeviceBootMode") == "1") {
+    currStatus = DeviceSleepModeStatus::OFFROAD;
+  }
+  toggleDeviceBootMode->setDescription(deviceSleepModeDescription(currStatus));
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
index 7b7412a739..2cd3281d1f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h
@@ -8,9 +8,15 @@
 #pragma once
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/max_time_offroad.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/brightness.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
+enum class DeviceSleepModeStatus {
+  DEFAULT,
+  OFFROAD,
+};
+
 class DevicePanelSP : public DevicePanel {
   Q_OBJECT
 
@@ -25,6 +31,8 @@ private:
   std::map<QString, PushButtonSP*> buttons;
   PushButtonSP *offroadBtn;
   MaxTimeOffroad *maxTimeOffroad;
+  ButtonParamControlSP *toggleDeviceBootMode;
+  Brightness *brightness;
 
   const QString alwaysOffroadStyle = R"(
     PushButtonSP {
@@ -85,4 +93,20 @@ private:
       background-color: #FF2424;
     }
   )";
+
+  static QString deviceSleepModeDescription(DeviceSleepModeStatus status = DeviceSleepModeStatus::DEFAULT) {
+    QString def_str = tr("⁍ Default: Device will boot/wake-up normally & will be ready to engage.");
+    QString offrd_str = tr("⁍ Offroad: Device will be in Always Offroad mode after boot/wake-up.");
+
+    if (status == DeviceSleepModeStatus::DEFAULT) {
+      def_str = "<font color='white'><b>" + def_str + "</b></font>";
+    } else if (status == DeviceSleepModeStatus::OFFROAD) {
+      offrd_str = "<font color='white'><b>" + offrd_str + "</b></font>";
+    }
+
+    return QString("%1<br><br>%2<br>%3")
+             .arg(tr("Controls state of the device after boot/sleep."))
+             .arg(def_str)
+             .arg(offrd_str);
+  }
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc
new file mode 100644
index 0000000000..b43c6162c6
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.cc
@@ -0,0 +1,27 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
+
+BlinkerPauseLateralSettings::BlinkerPauseLateralSettings(const QString &param, const QString &title, const QString &description, const QString &icon, QWidget *parent)
+    : ExpandableToggleRow(param, title, description, icon, parent) {
+
+  pauseLateralSpeed = new OptionControlSP("BlinkerMinLateralControlSpeed", "", "", "", {0, 255}, 5);
+  connect(pauseLateralSpeed, &OptionControlSP::updateLabels, this, &BlinkerPauseLateralSettings::refresh);
+  addItem(pauseLateralSpeed);
+
+  refresh();
+}
+
+void BlinkerPauseLateralSettings::refresh() {
+  const QString option = QString::fromStdString(params.get("BlinkerMinLateralControlSpeed"));
+  const bool is_metric = params.getBool("IsMetric");
+  const QString unit = is_metric ? "km/h" : "mph";
+
+  pauseLateralSpeed->setLabel(option + " " + unit);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h
new file mode 100644
index 0000000000..7f02337b9c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h
@@ -0,0 +1,25 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+class BlinkerPauseLateralSettings : public ExpandableToggleRow {
+  Q_OBJECT
+
+public:
+  BlinkerPauseLateralSettings(const QString &param, const QString &title, const QString &description, const QString &icon, QWidget *parent = nullptr);
+  void refresh();
+
+private:
+  Params params;
+  OptionControlSP *pauseLateralSpeed;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
index fa0f7f8bd4..72e7a5c8cb 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.cc
@@ -21,35 +21,19 @@ MadsSettings::MadsSettings(QWidget *parent) : QWidget(parent) {
 
   ListWidget *list = new ListWidget(this, false);
   // Main cruise
-  madsMainCruiseToggle = new ParamControl(
-    "MadsMainCruiseAllowed",
-    tr("Toggle with Main Cruise"),
-    tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement."),
-    "");
+  madsMainCruiseToggle = new ParamControl("MadsMainCruiseAllowed", tr("Toggle with Main Cruise"), "", "");
   list->addItem(madsMainCruiseToggle);
 
   // Unified Engagement Mode
-  madsUnifiedEngagementModeToggle = new ParamControl(
-    "MadsUnifiedEngagementMode",
-    tr("Unified Engagement Mode (UEM)"),
-    QString("%1<br>"
-            "<h4>%2</h4>")
-    .arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
-    .arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.")),
-    "");
+  madsUnifiedEngagementModeToggle = new ParamControl("MadsUnifiedEngagementMode", tr("Unified Engagement Mode (UEM)"), "", "");
   list->addItem(madsUnifiedEngagementModeToggle);
 
-  // Pause Lateral On Brake
-  std::vector<QString> lateral_on_brake_texts{tr("Remain Active"), tr("Pause Steering")};
-  madsPauseLateralOnBrake = new ButtonParamControl(
-    "MadsPauseLateralOnBrake",
-    tr("Steering Mode After Braking"),
-    tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.\n\n"
-       "Remain Active: ALC will remain active even after the brake pedal is pressed.\nPause Steering: ALC will be paused after the brake pedal is manually pressed."),
-    "",
-    lateral_on_brake_texts,
-    500);
-  list->addItem(madsPauseLateralOnBrake);
+  // Steering Mode On Brake
+  madsSteeringMode = new ButtonParamControl("MadsSteeringMode", tr("Steering Mode on Brake Pedal"), "", "", madsSteeringModeTexts(), 500);
+  QObject::connect(madsSteeringMode, &ButtonParamControl::buttonClicked, [=] {
+    updateToggles(offroad);
+  });
+  list->addItem(madsSteeringMode);
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &MadsSettings::updateToggles);
 
@@ -61,7 +45,58 @@ void MadsSettings::showEvent(QShowEvent *event) {
 }
 
 void MadsSettings::updateToggles(bool _offroad) {
-  madsPauseLateralOnBrake->setEnabled(_offroad);
+  auto mads_steering_mode_param = std::atoi(params.get("MadsSteeringMode").c_str());
+
+  auto steering_mode = static_cast<MadsSteeringMode>(
+    std::clamp(mads_steering_mode_param, static_cast<int>(MadsSteeringMode::REMAIN_ACTIVE), static_cast<int>(MadsSteeringMode::DISENGAGE))
+  );
+
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+      params.remove("MadsMainCruiseAllowed");
+      params.putBool("MadsUnifiedEngagementMode", true);
+      params.put("MadsSteeringMode", std::to_string(static_cast<int>(MadsSteeringMode::DISENGAGE)));
+
+      madsMainCruiseToggle->setEnabled(false);
+      madsMainCruiseToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_OFF, MADS_MAIN_CRUISE_BASE_DESC));
+      madsMainCruiseToggle->showDescription();
+
+      madsUnifiedEngagementModeToggle->setEnabled(false);
+      madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(DEFAULT_TO_ON, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC));
+      madsUnifiedEngagementModeToggle->showDescription();
+
+      madsSteeringModeValues = convertMadsSteeringModeValues({MadsSteeringMode::DISENGAGE});
+      madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_DISENGAGE_ONLY, madsSteeringModeDescription(steering_mode)));
+    } else {
+      madsMainCruiseToggle->setEnabled(true);
+      madsMainCruiseToggle->setDescription(MADS_MAIN_CRUISE_BASE_DESC);
+
+      madsUnifiedEngagementModeToggle->setEnabled(true);
+      madsUnifiedEngagementModeToggle->setDescription(MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC);
+
+      madsSteeringModeValues = convertMadsSteeringModeValues(getMadsSteeringModeValues());
+      madsSteeringMode->setDescription(madsSteeringModeDescription(steering_mode));
+    }
+  } else {
+    madsMainCruiseToggle->setEnabled(false);
+    madsMainCruiseToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_MAIN_CRUISE_BASE_DESC));
+    madsMainCruiseToggle->showDescription();
+
+    madsUnifiedEngagementModeToggle->setEnabled(false);
+    madsUnifiedEngagementModeToggle->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC));
+    madsUnifiedEngagementModeToggle->showDescription();
+
+    madsSteeringModeValues = {};
+    madsSteeringMode->setDescription(madsDescriptionBuilder(STATUS_CHECK_COMPATIBILITY, madsSteeringModeDescription(steering_mode)));
+  }
+
+  madsSteeringMode->setEnableSelectedButtons(_offroad, madsSteeringModeValues);
+  madsSteeringMode->showDescription();
 
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
index fccb4cbb84..af624865c7 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h
@@ -12,6 +12,20 @@
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
 
+const std::vector<std::string> mads_limited_settings_brands = {"rivian", "tesla"};
+
+enum class MadsSteeringMode {
+  REMAIN_ACTIVE = 0,
+  PAUSE = 1,
+  DISENGAGE = 2,
+};
+
+struct MadsSteeringModeOption {
+  MadsSteeringMode mode;
+  QString display_text;
+  QString description;
+};
+
 class MadsSettings : public QWidget {
   Q_OBJECT
 
@@ -32,5 +46,70 @@ private:
 
   ParamControl *madsMainCruiseToggle;
   ParamControl *madsUnifiedEngagementModeToggle;
-  ButtonParamControl *madsPauseLateralOnBrake;
+  ButtonParamControl *madsSteeringMode;
+
+  std::vector<int> madsSteeringModeValues = {};
+
+  const QString MADS_MAIN_CRUISE_BASE_DESC = tr("Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.");
+  const QString MADS_UNIFIED_ENGAGEMENT_MODE_BASE_DESC = QString("%1<br>"
+                                                                 "<h4>%2</h4>")
+                                                         .arg(tr("Engage lateral and longitudinal control with cruise control engagement."))
+                                                         .arg(tr("Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off."));
+
+  const QString STATUS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
+  const QString DEFAULT_TO_OFF = tr("This feature defaults to OFF, and does not allow selection due to vehicle limitations.");
+  const QString DEFAULT_TO_ON = tr("This feature defaults to ON, and does not allow selection due to vehicle limitations.");
+  const QString STATUS_DISENGAGE_ONLY = tr("This platform only supports Disengage mode due to vehicle limitations.");
+
+  static const std::vector<MadsSteeringModeOption> &madsSteeringModeOptions() {
+    static const std::vector<MadsSteeringModeOption> options = {
+      {MadsSteeringMode::REMAIN_ACTIVE,  tr("Remain Active"), tr("Remain Active: ALC will remain active when the brake pedal is pressed.")},
+      {MadsSteeringMode::PAUSE,          tr("Pause"),         tr("Pause: ALC will pause when the brake pedal is pressed.")},
+      {MadsSteeringMode::DISENGAGE,      tr("Disengage"),     tr("Disengage: ALC will disengage when the brake pedal is pressed.")},
+    };
+    return options;
+  }
+
+  static std::vector<MadsSteeringMode> getMadsSteeringModeValues() {
+    std::vector<MadsSteeringMode> values;
+    for (const auto& option : madsSteeringModeOptions()) {
+      values.push_back(option.mode);
+    }
+    return values;
+  }
+
+  static std::vector<int> convertMadsSteeringModeValues(const std::vector<MadsSteeringMode> &modes) {
+    std::vector<int> values;
+    for (const auto& mode : modes) {
+      values.push_back(static_cast<int>(mode));
+    }
+    return values;
+  }
+
+  static std::vector<QString> madsSteeringModeTexts() {
+    std::vector<QString> texts;
+    for (const auto& option : madsSteeringModeOptions()) {
+      texts.push_back(option.display_text);
+    }
+    return texts;
+  }
+
+  static QString madsSteeringModeDescription(const MadsSteeringMode mode = MadsSteeringMode::REMAIN_ACTIVE) {
+    QString base_desc = tr("Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.");
+    QString result = base_desc + "<br><br>";
+
+    for (const auto& option : madsSteeringModeOptions()) {
+      QString desc = option.description;
+      if (option.mode == mode) {
+        desc = "<font color='white'><b>" + desc + "</b></font>";
+      }
+      result += desc + "<br>";
+    }
+
+    return result;
+  }
+
+  static QString madsDescriptionBuilder(const QString &custom_description, const QString &base_description) {
+    return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + base_description;
+  }
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
index 75cd13664d..ae954d7539 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.cc
@@ -64,6 +64,17 @@ LateralPanel::LateralPanel(SettingsWindowSP *parent) : QFrame(parent) {
   list->addItem(vertical_space(0));
   list->addItem(horizontal_line());
 
+  // Blinker Pause Lateral Control
+  blinkerPauseLateralSettings = new BlinkerPauseLateralSettings(
+    "BlinkerPauseLateralControl",
+    tr("Pause Lateral Control with Blinker"),
+    tr("Pause lateral control with blinker when traveling below the desired speed selected."),
+    "",
+    this);
+  list->addItem(blinkerPauseLateralSettings);
+
+  list->addItem(horizontal_line());
+
   // Neural Network Lateral Control
   nnlcToggle = new NeuralNetworkLateralControl();
   list->addItem(nnlcToggle);
@@ -122,7 +133,24 @@ void LateralPanel::updateToggles(bool _offroad) {
     toggle->setEnabled(_offroad);
   }
 
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    if (isBrandInList(CP.getBrand(), mads_limited_settings_brands)) {
+      madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY, MADS_BASE_DESC));
+    } else {
+      madsToggle->setDescription(descriptionBuilder(STATUS_MADS_SETTINGS_FULL_COMPATIBILITY, MADS_BASE_DESC));
+    }
+  } else {
+    madsToggle->setDescription(descriptionBuilder(STATUS_MADS_CHECK_COMPATIBILITY, MADS_BASE_DESC));
+  }
+
   madsSettingsButton->setEnabled(madsToggle->isToggled());
 
+  blinkerPauseLateralSettings->refresh();
+
   offroad = _offroad;
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
index 1b77939ee8..7b5e73fceb 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h
@@ -11,6 +11,7 @@
 #include <string>
 
 #include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/blinker_pause_lateral_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/mads_settings.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/neural_network_lateral_control.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral/lane_change_settings.h"
@@ -30,6 +31,7 @@ public slots:
   void updateToggles(bool _offroad);
 
 private:
+  Params params;
   QStackedLayout* main_layout = nullptr;
   QWidget* sunnypilotScreen = nullptr;
   ScrollViewSP *sunnypilotScroller = nullptr;
@@ -42,4 +44,15 @@ private:
   PushButtonSP *laneChangeSettingsButton;
   LaneChangeSettings *laneChangeWidget = nullptr;
   NeuralNetworkLateralControl *nnlcToggle = nullptr;
+  BlinkerPauseLateralSettings *blinkerPauseLateralSettings = nullptr;
+
+  const QString MADS_BASE_DESC = tr("Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).");
+
+  const QString STATUS_MADS_CHECK_COMPATIBILITY = tr("Start the vehicle to check vehicle compatibility.");
+  const QString STATUS_MADS_SETTINGS_FULL_COMPATIBILITY = tr("This platform supports all MADS settings.");
+  const QString STATUS_MADS_SETTINGS_LIMITED_COMPATIBILITY = tr("This platform supports limited MADS settings.");
+
+  static QString descriptionBuilder(const QString &custom_description, const QString &base_description) {
+    return "<font color='white'><b>" + custom_description + "</b></font><br><br>" + base_description;
+  }
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc
new file mode 100644
index 0000000000..29cadeaa62
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.cc
@@ -0,0 +1,47 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
+
+CustomAccIncrement::CustomAccIncrement(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+    : ExpandableToggleRow(param, title, desc, icon, parent) {
+  auto *accFrame = new QFrame(this);
+  auto *accFrameLayout = new QGridLayout();
+  accFrame->setLayout(accFrameLayout);
+  accFrameLayout->setSpacing(0);
+
+  auto *shortPressControl = new AccIncrementOptionControl("CustomAccShortPressIncrement", {1, 10}, 1);
+  connect(shortPressControl, &OptionControlSP::updateLabels, shortPressControl, &AccIncrementOptionControl::refresh);
+
+  auto *longPressControl = new AccIncrementOptionControl("CustomAccLongPressIncrement", {1, 3}, 1, &customLongValues);
+  connect(longPressControl, &OptionControlSP::updateLabels, longPressControl, &AccIncrementOptionControl::refresh);
+
+  shortPressControl->setFixedWidth(280);
+  longPressControl->setFixedWidth(280);
+  accFrameLayout->addWidget(shortPressControl, 0, 0, Qt::AlignLeft);
+  accFrameLayout->addWidget(longPressControl, 0, 1, Qt::AlignRight);
+
+  addItem(accFrame);
+}
+
+AccIncrementOptionControl::AccIncrementOptionControl(const QString &param, const MinMaxValue &range, const int per_value_change, const QMap<QString, QString> *valMap)
+    : OptionControlSP(param, "", "", "", range, per_value_change, true, valMap) {
+  param_name = param.toStdString();
+  refresh();
+}
+
+void AccIncrementOptionControl::refresh() {
+  std::string val = params.get(param_name);
+  std::string label = "<span style='font-size: 45px; font-weight: 450; color: #FFFFFF;'>";
+  label += param_name == "CustomAccShortPressIncrement" ? "Short Press" : "Long Press";
+  label += " <br><span style='font-size: 40px; font-weight: 450; color:rgb(174, 255, 195);'>" + val;
+  label += param_name == "CustomAccShortPressIncrement"
+             ? (val == "1" ? " (Default)" : "")
+             : (val == "5" ? " (Default)" : "");
+  label += "</span></span>";
+  setLabel(QString::fromStdString(label));
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h
new file mode 100644
index 0000000000..707d4143bc
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h
@@ -0,0 +1,41 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+class CustomAccIncrement : public ExpandableToggleRow {
+  Q_OBJECT
+
+public:
+  CustomAccIncrement(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+
+private:
+  QMap<QString, QString> customLongValues = {
+    {"1", "1"},
+    {"2", "5"}, // Default
+    {"3", "10"}
+  };
+};
+
+class AccIncrementOptionControl : public OptionControlSP {
+  Q_OBJECT
+
+public:
+  AccIncrementOptionControl(const QString &param, const MinMaxValue &range, int per_value_change, const QMap<QString, QString> *valMap = nullptr);
+  void refresh();
+
+protected:
+  std::string param_name;
+
+private:
+  Params params;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
new file mode 100644
index 0000000000..15ed10bf9a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.cc
@@ -0,0 +1,79 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
+
+LongitudinalPanel::LongitudinalPanel(QWidget *parent) : QWidget(parent) {
+  main_layout = new QStackedLayout(this);
+  ListWidget *list = new ListWidget(this, false);
+
+  cruisePanelScreen = new QWidget(this);
+  QVBoxLayout *vlayout = new QVBoxLayout(cruisePanelScreen);
+  vlayout->setContentsMargins(0, 0, 0, 0);
+
+  cruisePanelScroller = new ScrollViewSP(list, this);
+  vlayout->addWidget(cruisePanelScroller);
+
+  customAccIncrement = new CustomAccIncrement("CustomAccIncrementsEnabled", tr("Custom ACC Speed Increments"), "", "", this);
+  list->addItem(customAccIncrement);
+
+  QObject::connect(uiState(), &UIState::offroadTransition, this, &LongitudinalPanel::refresh);
+
+  main_layout->addWidget(cruisePanelScreen);
+  main_layout->setCurrentWidget(cruisePanelScreen);
+  refresh(offroad);
+}
+
+void LongitudinalPanel::showEvent(QShowEvent *event) {
+  main_layout->setCurrentWidget(cruisePanelScreen);
+  refresh(offroad);
+}
+
+void LongitudinalPanel::refresh(bool _offroad) {
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+    is_pcm_cruise = CP.getPcmCruise();
+  } else {
+    has_longitudinal_control = false;
+    is_pcm_cruise = false;
+  }
+
+  QString accEnabledDescription = tr("Enable custom Short & Long press increments for cruise speed increase/decrease.");
+  QString accNoLongDescription = tr("This feature can only be used with openpilot longitudinal control enabled.");
+  QString accPcmCruiseDisabledDescription = tr("This feature is not supported on this platform due to vehicle limitations.");
+  QString onroadOnlyDescription = tr("Start the vehicle to check vehicle compatibility.");
+
+  if (offroad) {
+    customAccIncrement->setDescription(onroadOnlyDescription);
+    customAccIncrement->showDescription();
+  } else {
+    if (has_longitudinal_control) {
+      if (is_pcm_cruise) {
+        customAccIncrement->setDescription(accPcmCruiseDisabledDescription);
+        customAccIncrement->showDescription();
+      } else {
+        customAccIncrement->setDescription(accEnabledDescription);
+      }
+    } else {
+      params.remove("CustomAccIncrementsEnabled");
+      customAccIncrement->toggleFlipped(false);
+      customAccIncrement->setDescription(accNoLongDescription);
+      customAccIncrement->showDescription();
+    }
+  }
+
+  // enable toggle when long is available and is not PCM cruise
+  customAccIncrement->setEnabled(has_longitudinal_control && !is_pcm_cruise && !offroad);
+  customAccIncrement->refresh();
+
+  offroad = _offroad;
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
new file mode 100644
index 0000000000..58e94f333b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h
@@ -0,0 +1,32 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal/custom_acc_increment.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+class LongitudinalPanel : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit LongitudinalPanel(QWidget *parent = nullptr);
+  void showEvent(QShowEvent *event) override;
+  void refresh(bool _offroad);
+
+private:
+  Params params;
+  bool has_longitudinal_control = false;
+  bool is_pcm_cruise = false;
+  bool offroad = false;
+
+  QStackedLayout *main_layout = nullptr;
+  ScrollViewSP *cruisePanelScroller = nullptr;
+  QWidget *cruisePanelScreen = nullptr;
+  CustomAccIncrement *customAccIncrement = nullptr;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
new file mode 100644
index 0000000000..44a6bd3b48
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.cc
@@ -0,0 +1,220 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include <algorithm>
+#include <QJsonDocument>
+
+#include "common/model.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+ModelsPanel::ModelsPanel(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+
+  ListWidgetSP *list = new ListWidgetSP(this);
+  ScrollViewSP *scroller = new ScrollViewSP(list, this);
+  main_layout->addWidget(scroller);
+
+  const auto current_model = GetActiveModelName();
+  currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model);
+  currentModelLblBtn->setValue(current_model);
+
+  connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &ModelsPanel::handleCurrentModelLblBtnClicked);
+  connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
+      is_onroad = !offroad;
+      updateLabels();
+    });
+  connect(uiStateSP(), &UIStateSP::uiUpdate, this, &ModelsPanel::updateLabels);
+  list->addItem(currentModelLblBtn);
+
+  // LiveDelay toggle
+  list->addItem(new ParamControlSP("LagdToggle",
+                                   tr("Live Learning Steer Delay"),
+                                   tr("Enable this for the car to learn and adapt its steering response time. "
+                                      "Disable to use a fixed steering response time. Keeping this on provides the stock openpilot experience."),
+                                   "../assets/offroad/icon_shell.png"));
+}
+
+
+/**
+ * @brief Updates the UI with bundle download progress information
+ * Reads status from modelManagerSP cereal message and displays status for all models
+ */
+void ModelsPanel::handleBundleDownloadProgress() {
+  using DS = cereal::ModelManagerSP::DownloadStatus;
+  if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) {
+    currentModelLblBtn->setDescription(tr("No custom model selected!"));
+    return;
+  }
+
+  const bool showSelectedBundle = model_manager.hasSelectedBundle() && (isDownloading() || model_manager.getSelectedBundle().getStatus() == DS::FAILED);
+  const auto &bundle = showSelectedBundle ? model_manager.getSelectedBundle() : model_manager.getActiveBundle();
+  const auto &models = bundle.getModels();
+  download_status = bundle.getStatus();
+  const auto download_status_changed = prev_download_status != download_status;
+  QStringList status;
+
+  // Get status for each model type in order
+  for (const auto &model: models) {
+    QString typeName;
+    QString modelName = QString::fromStdString(bundle.getDisplayName());
+
+    switch (model.getType()) {
+      case cereal::ModelManagerSP::Model::Type::SUPERCOMBO:
+        typeName = tr("Driving");
+        break;
+      case cereal::ModelManagerSP::Model::Type::NAVIGATION:
+        typeName = tr("Navigation");
+        break;
+      case cereal::ModelManagerSP::Model::Type::VISION:
+        typeName = tr("Vision");
+        break;
+      case cereal::ModelManagerSP::Model::Type::POLICY:
+        typeName = tr("Policy");
+        break;
+    }
+
+    const auto &progress = model.getArtifact().getDownloadProgress();
+    QString line;
+
+    if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
+      line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2);
+    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) {
+      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready"));
+    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) {
+      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready"));
+    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) {
+      line = tr("%1 model [%2] download failed").arg(typeName, modelName);
+    } else {
+      line = tr("%1 model [%2] pending...").arg(typeName, modelName);
+    }
+    status.append(line);
+  }
+
+  currentModelLblBtn->setDescription(status.join("\n"));
+
+  if (prev_download_status != download_status) {
+    switch (bundle.getStatus()) {
+      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING:
+      case cereal::ModelManagerSP::DownloadStatus::CACHED:
+      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED:
+        currentModelLblBtn->showDescription();
+        break;
+      case cereal::ModelManagerSP::DownloadStatus::FAILED:
+      default:
+        break;
+    }
+  }
+  prev_download_status = download_status;
+}
+
+/**
+ * @brief Gets the name of the currently selected model bundle
+ * @return Display name of the selected bundle or default model name
+ */
+QString ModelsPanel::GetActiveModelName() {
+  if (model_manager.hasActiveBundle()) {
+    return QString::fromStdString(model_manager.getActiveBundle().getDisplayName());
+  }
+
+  return DEFAULT_MODEL;
+}
+
+void ModelsPanel::updateModelManagerState() {
+  const SubMaster &sm = *(uiStateSP()->sm);
+  model_manager = sm["modelManagerSP"].getModelManagerSP();
+}
+
+/**
+ * @brief Handles the model bundle selection button click
+ * Displays available bundles, allows selection, and initiates download
+ */
+void ModelsPanel::handleCurrentModelLblBtnClicked() {
+  currentModelLblBtn->setEnabled(false);
+  currentModelLblBtn->setValue(tr("Fetching models..."));
+
+  // Create mapping of bundle indices to display names
+  QMap<uint32_t, QString> index_to_bundle;
+  const auto bundles = model_manager.getAvailableBundles();
+  for (const auto &bundle: bundles) {
+    index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName()));
+  }
+
+  // Sort bundles by index in descending order
+  QStringList bundleNames;
+  // Add "Default" as the first option
+  bundleNames.append(DEFAULT_MODEL);
+
+  auto indices = index_to_bundle.keys();
+  std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
+  for (const auto &index: indices) {
+    bundleNames.append(index_to_bundle[index]);
+  }
+
+  currentModelLblBtn->setValue(GetActiveModelName());
+
+  const QString selectedBundleName = MultiOptionDialog::getSelection(
+    tr("Select a Model"), bundleNames, GetActiveModelName(), this);
+
+  if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
+    return;
+  }
+
+  // Handle "Stock" selection differently
+  if (selectedBundleName == DEFAULT_MODEL) {
+    params.remove("ModelManager_ActiveBundle");
+    currentModelLblBtn->setValue(tr("Default"));
+    showResetParamsDialog();
+  } else {
+    // Find selected bundle and initiate download
+    for (const auto &bundle: bundles) {
+      if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
+        params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
+        if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
+          showResetParamsDialog();
+        }
+        break;
+      }
+    }
+  }
+
+  updateLabels();
+}
+
+/**
+ * @brief Updates the UI elements based on current state
+ */
+void ModelsPanel::updateLabels() {
+  if (!isVisible()) {
+    return;
+  }
+
+  updateModelManagerState();
+  handleBundleDownloadProgress();
+  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
+  currentModelLblBtn->setValue(GetActiveModelName());
+}
+
+/**
+ * @brief Shows dialog prompting user to reset calibration after model download
+ */
+void ModelsPanel::showResetParamsDialog() {
+  const auto confirmMsg = QString("%1<br><br><b>%2</b><br><br><b>%3</b>")
+                          .arg(tr("Model download has started in the background."))
+                          .arg(tr("We STRONGLY suggest you to reset calibration."))
+                          .arg(tr("Would you like to do that now?"));
+  const auto button_text = tr("Reset Calibration");
+
+  QString content("<body><h2 style=\"text-align: center;\">" + tr("Driving Model Selector") + "</h2><br>"
+                  "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + confirmMsg + "</p></body>");
+
+  if (showConfirmationDialog(content, button_text, false)) {
+    params.remove("CalibrationParams");
+    params.remove("LiveTorqueParameters");
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
new file mode 100644
index 0000000000..4ba526651e
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h
@@ -0,0 +1,64 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+
+class ModelsPanel : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit ModelsPanel(QWidget *parent = nullptr);
+
+private:
+  QString GetActiveModelName();
+  void updateModelManagerState();
+
+  bool isDownloading() const {
+    if (!model_manager.hasSelectedBundle()) {
+        return false;
+    }
+
+    const auto &selected_bundle = model_manager.getSelectedBundle();
+    return selected_bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING;
+  }
+
+  // UI update related methods
+  void updateLabels();
+  void handleCurrentModelLblBtnClicked();
+  void handleBundleDownloadProgress();
+  void showResetParamsDialog();
+  cereal::ModelManagerSP::Reader model_manager;
+  cereal::ModelManagerSP::DownloadStatus download_status{};
+  cereal::ModelManagerSP::DownloadStatus prev_download_status{};
+
+  bool canContinueOnMeteredDialog() {
+    if (!is_metered) return true;
+    return showConfirmationDialog(QString(), QString(), is_metered);
+  }
+
+  inline bool showConfirmationDialog(const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) {
+    return showConfirmationDialog(this, message, confirmButtonText, show_metered_warning);
+  }
+
+  static inline bool showConfirmationDialog(QWidget *parent, const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) {
+    const QString warning_message = show_metered_warning ? tr("Warning: You are on a metered connection!") : QString();
+    const QString final_message = QString("%1%2").arg(!message.isEmpty() ? message + "\n" : QString(), warning_message);
+    const QString final_buttonText = !confirmButtonText.isEmpty() ? confirmButtonText : QString(tr("Continue") + " %1").arg(show_metered_warning ? tr("on Metered") : "");
+
+    return ConfirmationDialog(final_message, final_buttonText, tr("Cancel"), true, parent).exec();
+  }
+
+  bool is_metered{};
+  bool is_wifi{};
+  bool is_onroad = false;
+
+  ButtonControlSP *currentModelLblBtn;
+  Params params;
+
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h
new file mode 100644
index 0000000000..32d169ad15
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h
@@ -0,0 +1,63 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <algorithm>  // for std::sort
+#include <deque>
+#include <vector>
+#include <tuple>
+
+#include <QDir>
+#include <QJsonObject>
+
+#include "selfdrive/ui/sunnypilot/qt/common/json_fetcher.h"
+
+static const std::tuple<QString, QString> defaultLocation = std::make_tuple("== None ==", "");
+
+// New class LocationsFetcher that handles web requests and JSON parsing
+class LocationsFetcher {
+public:
+  inline std::vector<std::tuple<QString, QString, QString, QString> >
+  getLocationsFromURL(const QUrl &url, const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    // Initialize an empty vector to hold the locations
+    std::vector<std::tuple<QString, QString, QString, QString> > locations;
+
+    JsonFetcher fetcher;
+    QJsonObject json = fetcher.getJsonFromURL(url.toString());
+
+    for (auto it = json.begin(); it != json.end(); ++it) {
+      QString code = it.key();
+      QJsonObject obj = it.value().toObject();
+      QString fullName = obj["full_name"].toString();
+
+      locations.push_back(std::make_tuple(fullName, code, QString(), QString()));
+    }
+    // Sort locations by full name
+    std::sort(locations.begin(), locations.end(), [](const auto &lhs, const auto &rhs) {
+      return std::get<0>(lhs) < std::get<0>(rhs); // Compare full names
+    });
+    // Optionally, you can now add defaultName entry at the beginning
+    locations.insert(locations.begin(), std::tuple_cat(customLocation, std::make_tuple("", "")));
+    return locations;
+  }
+
+  inline std::vector<std::tuple<QString, QString, QString, QString> >
+  getLocationsFromURL(const QString &url, const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return getLocationsFromURL(QUrl(url), customLocation);
+  }
+
+  inline std::vector<std::tuple<QString, QString, QString, QString> >
+  getOsmLocations(const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return getLocationsFromURL( "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/nation_bounding_boxes.json", customLocation);
+  }
+
+  inline std::vector<std::tuple<QString, QString, QString, QString> >
+  getUsStatesLocations(const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return getLocationsFromURL( "https://raw.githubusercontent.com/pfeiferj/openpilot-mapd/main/us_states_bounding_boxes.json", customLocation);
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc
new file mode 100644
index 0000000000..b67e41e09d
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.cc
@@ -0,0 +1,158 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h"
+
+#include <QThread>
+
+ModelsFetcher::ModelsFetcher(QObject *parent) : QObject(parent) {
+  manager = new QNetworkAccessManager(this);
+}
+
+QByteArray ModelsFetcher::verifyFileHash(const QString &filePath, const QString &expectedHash, bool &hashMatches) {
+  hashMatches = false; // Default to false
+  QByteArray fileData;
+
+  if (expectedHash.isEmpty()) {
+    // If no hash is provided, assume verification isn't required but return the file data
+    hashMatches = true;
+  } else {
+    QFile file(filePath);
+    if (file.open(QIODevice::ReadOnly)) {
+      QCryptographicHash hash(QCryptographicHash::Sha256); // Or your chosen algorithm
+      fileData = file.readAll(); // Read the file data once
+      hash.addData(fileData);
+      file.close();
+
+      QString currentHash = QString(hash.result().toHex());
+      hashMatches = (currentHash == expectedHash);
+    }
+  }
+
+  // Return the file data if hash matches or no hash was provided; empty otherwise
+  return hashMatches ? fileData : QByteArray();
+}
+
+
+void ModelsFetcher::download(const DownloadInfo &downloadInfo, const QString &filename, const QString &destinationPath) {
+  QString fullPath = destinationPath + "/" + filename;
+  QFileInfo fileInfo(fullPath);
+  bool hashMatches = false;
+  QByteArray data = verifyFileHash(fullPath, downloadInfo.sha256, hashMatches);
+
+  if (fileInfo.exists() && hashMatches) {
+    // Hash matches or no hash provided, and we have the file data
+    LOGD("File already downloaded and verified: %s", filename.toStdString().c_str());
+    emit downloadProgress(100);
+    emit downloadComplete(data, true); // Use the data returned from verifyFileHash
+    return; // Exit early
+  }
+
+  // Proceed with download if file does not exist or hash verification failed
+  QNetworkRequest request(downloadInfo.url);
+  QNetworkReply *reply = manager->get(request);
+  connect(reply, &QNetworkReply::downloadProgress, this, &ModelsFetcher::onDownloadProgress);
+  connect(reply, &QNetworkReply::finished, this, [this, reply, destinationPath, filename, downloadInfo]() {
+    onFinished(reply, destinationPath, filename, downloadInfo.sha256);
+  });
+}
+
+QString extractFileName(const QString &contentDisposition) {
+  const QString filenameTag = "filename=";
+  const int idx = contentDisposition.indexOf(filenameTag);
+  if (idx < 0) {
+    return QString();
+  }
+
+  QString filename = contentDisposition.mid(idx + filenameTag.length());
+  if (filename.startsWith("\"") && filename.endsWith("\"")) {
+    return filename.mid(1, filename.size() - 2);
+  }
+
+  return filename;
+}
+
+void ModelsFetcher::onFinished(QNetworkReply *reply, const QString &destinationPath, const QString &filename, const QString &expectedHash) {
+  // Handle download error
+  if (reply->error()) {
+    return; // Possibly emit a signal or log an error as per your error handling policy
+  }
+
+  const QByteArray data = reply->readAll();
+
+  QString finalFilename = filename;
+  if (finalFilename.isEmpty()) {
+    finalFilename = extractFileName(reply->header(QNetworkRequest::ContentDispositionHeader).toString());
+  }
+
+  QString finalPath = QDir(destinationPath).filePath(finalFilename);
+
+  // Save the downloaded file
+  QFile file(finalPath);
+  //ensure if the path exists and if not create it 
+  if (!QDir().mkpath(destinationPath)) {
+    LOGE("Unable to create directory: %s", destinationPath.toStdString().c_str());
+    emit downloadFailed(filename);
+    return; // Stop further processing
+  }
+
+  //Retry the file open and write 3 times with a little delay between each retry
+  for (int i = 0; i < 3; i++) {
+    if (file.isOpen()) break;
+
+    file.open(QIODevice::WriteOnly);
+    if (!file.isOpen()) QThread::msleep(100);
+  }
+
+  // If the file is still not open, log an error and emit a failure signal
+  if (!file.isOpen()) {
+    LOGE("Unable to open file for writing: %s", finalPath.toStdString().c_str());
+    emit downloadFailed(filename);
+    return; // Stop further processing
+  }
+
+  file.write(data);
+  file.close();
+
+  bool hashMatches = false;
+  verifyFileHash(finalPath, expectedHash, hashMatches);
+
+  // Verify the file hash if expectedHash is provided
+  if (!expectedHash.isEmpty() && !hashMatches) {
+    LOGE("The downloaded file didn't pass the hash validation!: %s", filename.toStdString().c_str());
+    // Hash verification failed, handle accordingly
+    // This could involve deleting the file, logging an error, or emitting a failure signal
+    QFile::remove(finalPath); // Example action: Remove the invalid file
+    emit downloadFailed(filename);
+    return; // Stop further processing
+  }
+
+  emit downloadComplete(data, false); // Emit your success signal
+}
+
+void ModelsFetcher::onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal) {
+  const double progress = (bytesReceived * 100.0) / bytesTotal;
+  emit downloadProgress(progress);
+}
+
+std::vector<Model> ModelsFetcher::getModelsFromURL(const QUrl &url) {
+  std::vector<Model> models;
+  JsonFetcher fetcher;
+  QJsonObject json = fetcher.getJsonFromURL(url.toString());
+  for (auto it = json.begin(); it != json.end(); ++it) {
+    models.push_back(Model(it.value().toObject()));
+  }
+  return models;
+}
+
+std::vector<Model> ModelsFetcher::getModelsFromURL(const QString &url) {
+  return getModelsFromURL(QUrl(url));
+}
+
+std::vector<Model> ModelsFetcher::getModelsFromURL() {
+  return getModelsFromURL("https://docs.sunnypilot.ai/models_v5.json");
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h
new file mode 100644
index 0000000000..73890e9d5a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm/models_fetcher.h
@@ -0,0 +1,143 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <algorithm>  // for std::sort
+#include <cassert>
+#include <deque>
+#include <vector>
+
+#include <QDir>
+#include <QJsonObject>
+#include <QTimer>
+
+#include "common/swaglog.h"
+#include "common/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/qt/common/json_fetcher.h"
+#ifdef SUNNYPILOT
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#else
+#include "selfdrive/ui/qt/widgets/controls.h"
+#endif
+#include "system/hardware/hw.h"
+
+static const QString MODELS_PATH = Hardware::PC() ? QDir::homePath() + "/.comma/media/0/models/" : "/data/media/0/models/";
+
+struct DownloadInfo {
+  QString url;
+  QString sha256;
+};
+
+// New class ModelsFetcher with a new function that handles web requests and JSON parsing for the new JSON structure
+class Model {
+public:
+  explicit Model(const QJsonObject &json) {
+    displayName = json["display_name"].toString();
+    fullName = json["full_name"].toString();
+    fileName = json["file_name"].toString();
+
+    // Parse downloadUri as an object
+    QJsonObject downloadUriObj = json["download_uri"].toObject();
+    downloadUri.url = downloadUriObj["url"].toString();
+    downloadUri.sha256 = downloadUriObj["sha256"].toString();
+
+    fullNameNav = json["full_name_nav"].toString();
+    fileNameNav = json["file_name_nav"].toString();
+
+    // Parse downloadUriNav as an object
+    QJsonObject downloadUriNavObj = json["download_uri_nav"].toObject();
+    downloadUriNav.url = downloadUriNavObj["url"].toString();
+    downloadUriNav.sha256 = downloadUriNavObj["sha256"].toString();
+
+    fullNameMetadata = json["full_name_metadata"].toString();
+    fileNameMetadata = json["file_name_metadata"].toString();
+
+    // Parse downloadUriMetadata as an object
+    QJsonObject downloadUriMetadataObj = json["download_uri_metadata"].toObject();
+    downloadUriMetadata.url = downloadUriMetadataObj["url"].toString();
+    downloadUriMetadata.sha256 = downloadUriMetadataObj["sha256"].toString();
+
+    index = json["index"].toString();
+    environment = json["environment"].toString();
+    generation = json["generation"].toString();
+  }
+
+  // Method to convert model back to QJsonObject, if needed
+  QJsonObject toJson() const {
+    QJsonObject json;
+    json["display_name"] = displayName;
+    json["full_name"] = fullName;
+    json["file_name"] = fileName;
+
+    QJsonObject uriObj;
+    uriObj["url"] = downloadUri.url;
+    uriObj["sha256"] = downloadUri.sha256;
+    json["download_uri"] = uriObj;
+
+    QJsonObject uriNavObj;
+    uriNavObj["url"] = downloadUriNav.url;
+    uriNavObj["sha256"] = downloadUriNav.sha256;
+    json["download_uri_nav"] = uriNavObj;
+
+    QJsonObject uriMetadataObj;
+    uriMetadataObj["url"] = downloadUriMetadata.url;
+    uriMetadataObj["sha256"] = downloadUriMetadata.sha256;
+    json["download_uri_metadata"] = uriMetadataObj;
+
+    json["full_name_nav"] = fullNameNav;
+    json["file_name_nav"] = fileNameNav;
+    json["full_name_metadata"] = fullNameMetadata;
+    json["file_name_metadata"] = fileNameMetadata;
+    json["index"] = index;
+    json["environment"] = environment;
+    json["generation"] = generation;
+    return json;
+  }
+
+  QString displayName;
+  QString fullName;
+  QString fileName;
+  DownloadInfo downloadUri;
+  DownloadInfo downloadUriNav;
+  DownloadInfo downloadUriMetadata;
+
+  QString fullNameNav;
+  QString fileNameNav;
+  QString fullNameMetadata;
+  QString fileNameMetadata;
+  QString index;
+  QString environment;
+  QString generation;
+};
+
+class ModelsFetcher : public QObject {
+  Q_OBJECT
+
+public:
+  explicit ModelsFetcher(QObject *parent = nullptr);
+  void download(const DownloadInfo &url, const QString &filename = "", const QString &destinationPath = MODELS_PATH);
+  static std::vector<Model> getModelsFromURL(const QUrl &url);
+  static std::vector<Model> getModelsFromURL(const QString &url);
+  static std::vector<Model> getModelsFromURL();
+
+signals:
+  void downloadProgress(double percentage);
+  void downloadComplete(const QByteArray &data, bool fromCache = false);
+  void downloadFailed(const QString &filename);
+
+private:
+  //  static bool verifyFileHash(const QString& filePath, const QString& expectedHash);
+  static QByteArray verifyFileHash(const QString &filePath, const QString &expectedHash, bool &hashMatches);
+  void onDownloadProgress(qint64 bytesReceived, qint64 bytesTotal);
+  void onFinished(QNetworkReply *reply, const QString &destinationPath, const QString &filename,
+                  const QString &expectedHash);
+
+  QNetworkAccessManager *manager;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc
new file mode 100644
index 0000000000..332fd71a18
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.cc
@@ -0,0 +1,283 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h"
+
+#include <tuple>
+#include <vector>
+#include <string>
+
+#include "common/swaglog.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+OsmPanel::OsmPanel(QWidget *parent) : QFrame(parent) {
+  main_layout = new QStackedLayout(this);
+
+  const auto list = new ListWidgetSP(this, false);
+  list->addItem(mapdVersion = new LabelControlSP(tr("Mapd Version"), "Loading..."));
+  list->addItem(setupOsmDeleteMapsButton(parent));
+  list->addItem(offlineMapsETA = new LabelControlSP(tr("Offline Maps ETA"), ""));
+  list->addItem(offlineMapsElapsed = new LabelControlSP(tr("Time Elapsed"), ""));
+  list->addItem(setupOsmUpdateButton(parent));
+  list->addItem(setupOsmDownloadButton(parent));
+  list->addItem(setupUsStatesButton(parent));
+
+  connect(uiStateSP(), &UIStateSP::offroadTransition, [=](bool offroad) {
+    updateLabels();
+  });
+
+  timer = new QTimer(this);
+  connect(timer, &QTimer::timeout, this, QOverload<>::of(&OsmPanel::updateLabels));
+  timer->start(FAST_REFRESH_INTERVAL); // Time specified in milliseconds.
+  updateLabels();
+
+  osmScreen = new QWidget(this);
+  auto *vlayout = new QVBoxLayout(osmScreen);
+  vlayout->setContentsMargins(50, 20, 50, 20);
+  vlayout->addWidget(new ScrollViewSP(list, this), 1);
+  main_layout->addWidget(osmScreen);
+}
+
+ButtonControlSP *OsmPanel::setupOsmDeleteMapsButton(QWidget *parent) {
+  osmDeleteMapsBtn = new ButtonControlSP(tr("Downloaded Maps"), tr("DELETE")); // Updated on updateLabels()
+  connect(osmDeleteMapsBtn, &ButtonControlSP::clicked, [=]() {
+    if (showConfirmationDialog(parent, tr("This will delete ALL downloaded maps\n\nAre you sure you want to delete all the maps?"), tr("Yes, delete all the maps."))) {
+      QtConcurrent::run([=]() {
+        QDir dir(MAP_PATH);
+        osmDeleteMapsBtn->setEnabled(false);
+        osmDeleteMapsBtn->setText("⌛");
+        dir.removeRecursively();
+        updateMapSize();
+        osmDeleteMapsBtn->setEnabled(true);
+        osmDeleteMapsBtn->setText(tr("DELETE"));
+      });
+      updateLabels();
+    }
+  });
+  return osmDeleteMapsBtn;
+}
+
+ButtonControlSP *OsmPanel::setupOsmUpdateButton(QWidget *parent) {
+  osmUpdateBtn = new ButtonControlSP(tr("Database Update"), tr("CHECK")); // Updated on updateLabels()
+  connect(osmUpdateBtn, &ButtonControlSP::clicked, [=]() {
+    if (osm_download_in_progress && !download_failed_state) {
+      updateLabels();
+    } else if (showConfirmationDialog(parent)) {
+      osm_download_in_progress = true;
+      params.putBool("OsmDbUpdatesCheck", true);
+      updateLabels();
+    }
+  });
+  return osmUpdateBtn;
+}
+
+ButtonControlSP *OsmPanel::setupOsmDownloadButton(QWidget *parent) {
+  osmDownloadBtn = new ButtonControlSP(tr("Country"), tr("SELECT"));
+  connect(osmDownloadBtn, &ButtonControlSP::clicked, [=]() {
+    osmDownloadBtn->setEnabled(false);
+    osmDownloadBtn->setValue(tr("Fetching Country list..."));
+    const std::vector<std::tuple<QString, QString, QString, QString> > locations = getOsmLocations();
+    osmDownloadBtn->setEnabled(true);
+    osmDownloadBtn->setValue("");
+    const QString initTitle = QString::fromStdString(params.get("OsmLocationTitle"));
+    const QString currentTitle = ((initTitle == "== None ==") || (initTitle.length() == 0)) ? "== None ==" : initTitle;
+
+    QStringList locationTitles;
+    for (auto &loc: locations) {
+      locationTitles.push_back(std::get<0>(loc));
+    }
+
+    const QString selection = MultiOptionDialog::getSelection(tr("Country"), locationTitles, currentTitle, this);
+    if (!selection.isEmpty()) {
+      params.put("OsmLocal", "1");
+      params.put("OsmLocationTitle", selection.toStdString());
+      for (auto &loc: locations) {
+        if (std::get<0>(loc) == selection) {
+          params.put("OsmLocationName", std::get<1>(loc).toStdString());
+          break;
+        }
+      }
+      if (params.get("OsmLocationName") == "US") {
+        usStatesBtn->click();
+        return;
+      } else if (selection != "== None ==") {
+        if (showConfirmationDialog(parent)) {
+          osm_download_in_progress = true;
+          params.putBool("OsmDbUpdatesCheck", true);
+          updateLabels();
+        }
+      }
+    }
+    updateLabels();
+  });
+  return osmDownloadBtn;
+}
+
+ButtonControlSP *OsmPanel::setupUsStatesButton(QWidget *parent) {
+  usStatesBtn = new ButtonControlSP(tr("State"), tr("SELECT"));
+  connect(usStatesBtn, &ButtonControlSP::clicked, [=]() {
+    const std::tuple<QString, QString> allStatesOption = std::make_tuple("All States (~4.8 GB)", "All");
+    usStatesBtn->setEnabled(false);
+    usStatesBtn->setValue(tr("Fetching State list..."));
+    const std::vector<std::tuple<QString, QString, QString, QString> > locations =
+        getUsStatesLocations(allStatesOption);
+    usStatesBtn->setEnabled(true);
+    usStatesBtn->setValue("");
+    const QString initTitle = QString::fromStdString(params.get("OsmStateTitle"));
+    const QString currentTitle = ((initTitle == std::get<0>(allStatesOption)) || (initTitle.length() == 0)) ? tr("All") : initTitle;
+
+    QStringList locationTitles;
+    for (auto &loc: locations) {
+      locationTitles.push_back(std::get<0>(loc));
+    }
+
+    const QString selection = MultiOptionDialog::getSelection(tr("State"), locationTitles, currentTitle, this);
+    if (!selection.isEmpty()) {
+      params.put("OsmStateTitle", selection.toStdString());
+      for (auto &loc: locations) {
+        if (std::get<0>(loc) == selection) {
+          params.put("OsmStateName", std::get<1>(loc).toStdString());
+          break;
+        }
+      }
+      usStatesBtn->setValue(selection);
+      if (showConfirmationDialog(parent)) {
+        osm_download_in_progress = true;
+        params.putBool("OsmDbUpdatesCheck", true);
+        updateLabels();
+      }
+    }
+    updateLabels();
+  });
+  usStatesBtn->setVisible(false); // initially hidden
+  return usStatesBtn;
+}
+
+void OsmPanel::showEvent(QShowEvent *event) {
+  updateLabels(); // For snappier feeling
+  if (!timer->isActive()) {
+    timer->start(FAST_REFRESH_INTERVAL);
+  }
+}
+
+void OsmPanel::hideEvent(QHideEvent *event) {
+  if (timer->isActive()) {
+    timer->stop();
+  }
+}
+
+
+void OsmPanel::updateLabels() {
+  if (!isVisible()) {
+    return;
+  }
+  mapd_version = params.get("MapdVersion");
+  mapdVersion->setText(mapd_version.c_str());
+
+  updateMapSize();
+  osm_download_locations = mem_params.get("OSMDownloadLocations");
+  osm_download_in_progress = !osm_download_locations.empty();
+
+  timer->setInterval(osm_download_in_progress ? FAST_REFRESH_INTERVAL : SLOW_REFRESH_INTERVAL);
+  LOGT("Timer Interval %d", timer->interval());
+
+  const std::string osmLastDownloadTimeStr = params.get("OsmDownloadedDate");
+  if (!lastDownloadedTimePoint.has_value() && !osmLastDownloadTimeStr.empty()) {
+    const double osmLastDownloadTime = std::stod(osmLastDownloadTimeStr);
+    lastDownloadedTimePoint = std::chrono::system_clock::from_time_t(static_cast<std::time_t>(osmLastDownloadTime));
+  }
+
+  osmDownloadBtn->setEnabled(!osm_download_in_progress);
+  usStatesBtn->setEnabled(!osm_download_in_progress);
+
+  updateDownloadProgress();
+
+  const QString locationName = QString::fromStdString(params.get("OsmLocationName"));
+  const bool isUs = !locationName.isEmpty() && locationName == "US";
+  usStatesBtn->setVisible(isUs);
+
+  if (!locationName.isEmpty()) {
+    if (!isUs) {
+      params.remove("OsmStateName");
+      params.remove("OsmStateTitle");
+    }
+    osmUpdateBtn->setVisible(true);
+  } else {
+    params.remove("OsmLocal");
+    params.remove("OsmLocationName");
+    params.remove("OsmLocationTitle");
+    params.remove("OsmStateName");
+    params.remove("OsmStateTitle");
+    osmUpdateBtn->setVisible(false);
+    usStatesBtn->setVisible(false);
+  }
+
+  osmDownloadBtn->setValue(QString::fromStdString(params.get("OsmLocationTitle")));
+  usStatesBtn->setValue(QString::fromStdString(params.get("OsmStateTitle")));
+  update();
+}
+
+void OsmPanel::updateDownloadProgress() {
+  const auto pending_update_check = params.getBool("OsmDbUpdatesCheck");
+  const QJsonObject osmDownloadProgress = QJsonDocument::fromJson(params.get("OSMDownloadProgress").c_str()).object();
+  if (osm_download_in_progress && lastDownloadedTimePoint.has_value()) {
+    offlineMapsETA->setVisible(true);
+    offlineMapsElapsed->setVisible(true);
+    offlineMapsETA->setText(calculateETA(osmDownloadProgress, lastDownloadedTimePoint.value()));
+    offlineMapsElapsed->setText(calculateElapsedTime(osmDownloadProgress, lastDownloadedTimePoint.value()));
+  } else {
+    offlineMapsETA->setVisible(false);
+    offlineMapsElapsed->setVisible(false);
+  }
+
+  const int total_files = extractIntFromJson(osmDownloadProgress, "total_files");
+  const int downloaded_files = extractIntFromJson(osmDownloadProgress, "downloaded_files");
+  download_failed_state = total_files && osm_download_in_progress && !lastDownloadedTimePoint.has_value() && downloaded_files < total_files;
+
+  QString updateButtonText = processUpdateStatus(pending_update_check, total_files, downloaded_files, osmDownloadProgress, download_failed_state);
+
+  osmUpdateBtn->setValue(updateButtonText);
+  osmUpdateBtn->setText(osm_download_in_progress && !download_failed_state ? tr("REFRESH") : tr("UPDATE"));
+  osmDeleteMapsBtn->setValue(formatSize(mapsDirSize));
+}
+
+int OsmPanel::extractIntFromJson(const QJsonObject &json, const QString &key) {
+  return (json.contains(key)) ? json[key].toInt() : 0;
+}
+
+QString OsmPanel::processUpdateStatus(bool pending_update, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state) {
+  if (pending_update && !osm_download_in_progress && !total_files) {
+    lastDownloadedTimePoint.reset();
+    return tr("Download starting...");
+  } else if (failed_state) {
+    return tr("Error: Invalid download. Retry.");
+  } else if (osm_download_in_progress && total_files > downloaded_files) {
+    return formatDownloadStatus(json);
+  } else if (osm_download_in_progress && downloaded_files >= total_files) {
+    osm_download_in_progress = false;
+    lastDownloadedTimePoint.reset();
+    return tr("Download complete!");
+  }
+
+  if (lastDownloadedTimePoint.has_value()) {
+    QDateTime dateTime = QDateTime::fromTime_t(std::chrono::system_clock::to_time_t(lastDownloadedTimePoint.value())); //fromMSecsSinceEpoch(duration);
+    dateTime = dateTime.toLocalTime();
+    return QString("%1").arg(dateTime.toString("yyyy-MM-dd HH:mm:ss"));
+  }
+
+  return "";
+}
+
+void OsmPanel::updateMapSize() {
+  if (mapSizeFuture.has_value() && mapSizeFuture.value().isFinished()) {
+    mapsDirSize = mapSizeFuture.value().result();
+  }
+
+  if (!mapSizeFuture.has_value() || !mapSizeFuture.value().isRunning()) {
+    mapSizeFuture = QtConcurrent::run(getDirSize, MAP_PATH);
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h
new file mode 100644
index 0000000000..171129a11c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h
@@ -0,0 +1,232 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include <deque>
+#include <chrono>
+#include <map>
+#include <optional>
+#include <string>
+#include <tuple>
+#include <vector>
+#include <QDir>
+#include <QFileInfo>
+#include <QtConcurrent/QtConcurrent>
+
+#include "selfdrive/ui/qt/network/wifi_manager.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm/locations_fetcher.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "system/hardware/hw.h"
+
+constexpr int FAST_REFRESH_INTERVAL = 1000; // ms
+constexpr int SLOW_REFRESH_INTERVAL = 5000; // ms
+
+static const QString MAP_PATH = Hardware::PC() ? QDir::homePath() + "/.comma/media/0/osm/offline/" : "/data/media/0/osm/offline/";
+
+class OsmPanel : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit OsmPanel(QWidget *parent = nullptr);
+
+private:
+  QStackedLayout *main_layout = nullptr;
+  QWidget *osmScreen = nullptr;
+  Params params;
+  Params mem_params{Hardware::PC() ? "" : "/dev/shm/params"};
+  std::map<std::string, ParamControlSP *> toggles;
+  std::optional<QFuture<quint64> > mapSizeFuture;
+  const SubMaster &sm = *uiStateSP()->sm;
+
+
+  bool is_onroad = false;
+  std::string mapd_version;
+
+  bool isWifi() const { return sm["deviceState"].getDeviceState().getNetworkType() == cereal::DeviceState::NetworkType::WIFI; }
+  bool isMetered() const { return sm["deviceState"].getDeviceState().getNetworkMetered(); }
+  bool osm_download_in_progress = false;
+  bool download_failed_state = false;
+  quint64 mapsDirSize = 0;
+
+  QLabel *osmUpdateLbl;
+  ButtonControlSP *osmDownloadBtn;
+  ButtonControlSP *osmUpdateBtn;
+  ButtonControlSP *usStatesBtn;
+  ButtonControlSP *osmDeleteMapsBtn;
+
+  ButtonControlSP *setupOsmDeleteMapsButton(QWidget *parent);;
+  ButtonControlSP *setupOsmUpdateButton(QWidget *parent);
+  ButtonControlSP *setupOsmDownloadButton(QWidget *parent);
+  ButtonControlSP *setupUsStatesButton(QWidget *parent);
+
+  QTimer *timer;
+  std::string osm_download_locations;
+  //  void updateButtonControlSP(ButtonControlSP *btnControl, QWidget *parent, const QString &initTitle, const QString &allStatesOption);
+
+  void showEvent(QShowEvent *event) override;
+  void hideEvent(QHideEvent *event) override;
+  void updateLabels();
+  void updateDownloadProgress();
+  static int extractIntFromJson(const QJsonObject &json, const QString &key);
+  QString processUpdateStatus(bool pending_update_check, int total_files, int downloaded_files, const QJsonObject &json, bool failed_state);
+
+  ConfirmationDialog *confirmationDialog;
+  LabelControlSP *mapdVersion;
+  LabelControlSP *offlineMapsStatus;
+  LabelControlSP *offlineMapsETA;
+  LabelControlSP *offlineMapsElapsed;
+  std::optional<std::chrono::system_clock::time_point> lastDownloadedTimePoint;
+  LocationsFetcher locationsFetcher;
+
+  void updateMapSize();
+
+  bool showConfirmationDialog(QWidget *parent,
+                              const QString &message = QString(),
+                              const QString &confirmButtonText = QString()) const {
+    const auto _is_metered = isMetered();
+    const QString warning_message = _is_metered ? tr("\n\nWarning: You are on a metered connection!") : QString();
+    QString final_message = message.isEmpty() ? tr("This will start the download process and it might take a while to complete.") : message;
+    final_message += warning_message; // Append the warning message if the connection is metered
+
+    const QString final_buttonText = confirmButtonText.isEmpty() ? (_is_metered ? tr("Continue on Metered") : tr("Start Download")) : confirmButtonText;
+
+    return ConfirmationDialog::confirm(final_message, final_buttonText, parent);
+  }
+
+  // Refactored methods
+  std::vector<std::tuple<QString, QString, QString, QString> > getOsmLocations(const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return locationsFetcher.getOsmLocations(customLocation);
+  }
+
+  std::vector<std::tuple<QString, QString, QString, QString> > getUsStatesLocations(const std::tuple<QString, QString> &customLocation = defaultLocation) const {
+    return locationsFetcher.getUsStatesLocations(customLocation);
+  }
+
+  static QString formatTime(const long timeInSeconds) {
+    const long minutes = timeInSeconds / 60;
+    const long seconds = timeInSeconds % 60;
+
+    QString formattedTime;
+    if (minutes > 0) {
+      formattedTime = QString::number(minutes) + tr("m ");
+    }
+    formattedTime += QString::number(seconds) + tr("s");
+    return formattedTime;
+  }
+
+  static QString calculateElapsedTime(const QJsonObject &jsonData, const std::chrono::system_clock::time_point &startTime) {
+    using namespace std::chrono;
+    if (!jsonData.contains("total_files") || !jsonData.contains("downloaded_files"))
+      return tr("Calculating...");
+
+    const int totalFiles = jsonData["total_files"].toInt();
+    const int downloadedFiles = jsonData["downloaded_files"].toInt();
+
+    if (downloadedFiles >= totalFiles || totalFiles <= 0) return tr("Downloaded");
+
+    const long elapsed = duration_cast<seconds>(system_clock::now() - startTime).count();
+
+    if (elapsed == 0 || downloadedFiles == 0) return tr("Calculating...");
+
+    return formatTime(elapsed);
+  }
+
+  static QString calculateETA(const QJsonObject &jsonData, const std::chrono::system_clock::time_point &startTime) {
+    using namespace std::chrono;
+    static steady_clock::time_point lastUpdateTime = steady_clock::now();
+    static std::deque<double> rateHistory;
+
+    constexpr int minDataPoints = 3;
+    constexpr int historySize = 10;
+
+    static QString lastETA = tr("Calculating ETA...");
+
+    if (duration_cast<seconds>(steady_clock::now() - lastUpdateTime).count() < 1) {
+      return lastETA;
+    }
+
+    if (!jsonData.contains("total_files") || !jsonData.contains("downloaded_files"))
+      return lastETA;
+
+    const int totalFiles = jsonData["total_files"].toInt();
+    const int downloadedFiles = jsonData["downloaded_files"].toInt();
+
+    if (totalFiles <= 0 || downloadedFiles >= totalFiles) {
+      return totalFiles <= 0 ? tr("Ready") : tr("Downloaded");
+    }
+
+    const long elapsed = duration_cast<seconds>(system_clock::now() - startTime).count();
+    if (elapsed == 0 || downloadedFiles == 0) return lastETA;
+
+    const double rate = downloadedFiles / static_cast<double>(elapsed);
+    if (rateHistory.size() >= historySize) rateHistory.pop_front();
+    rateHistory.push_back(rate);
+
+    if (rateHistory.size() < minDataPoints) return lastETA;
+
+    double weightedSum = 0;
+    for (int i = 0, weight = 1; i < rateHistory.size(); ++i, ++weight) {
+      weightedSum += rateHistory[i] * weight;
+    }
+    const double avgRate = 2 * weightedSum / (rateHistory.size() * (rateHistory.size() + 1));
+
+    const long remainingTime = static_cast<long>((totalFiles - downloadedFiles) / avgRate);
+    if (remainingTime <= 0) return lastETA;
+
+    lastETA = tr("Time remaining: ") + formatTime(remainingTime);
+    lastUpdateTime = steady_clock::now();
+    return lastETA;
+  }
+
+  static QString formatDownloadStatus(const QJsonObject &json) {
+    if (!json.contains("total_files") || !json.contains("downloaded_files"))
+      return "";
+
+    const int total_files = json["total_files"].toInt();
+    const int downloaded_files = json["downloaded_files"].toInt();
+
+    if (total_files <= 0) return tr("Ready");
+    if (downloaded_files >= total_files) return tr("Downloaded");
+
+    const int percentage = static_cast<int>(100.0 * downloaded_files / total_files);
+    return QString::asprintf("%d/%d (%d%%)", downloaded_files, total_files, percentage);
+  }
+
+  QString formatSize(quint64 size) const {
+    if (size == 0 && (!mapSizeFuture.has_value() || mapSizeFuture.value().isRunning())) {
+      return tr("Calculating...");
+    }
+
+    constexpr qint64 kb = 1024;
+    constexpr qint64 mb = 1024 * kb;
+    constexpr qint64 gb = 1024 * mb;
+
+    if (size < gb) {
+      const double sizeMB = size / static_cast<double>(mb);
+      return QString::number(sizeMB, 'f', 2) + " MB";
+    } else {
+      const double sizeGB = size / static_cast<double>(gb);
+      return QString::number(sizeGB, 'f', 2) + " GB";
+    }
+  }
+
+  static quint64 getDirSize(QString dirPath) {
+    quint64 size = 0;
+    const QString actualDirPath = dirPath.startsWith("~") ? dirPath.replace(0, 1, QDir::homePath()) : dirPath;
+    QDirIterator it(actualDirPath, QDir::Files | QDir::Dirs | QDir::NoDotAndDotDot | QDir::NoSymLinks, QDirIterator::Subdirectories);
+    while (it.hasNext()) {
+      it.next();
+      if (it.fileInfo().isFile()) {
+        size += it.fileInfo().size();
+      }
+    }
+    return size;
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
index 6588c1a6bd..12d7bd74f7 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.cc
@@ -13,11 +13,15 @@
 #include "selfdrive/ui/sunnypilot/qt/network/networking.h"
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/device_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/models_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/sunnylink_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/lateral_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/longitudinal_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/osm_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/trips_panel.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h"
 
 TogglesPanelSP::TogglesPanelSP(SettingsWindowSP *parent) : TogglesPanel(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &TogglesPanelSP::updateState);
@@ -74,15 +78,19 @@ SettingsWindowSP::SettingsWindowSP(QWidget *parent) : SettingsWindow(parent) {
 
   QList<PanelInfo> panels = {
     PanelInfo("   " + tr("Device"), device, "../../sunnypilot/selfdrive/assets/offroad/icon_home.svg"),
-    PanelInfo("   " + tr("Network"), networking, "../assets/offroad/icon_network.png"),
-    PanelInfo("   " + tr("sunnylink"), new SunnylinkPanel(this), "../assets/offroad/icon_wifi_strength_full.svg"),
+    PanelInfo("   " + tr("Network"), networking, "../assets/icons/network.png"),
+    PanelInfo("   " + tr("sunnylink"), new SunnylinkPanel(this), "../assets/icons/wifi_strength_full.svg"),
     PanelInfo("   " + tr("Toggles"), toggles, "../../sunnypilot/selfdrive/assets/offroad/icon_toggle.png"),
     PanelInfo("   " + tr("Software"), new SoftwarePanelSP(this), "../../sunnypilot/selfdrive/assets/offroad/icon_software.png"),
+    PanelInfo("   " + tr("Models"), new ModelsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_models.png"),
     PanelInfo("   " + tr("Steering"), new LateralPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_lateral.png"),
+    PanelInfo("   " + tr("Cruise"), new LongitudinalPanel(this), "../assets/icons/speed_limit.png"),
+    PanelInfo("   " + tr("Visuals"), new VisualsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_visuals.png"),
+    PanelInfo("   " + tr("OSM"), new OsmPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_map.png"),
     PanelInfo("   " + tr("Trips"), new TripsPanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_trips.png"),
     PanelInfo("   " + tr("Vehicle"), new VehiclePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_vehicle.png"),
     PanelInfo("   " + tr("Firehose"), new FirehosePanel(this), "../../sunnypilot/selfdrive/assets/offroad/icon_firehose.svg"),
-    PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/offroad/icon_shell.png"),
+    PanelInfo("   " + tr("Developer"), new DeveloperPanel(this), "../assets/icons/shell.png"),
   };
 
   nav_btns = new QButtonGroup(this);
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
index 2fe511cc48..ff25d3b64f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h
@@ -12,6 +12,10 @@
 
 #include "selfdrive/ui/qt/offroad/settings.h"
 
+inline bool isBrandInList(const std::string &brand, const std::vector<std::string> &list) {
+  return std::find(list.begin(), list.end(), brand) != list.end();
+}
+
 class SettingsWindowSP : public SettingsWindow {
   Q_OBJECT
 
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
index ddee1362bb..9430d02ba8 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.cc
@@ -7,201 +7,45 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h"
 
-#include <algorithm>
-#include <QJsonDocument>
-
-#include "common/model.h"
-
-/**
- * @brief Constructs the software panel with model bundle selection functionality
- * @param parent Parent widget
- */
 SoftwarePanelSP::SoftwarePanelSP(QWidget *parent) : SoftwarePanel(parent) {
-  const auto current_model = GetActiveModelName();
-  currentModelLblBtn = new ButtonControlSP(tr("Current Model"), tr("SELECT"), current_model);
-  currentModelLblBtn->setValue(current_model);
-
-  connect(currentModelLblBtn, &ButtonControlSP::clicked, this, &SoftwarePanelSP::handleCurrentModelLblBtnClicked);
-  QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &SoftwarePanelSP::updateLabels);
-  AddWidgetAt(0, currentModelLblBtn);
-}
-
-/**
- * @brief Updates the UI with bundle download progress information
- * Reads status from modelManagerSP cereal message and displays status for all models
- */
-void SoftwarePanelSP::handleBundleDownloadProgress() {
-  using DS = cereal::ModelManagerSP::DownloadStatus;
-  if (!model_manager.hasSelectedBundle() && !model_manager.hasActiveBundle()) {
-    currentModelLblBtn->setDescription(tr("No custom model selected!"));
-    return;
-  }
-
-  const bool showSelectedBundle = model_manager.hasSelectedBundle() && (isDownloading() || model_manager.getSelectedBundle().getStatus() == DS::FAILED);
-  const auto &bundle = showSelectedBundle ? model_manager.getSelectedBundle() : model_manager.getActiveBundle();
-  const auto &models = bundle.getModels();
-  download_status = bundle.getStatus();
-  const auto download_status_changed = prev_download_status != download_status;
-  QStringList status;
-
-  // Get status for each model type in order
-  for (const auto &model: models) {
-    QString typeName;
-    QString modelName;
-
-    switch (model.getType()) {
-      case cereal::ModelManagerSP::Type::DRIVE:
-        typeName = tr("Driving");
-        modelName = QString::fromStdString(bundle.getDisplayName());
-        break;
-      case cereal::ModelManagerSP::Type::NAVIGATION:
-        typeName = tr("Navigation");
-        modelName = QString::fromStdString(model.getFullName());
-        break;
-      case cereal::ModelManagerSP::Type::METADATA:
-        typeName = tr("Metadata");
-        modelName = QString::fromStdString(model.getFullName());
-        break;
-    }
-
-    const auto &progress = model.getDownloadProgress();
-    QString line;
-
-    if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING) {
-      line = tr("Downloading %1 model [%2]... (%3%)").arg(typeName, modelName).arg(progress.getProgress(), 0, 'f', 2);
-    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADED) {
-      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("downloaded") : tr("ready"));
-    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::CACHED) {
-      line = tr("%1 model [%2] %3").arg(typeName, modelName, download_status_changed ? tr("from cache") : tr("ready"));
-    } else if (progress.getStatus() == cereal::ModelManagerSP::DownloadStatus::FAILED) {
-      line = tr("%1 model [%2] download failed").arg(typeName, modelName);
-    } else {
-      line = tr("%1 model [%2] pending...").arg(typeName, modelName);
-    }
-    status.append(line);
-  }
-
-  currentModelLblBtn->setDescription(status.join("\n"));
-
-  if (prev_download_status != download_status) {
-    switch (bundle.getStatus()) {
-      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADING:
-      case cereal::ModelManagerSP::DownloadStatus::CACHED:
-      case cereal::ModelManagerSP::DownloadStatus::DOWNLOADED:
-        currentModelLblBtn->showDescription();
-        break;
-      case cereal::ModelManagerSP::DownloadStatus::FAILED:
-      default:
-        break;
-    }
-  }
-  prev_download_status = download_status;
-}
-
-/**
- * @brief Gets the name of the currently selected model bundle
- * @return Display name of the selected bundle or default model name
- */
-QString SoftwarePanelSP::GetActiveModelName() {
-  if (model_manager.hasActiveBundle()) {
-    return QString::fromStdString(model_manager.getActiveBundle().getDisplayName());
-  }
-
-  return DEFAULT_MODEL;
-}
-
-void SoftwarePanelSP::updateModelManagerState() {
-  const SubMaster &sm = *(uiStateSP()->sm);
-  model_manager = sm["modelManagerSP"].getModelManagerSP();
-}
-
-/**
- * @brief Handles the model bundle selection button click
- * Displays available bundles, allows selection, and initiates download
- */
-void SoftwarePanelSP::handleCurrentModelLblBtnClicked() {
-  currentModelLblBtn->setEnabled(false);
-  currentModelLblBtn->setValue(tr("Fetching models..."));
-
-  // Create mapping of bundle indices to display names
-  QMap<uint32_t, QString> index_to_bundle;
-  const auto bundles = model_manager.getAvailableBundles();
-  for (const auto &bundle: bundles) {
-    index_to_bundle.insert(bundle.getIndex(), QString::fromStdString(bundle.getDisplayName()));
-  }
-
-  // Sort bundles by index in descending order
-  QStringList bundleNames;
-  // Add "Default" as the first option
-  bundleNames.append(tr("Use Default"));
-
-  auto indices = index_to_bundle.keys();
-  std::sort(indices.begin(), indices.end(), std::greater<uint32_t>());
-  for (const auto &index: indices) {
-    bundleNames.append(index_to_bundle[index]);
-  }
-
-  currentModelLblBtn->setValue(GetActiveModelName());
-
-  const QString selectedBundleName = MultiOptionDialog::getSelection(
-    tr("Select a Model"), bundleNames, GetActiveModelName(), this);
-
-  if (selectedBundleName.isEmpty() || !canContinueOnMeteredDialog()) {
-    return;
-  }
-
-  // Handle "Stock" selection differently
-  if (selectedBundleName == tr("Use Default")) {
-    params.remove("ModelManager_ActiveBundle");
-    currentModelLblBtn->setValue(tr("Default"));
-    showResetParamsDialog();
-  } else {
-    // Find selected bundle and initiate download
-    for (const auto &bundle: bundles) {
-      if (QString::fromStdString(bundle.getDisplayName()) == selectedBundleName) {
-        params.put("ModelManager_DownloadIndex", std::to_string(bundle.getIndex()));
-        if (bundle.getGeneration() != model_manager.getActiveBundle().getGeneration()) {
-          showResetParamsDialog();
-        }
-        break;
+  // branch selector
+  QObject::disconnect(targetBranchBtn, nullptr, nullptr, nullptr);
+  connect(targetBranchBtn, &ButtonControlSP::clicked, [=]() {
+    InputDialog d(tr("Search Branch"), this, tr("Enter search keywords, or leave blank to list all branches."), false);
+      d.setMinLength(0);
+      const int ret = d.exec();
+      if (ret) {
+        searchBranches(d.text());
       }
-    }
-  }
-
-  updateLabels();
+  });
 }
 
 /**
- * @brief Updates the UI elements based on current state
+ * @brief Searches for available branches based on a query string, presents the results in a dialog,
+ * and updates the target branch if a selection is made.
+ *
+ * This function filters the list of branches based on the provided query, and displays the filtered branches in a selection dialog.
+ * If a branch is selected, the "UpdaterTargetBranch" parameter is updated and a check for updates is triggered.
+ * If no branches are found matching the query, an alert dialog is displayed.
+ *
+ * @param query The search query string.
  */
-void SoftwarePanelSP::updateLabels() {
-  if (!isVisible()) {
+void SoftwarePanelSP::searchBranches(const QString &query) {
+
+  QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
+  QStringList results = searchFromList(query, branches);
+  results.sort();
+
+  if (results.isEmpty()) {
+    ConfirmationDialog::alert(tr("No branches found for keywords: %1").arg(query), this);
     return;
   }
 
-  updateModelManagerState();
-  handleBundleDownloadProgress();
-  currentModelLblBtn->setEnabled(!is_onroad && !isDownloading());
-  currentModelLblBtn->setValue(GetActiveModelName());
+  QString selected_branch = MultiOptionDialog::getSelection(tr("Select a branch"), results, "", this);
 
-  SoftwarePanel::updateLabels();
-}
-
-/**
- * @brief Shows dialog prompting user to reset calibration after model download
- */
-void SoftwarePanelSP::showResetParamsDialog() {
-  const auto confirmMsg = QString("%1<br><br><b>%2</b><br><br><b>%3</b>")
-                          .arg(tr("Model download has started in the background."))
-                          .arg(tr("We STRONGLY suggest you to reset calibration."))
-                          .arg(tr("Would you like to do that now?"));
-  const auto button_text = tr("Reset Calibration");
-
-  QString content("<body><h2 style=\"text-align: center;\">" + tr("Driving Model Selector") + "</h2><br>"
-                  "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + confirmMsg + "</p></body>");
-
-  if (showConfirmationDialog(content, button_text, false)) {
-    params.remove("CalibrationParams");
-    params.remove("LiveTorqueParameters");
+  if (!selected_branch.isEmpty()) {
+    params.put("UpdaterTargetBranch", selected_branch.toStdString());
+    targetBranchBtn->setValue(selected_branch);
+    checkForUpdates();
   }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
index d0299d6efd..56d8b9be5b 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/software_panel.h
@@ -7,8 +7,8 @@
 
 #pragma once
 
-#include <QJsonObject>
 #include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/util.h"
 #include "selfdrive/ui/qt/offroad/settings.h"
 
 class SoftwarePanelSP final : public SoftwarePanel {
@@ -18,45 +18,5 @@ public:
   explicit SoftwarePanelSP(QWidget *parent = nullptr);
 
 private:
-  QString GetActiveModelName();
-  void updateModelManagerState();
-
-  bool isDownloading() const {
-    if (!model_manager.hasSelectedBundle()) {
-      return false;
-    }
-
-    const auto &selected_bundle = model_manager.getSelectedBundle();
-    return selected_bundle.getStatus() == cereal::ModelManagerSP::DownloadStatus::DOWNLOADING;
-  }
-
-  // UI update related methods
-  void updateLabels() override;
-  void handleCurrentModelLblBtnClicked();
-  void handleBundleDownloadProgress();
-  void showResetParamsDialog();
-  cereal::ModelManagerSP::Reader model_manager;
-  cereal::ModelManagerSP::DownloadStatus download_status{};
-  cereal::ModelManagerSP::DownloadStatus prev_download_status{};
-
-  bool canContinueOnMeteredDialog() {
-    if (!is_metered) return true;
-    return showConfirmationDialog(QString(), QString(), is_metered);
-  }
-
-  inline bool showConfirmationDialog(const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) {
-    return showConfirmationDialog(this, message, confirmButtonText, show_metered_warning);
-  }
-
-  static inline bool showConfirmationDialog(QWidget *parent, const QString &message = QString(), const QString &confirmButtonText = QString(), const bool show_metered_warning = false) {
-    const QString warning_message = show_metered_warning ? tr("Warning: You are on a metered connection!") : QString();
-    const QString final_message = QString("%1%2").arg(!message.isEmpty() ? message + "\n" : QString(), warning_message);
-    const QString final_buttonText = !confirmButtonText.isEmpty() ? confirmButtonText : QString(tr("Continue") + " %1").arg(show_metered_warning ? tr("on Metered") : "");
-
-    return ConfirmationDialog(final_message, final_buttonText, tr("Cancel"), true, parent).exec();
-  }
-
-  bool is_metered{};
-  bool is_wifi{};
-  ButtonControlSP *currentModelLblBtn;
+  void searchBranches(const QString &query);
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc
new file mode 100644
index 0000000000..bebc6c3032
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.cc
@@ -0,0 +1,62 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h"
+
+static const QStringList supportedBrands = {
+  "chrysler",
+  "ford",
+  "gm",
+  "honda",
+  "hyundai",
+  "mazda",
+  "nissan",
+  "rivian",
+  "subaru",
+  "tesla",
+  "toyota",
+  "volkswagen",
+};
+
+BrandSettingsInterface* BrandSettingsFactory::createBrandSettings(const QString& brand, QWidget* parent) {
+  if (brand == "chrysler")
+    return new ChryslerSettings(parent);
+  if (brand == "ford")
+    return new FordSettings(parent);
+  if (brand == "gm")
+    return new GMSettings(parent);
+  if (brand == "honda")
+    return new HondaSettings(parent);
+  if (brand == "hyundai")
+    return new HyundaiSettings(parent);
+  if (brand == "mazda")
+    return new MazdaSettings(parent);
+  if (brand == "nissan")
+    return new NissanSettings(parent);
+  if (brand == "rivian")
+    return new RivianSettings(parent);
+  if (brand == "subaru")
+    return new SubaruSettings(parent);
+  if (brand == "tesla")
+    return new TeslaSettings(parent);
+  if (brand == "toyota")
+    return new ToyotaSettings(parent);
+  if (brand == "volkswagen")
+    return new VolkswagenSettings(parent);
+
+  // Default empty settings if brand not supported
+  return nullptr;
+}
+
+bool BrandSettingsFactory::isBrandSupported(const QString& brand) {
+  return supportedBrands.contains(brand);
+}
+
+QStringList BrandSettingsFactory::getSupportedBrands() {
+  return supportedBrands;
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h
new file mode 100644
index 0000000000..b4dc9fc81b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h
@@ -0,0 +1,18 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+class BrandSettingsFactory {
+
+public:
+  static BrandSettingsInterface* createBrandSettings(const QString &brand, QWidget *parent = nullptr);
+  static bool isBrandSupported(const QString& brand);
+  static QStringList getSupportedBrands();
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc
new file mode 100644
index 0000000000..03921c01a3
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.cc
@@ -0,0 +1,21 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+BrandSettingsInterface::BrandSettingsInterface(QWidget *parent) : QWidget(parent) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+
+  list = new ListWidget(this, false);
+  main_layout->addWidget(list);
+}
+
+void BrandSettingsInterface::updatePanel(bool _offroad) {
+  offroad = _offroad;
+  updateSettings();
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h
new file mode 100644
index 0000000000..4aff123177
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h
@@ -0,0 +1,28 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class BrandSettingsInterface : public QWidget {
+  Q_OBJECT
+
+public:
+  explicit BrandSettingsInterface(QWidget *parent = nullptr);
+  virtual ~BrandSettingsInterface() = default;
+
+  void updatePanel(bool _offroad);
+  virtual void updateSettings() = 0;
+
+protected:
+  ListWidget *list = nullptr;
+  Params params;
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h
new file mode 100644
index 0000000000..795dba5739
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h
@@ -0,0 +1,21 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h"
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc
new file mode 100644
index 0000000000..fd8fc423fe
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.cc
@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h"
+
+ChryslerSettings::ChryslerSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void ChryslerSettings::updateSettings() {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h
new file mode 100644
index 0000000000..ab84bec16a
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/chrysler_settings.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class ChryslerSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit ChryslerSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc
new file mode 100644
index 0000000000..96564cb8a9
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.cc
@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h"
+
+FordSettings::FordSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void FordSettings::updateSettings() {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h
new file mode 100644
index 0000000000..468bd6b7dd
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/ford_settings.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class FordSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit FordSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc
new file mode 100644
index 0000000000..060a28424b
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.cc
@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h"
+
+GMSettings::GMSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void GMSettings::updateSettings() {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h
new file mode 100644
index 0000000000..211563ab61
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/gm_settings.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class GMSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit GMSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc
new file mode 100644
index 0000000000..ca18fa7240
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.cc
@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h"
+
+HondaSettings::HondaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void HondaSettings::updateSettings() {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h
new file mode 100644
index 0000000000..e41602dc11
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/honda_settings.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class HondaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit HondaSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
new file mode 100644
index 0000000000..01ea64f0cb
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.cc
@@ -0,0 +1,57 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h"
+
+HyundaiSettings::HyundaiSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+  std::vector<QString> tuning_texts{ tr("Off"), tr("Dynamic"), tr("Predictive") };
+  longitudinalTuningToggle = new ButtonParamControl(
+    "HyundaiLongitudinalTuning",
+    tr("Custom Longitudinal Tuning"),
+    "",
+    "",
+    tuning_texts,
+    500
+  );
+  QObject::connect(longitudinalTuningToggle, &ButtonParamControlSP::buttonClicked, this, &HyundaiSettings::updateSettings);
+  list->addItem(longitudinalTuningToggle);
+  longitudinalTuningToggle->showDescription();
+}
+
+void HyundaiSettings::updateSettings() {
+  auto longitudinal_tuning_param = std::atoi(params.get("HyundaiLongitudinalTuning").c_str());
+
+  auto cp_bytes = params.get("CarParamsPersistent");
+  if (!cp_bytes.empty()) {
+    AlignedBuffer aligned_buf;
+    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
+    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
+
+    has_longitudinal_control = hasLongitudinalControl(CP);
+  } else {
+    has_longitudinal_control = false;
+  }
+
+  LongitudinalTuningOption longitudinal_tuning_option;
+  if (longitudinal_tuning_param == int(LongitudinalTuningOption::PREDICTIVE)) {
+    longitudinal_tuning_option = LongitudinalTuningOption::PREDICTIVE;
+  } else if (longitudinal_tuning_param == int(LongitudinalTuningOption::DYNAMIC)) {
+    longitudinal_tuning_option = LongitudinalTuningOption::DYNAMIC;
+  } else {
+    longitudinal_tuning_option = LongitudinalTuningOption::OFF;
+  }
+
+  bool longitudinal_tuning_disabled = !offroad || !has_longitudinal_control;
+  QString longitudinal_tuning_description = longitudinalTuningDescription(longitudinal_tuning_option);
+  if (longitudinal_tuning_disabled) {
+    longitudinal_tuning_description = toggleDisableMsg(offroad, has_longitudinal_control);
+  }
+
+  longitudinalTuningToggle->setEnabled(!longitudinal_tuning_disabled);
+  longitudinalTuningToggle->setDescription(longitudinal_tuning_description);
+  longitudinalTuningToggle->showDescription();
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
new file mode 100644
index 0000000000..c94d40cfde
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/hyundai_settings.h
@@ -0,0 +1,65 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+enum class LongitudinalTuningOption {
+  OFF,
+  DYNAMIC,
+  PREDICTIVE,
+};
+
+class HyundaiSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit HyundaiSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool has_longitudinal_control = false;
+  ButtonParamControl *longitudinalTuningToggle = nullptr;
+
+  static QString toggleDisableMsg(bool _offroad, bool _has_longitudinal_control) {
+    if (!_has_longitudinal_control) {
+      return tr("This feature can only be used with openpilot longitudinal control enabled.");
+    }
+
+    if (!_offroad) {
+      return tr("Enable \"Always Offroad\" in Device panel, or turn vehicle off to select an option.");
+    }
+
+    return QString();
+  }
+
+  static QString longitudinalTuningDescription(LongitudinalTuningOption option = LongitudinalTuningOption::OFF) {
+    QString off_str = tr("Off: Uses default tuning");
+    QString dynamic_str = tr("Dynamic: Adjusts acceleration limits based on current speed");
+    QString predictive_str = tr("Predictive: Uses future trajectory data to anticipate needed adjustments");
+
+    if (option == LongitudinalTuningOption::PREDICTIVE) {
+      predictive_str = "<font color='white'><b>" + predictive_str + "</b></font>";
+    } else if (option == LongitudinalTuningOption::DYNAMIC) {
+      dynamic_str = "<font color='white'><b>" + dynamic_str + "</b></font>";
+    } else {
+      off_str = "<font color='white'><b>" + off_str + "</b></font>";
+    }
+
+    return QString("%1<br><br>%2<br>%3<br>%4<br>")
+             .arg(tr("Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control."))
+             .arg(off_str)
+             .arg(dynamic_str)
+             .arg(predictive_str);
+  }
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc
new file mode 100644
index 0000000000..b8b8825f27
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.cc
@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h"
+
+MazdaSettings::MazdaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void MazdaSettings::updateSettings() {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h
new file mode 100644
index 0000000000..cbbc38de7f
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/mazda_settings.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class MazdaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit MazdaSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc
new file mode 100644
index 0000000000..3c21943622
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.cc
@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h"
+
+NissanSettings::NissanSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void NissanSettings::updateSettings() {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h
new file mode 100644
index 0000000000..d6eabac0bf
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/nissan_settings.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class NissanSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit NissanSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
index d4950bf2a8..0d4dde681f 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.cc
@@ -43,36 +43,73 @@ PlatformSelector::PlatformSelector() : ButtonControl(tr("Vehicle"), "", "") {
     }
   });
 
+  main_layout->addStretch(0);
   refresh(offroad);
 }
 
 void PlatformSelector::refresh(bool _offroad) {
   QString name = getPlatformBundle("name").toString();
+  platform = unrecognized_str;
+  QString platform_color = YELLOW_PLATFORM;
+
   if (!name.isEmpty()) {
-    setValue(name);
+    platform = name;
+    platform_color = BLUE_PLATFORM;
+    brand = getPlatformBundle("brand").toString();
     setText(tr("REMOVE"));
   } else {
     setText(tr("SEARCH"));
+
+    platform = unrecognized_str;
+    brand = "";
     auto cp_bytes = params.get("CarParamsPersistent");
     if (!cp_bytes.empty()) {
       AlignedBuffer aligned_buf;
       capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
       cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-      setValue(QString::fromStdString(CP.getCarFingerprint().cStr()));
+
+      platform = QString::fromStdString(CP.getCarFingerprint().cStr());
+
+      for (auto it = platforms.constBegin(); it != platforms.constEnd(); ++it) {
+        if (it.value()["platform"].toString() == platform) {
+          brand = it.value()["brand"].toString();
+          break;
+        }
+      }
+
+      if (platform == "MOCK") {
+        platform = unrecognized_str;
+      } else {
+        platform_color = GREEN_PLATFORM;
+      }
     }
   }
+  setValue(platform, platform_color);
   setEnabled(true);
+  emit refreshPanel();
 
   offroad = _offroad;
+
+  FingerprintStatus cur_status;
+  if (platform_color == GREEN_PLATFORM) {
+    cur_status = FingerprintStatus::AUTO_FINGERPRINT;
+  } else if (platform_color == BLUE_PLATFORM) {
+    cur_status = FingerprintStatus::MANUAL_FINGERPRINT;
+  } else {
+    cur_status = FingerprintStatus::UNRECOGNIZED;
+  }
+
+  setDescription(platformDescription(cur_status));
+  showDescription();
 }
 
-void PlatformSelector::setPlatform(const QString &platform) {
-  QVariantMap platform_data = platforms[platform];
+void PlatformSelector::setPlatform(const QString &_platform) {
+  QVariantMap platform_data = platforms[_platform];
 
   const QString offroad_msg = offroad ? tr("This setting will take effect immediately.") :
                                         tr("This setting will take effect once the device enters offroad state.");
   const QString msg = QString("<b>%1</b><br><br>%2")
-                      .arg(platform, offroad_msg);
+                      .arg(_platform, offroad_msg);
 
   QString content("<body><h2 style=\"text-align: center;\">" + tr("Vehicle Selector") + "</h2><br>"
                   "<p style=\"text-align: center; margin: 0 128px; font-size: 50px;\">" + msg + "</p></body>");
@@ -80,7 +117,7 @@ void PlatformSelector::setPlatform(const QString &platform) {
   if (ConfirmationDialog(content, tr("Confirm"), tr("Cancel"), true, this).exec()) {
     QJsonObject json_bundle;
     json_bundle["platform"] = platform_data["platform"].toString();
-    json_bundle["name"] = platform;
+    json_bundle["name"] = _platform;
     json_bundle["make"] = platform_data["make"].toString();
     json_bundle["brand"] = platform_data["brand"].toString();
     json_bundle["model"] = platform_data["model"].toString();
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
index 8a61832009..9867371ef6 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h
@@ -9,6 +9,16 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
+static const QString GREEN_PLATFORM = "#00F100";
+static const QString BLUE_PLATFORM = "#0086E9";
+static const QString YELLOW_PLATFORM = "#FFD500";
+
+enum class FingerprintStatus {
+  AUTO_FINGERPRINT,
+  MANUAL_FINGERPRINT,
+  UNRECOGNIZED,
+};
+
 class PlatformSelector : public ButtonControl {
   Q_OBJECT
 
@@ -16,9 +26,15 @@ public:
   PlatformSelector();
   QVariant getPlatformBundle(const QString &key);
 
+  QString platform;
+  QString brand;
+
 public slots:
   void refresh(bool _offroad);
 
+signals:
+  void refreshPanel();
+
 private:
   void searchPlatforms(const QString &query);
   void setPlatform(const QString &platform = "");
@@ -26,4 +42,27 @@ private:
 
   Params params;
   bool offroad;
+
+  QString unrecognized_str = tr("Unrecognized Vehicle");
+
+  static QString platformDescription(FingerprintStatus status = FingerprintStatus::UNRECOGNIZED) {
+    QString auto_str = "🟢 - " + tr("Fingerprinted automatically");
+    QString manual_str = "🔵 - " + tr("Manually selected");
+    QString unrecognized_str = "🟡 - " + tr("Not fingerprinted or manually selected");
+
+    if (status == FingerprintStatus::AUTO_FINGERPRINT) {
+      auto_str = "<font color='white'><b>" + auto_str + "</b></font>";
+    } else if (status == FingerprintStatus::MANUAL_FINGERPRINT) {
+      manual_str = "<font color='white'><b>" + manual_str + "</b></font>";
+    } else {
+      unrecognized_str = "<font color='white'><b>" + unrecognized_str + "</b></font>";
+    }
+
+    return QString("%1<br>%2<br><br>%3<br>%4<br>%5")
+             .arg(tr("Select vehicle to force fingerprint manually."))
+             .arg(tr("Colors represent fingerprint status:"))
+             .arg(auto_str)
+             .arg(manual_str)
+             .arg(unrecognized_str);
+  }
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc
new file mode 100644
index 0000000000..92cf3dcd6c
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.cc
@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h"
+
+RivianSettings::RivianSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void RivianSettings::updateSettings() {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h
new file mode 100644
index 0000000000..be25d01b37
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/rivian_settings.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class RivianSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit RivianSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
new file mode 100644
index 0000000000..47c4057f44
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.cc
@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h"
+
+SubaruSettings::SubaruSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void SubaruSettings::updateSettings() {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
new file mode 100644
index 0000000000..a715951ad9
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/subaru_settings.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class SubaruSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit SubaruSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
new file mode 100644
index 0000000000..50ab023021
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.cc
@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h"
+
+TeslaSettings::TeslaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void TeslaSettings::updateSettings() {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
new file mode 100644
index 0000000000..37f2936cdf
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/tesla_settings.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class TeslaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit TeslaSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc
new file mode 100644
index 0000000000..c416177916
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.cc
@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h"
+
+ToyotaSettings::ToyotaSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void ToyotaSettings::updateSettings() {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h
new file mode 100644
index 0000000000..9fc18a2a65
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/toyota_settings.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class ToyotaSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit ToyotaSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc
new file mode 100644
index 0000000000..59f0aab727
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.cc
@@ -0,0 +1,14 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h"
+
+VolkswagenSettings::VolkswagenSettings(QWidget *parent) : BrandSettingsInterface(parent) {
+}
+
+void VolkswagenSettings::updateSettings() {
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h
new file mode 100644
index 0000000000..25d3a07faf
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/volkswagen_settings.h
@@ -0,0 +1,26 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/sunnypilot/ui.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class VolkswagenSettings : public BrandSettingsInterface {
+  Q_OBJECT
+
+public:
+  explicit VolkswagenSettings(QWidget *parent = nullptr);
+  void updateSettings() override;
+
+private:
+  bool offroad = false;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
index cc3e6df183..5c00e746f8 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.cc
@@ -7,26 +7,32 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h"
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_factory.h"
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brands.h"
 #include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
 
 VehiclePanel::VehiclePanel(QWidget *parent) : QFrame(parent) {
-  main_layout = new QStackedLayout(this);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(50, 20, 50, 20);
+
   ListWidget *list = new ListWidget(this);
 
-  vehicleScreen = new QWidget(this);
-  QVBoxLayout *vlayout = new QVBoxLayout(vehicleScreen);
-  vlayout->setContentsMargins(50, 20, 50, 20);
-
   platformSelector = new PlatformSelector();
+  QObject::connect(platformSelector, &PlatformSelector::refreshPanel, this, &VehiclePanel::updateBrandSettings);
   list->addItem(platformSelector);
 
+  brandSettingsContainer = new QWidget(this);
+  brandSettingsContainerLayout = new QVBoxLayout(brandSettingsContainer);
+  brandSettingsContainerLayout->setContentsMargins(0, 0, 0, 0);
+  brandSettingsContainerLayout->setSpacing(0);
+  list->addItem(brandSettingsContainer);
+
   ScrollViewSP *scroller = new ScrollViewSP(list, this);
-  vlayout->addWidget(scroller);
+  main_layout->addWidget(scroller);
+
+  currentBrandSettings = nullptr;
 
   QObject::connect(uiState(), &UIState::offroadTransition, this, &VehiclePanel::updatePanel);
-
-  main_layout->addWidget(vehicleScreen);
-  main_layout->setCurrentWidget(vehicleScreen);
 }
 
 void VehiclePanel::showEvent(QShowEvent *event) {
@@ -34,7 +40,28 @@ void VehiclePanel::showEvent(QShowEvent *event) {
 }
 
 void VehiclePanel::updatePanel(bool _offroad) {
-  platformSelector->refresh(_offroad);
-
   offroad = _offroad;
+  platformSelector->refresh(_offroad);
+  updateBrandSettings();
+}
+
+void VehiclePanel::updateBrandSettings() {
+  if (!isVisible()) {
+    return;
+  }
+
+  if (currentBrandSettings) {
+    brandSettingsContainerLayout->removeWidget(currentBrandSettings);
+    delete currentBrandSettings;
+    currentBrandSettings = nullptr;
+  }
+
+  if (BrandSettingsFactory::isBrandSupported(platformSelector->brand)) {
+    currentBrandSettings = BrandSettingsFactory::createBrandSettings(platformSelector->brand, this);
+    if (currentBrandSettings) {
+      currentBrandSettings->setContentsMargins(0, 0, 0, 0);
+      brandSettingsContainerLayout->addWidget(currentBrandSettings);
+      currentBrandSettings->updatePanel(offroad);
+    }
+  }
 }
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
index f6265da7a6..a170aa87c3 100644
--- a/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle_panel.h
@@ -9,6 +9,7 @@
 
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
 
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/brand_settings_interface.h"
 #include "selfdrive/ui/sunnypilot/qt/offroad/settings/vehicle/platform_selector.h"
 
 class VehiclePanel : public QFrame {
@@ -22,8 +23,12 @@ public slots:
   void updatePanel(bool _offroad);
 
 private:
-  QStackedLayout* main_layout = nullptr;
-  QWidget* vehicleScreen = nullptr;
-  PlatformSelector *platformSelector = nullptr;
-  bool offroad;
+  PlatformSelector* platformSelector = nullptr;
+  BrandSettingsInterface* currentBrandSettings = nullptr;
+  QWidget* brandSettingsContainer = nullptr;
+  QVBoxLayout* brandSettingsContainerLayout = nullptr;
+  bool offroad = false;
+
+private slots:
+  void updateBrandSettings();
 };
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
new file mode 100644
index 0000000000..0d42bd74f4
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.cc
@@ -0,0 +1,70 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h"
+
+VisualsPanel::VisualsPanel(QWidget *parent) : QWidget(parent) {
+  param_watcher = new ParamWatcher(this);
+  connect(param_watcher, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
+    paramsRefresh();
+  });
+  
+  main_layout = new QStackedLayout(this);
+  ListWidgetSP *list = new ListWidgetSP(this, false);
+
+  sunnypilotScreen = new QWidget(this);
+  QVBoxLayout* vlayout = new QVBoxLayout(sunnypilotScreen);
+  vlayout->setContentsMargins(50, 20, 50, 20);
+
+  std::vector<std::tuple<QString, QString, QString, QString, bool> > toggle_defs{
+    {
+      "BlindSpot",
+      tr("Show Blind Spot Warnings"),
+      tr("Enabling this will display warnings when a vehicle is detected in your blind spot as long as your car has BSM supported."),
+      "../assets/offroad/icon_monitoring.png",
+      false,
+    },
+  };
+
+  for (auto &[param, title, desc, icon, needs_restart] : toggle_defs) {
+    auto toggle = new ParamControlSP(param, title, desc, icon, this);
+
+    bool locked = params.getBool((param + "Lock").toStdString());
+    toggle->setEnabled(!locked);
+
+    if (needs_restart && !locked) {
+      toggle->setDescription(toggle->getDescription() + tr(" Changing this setting will restart openpilot if the car is powered on."));
+
+      QObject::connect(uiState(), &UIState::engagedChanged, [toggle](bool engaged) {
+        toggle->setEnabled(!engaged);
+      });
+
+      QObject::connect(toggle, &ParamControlSP::toggleFlipped, [=](bool state) {
+        params.putBool("OnroadCycleRequested", true);
+      });
+    }
+
+    list->addItem(toggle);
+    toggles[param.toStdString()] = toggle;
+    param_watcher->addParam(param);
+  }
+
+  sunnypilotScroller = new ScrollViewSP(list, this);
+  vlayout->addWidget(sunnypilotScroller);
+  
+  main_layout->addWidget(sunnypilotScreen);
+}
+
+void VisualsPanel::paramsRefresh() {
+  if (!isVisible()) {
+    return;
+  }
+
+  for (auto toggle : toggles) {
+    toggle.second->refresh();
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
new file mode 100644
index 0000000000..42e0688957
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/offroad/settings/visuals_panel.h
@@ -0,0 +1,30 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/offroad/settings/settings.h"
+#include "selfdrive/ui/sunnypilot/qt/widgets/scrollview.h"
+
+class ScrollViewSP;
+
+class VisualsPanel : public QWidget {
+ Q_OBJECT
+
+public:
+ explicit VisualsPanel(QWidget *parent = nullptr);
+
+ void paramsRefresh();
+
+protected:
+ QStackedLayout* main_layout = nullptr;
+ QWidget* sunnypilotScreen = nullptr;
+ ScrollViewSP *sunnypilotScroller = nullptr;
+ Params params;
+ std::map<std::string, ParamControlSP*> toggles;
+ ParamWatcher * param_watcher;
+};
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.cc b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
index 617b64f58e..af0177c344 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.cc
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.cc
@@ -6,3 +6,47 @@
  */
 
 #include "selfdrive/ui/sunnypilot/qt/onroad/model.h"
+
+
+void ModelRendererSP::update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) {
+  ModelRenderer::update_model(model, lead);
+  const auto &model_position = model.getPosition();
+  const auto &lane_lines = model.getLaneLines();
+  float max_distance = std::clamp(*(model_position.getX().end() - 1), MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
+  int max_idx = get_path_length_idx(lane_lines[0], max_distance);
+  // update blindspot vertices
+  float max_distance_barrier = 100;
+  int max_idx_barrier = std::min(max_idx, get_path_length_idx(lane_lines[0], max_distance_barrier));
+  mapLineToPolygon(model.getLaneLines()[1], 0.2, -0.05, &left_blindspot_vertices, max_idx_barrier);
+  mapLineToPolygon(model.getLaneLines()[2], 0.2, -0.05, &right_blindspot_vertices, max_idx_barrier);
+}
+
+void ModelRendererSP::drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &surface_rect) {
+  auto *s = uiState();
+  auto &sm = *(s->sm);
+  bool blindspot = Params().getBool("BlindSpot");
+
+  if (blindspot) {
+    bool left_blindspot = sm["carState"].getCarState().getLeftBlindspot();
+    bool right_blindspot = sm["carState"].getCarState().getRightBlindspot();
+
+    //painter.setBrush(QColor::fromRgbF(1.0, 0.0, 0.0, 0.4));  // Red with alpha for blind spot
+
+    if (left_blindspot && !left_blindspot_vertices.isEmpty()) {
+      QLinearGradient gradient(0, 0, surface_rect.width(), 0); // Horizontal gradient from left to right
+      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+      painter.setBrush(gradient);
+      painter.drawPolygon(left_blindspot_vertices);
+    }
+
+    if (right_blindspot && !right_blindspot_vertices.isEmpty()) {
+      QLinearGradient gradient(surface_rect.width(), 0, 0, 0); // Horizontal gradient from right to left
+      gradient.setColorAt(0.0, QColor(255, 165, 0, 102)); // Orange with alpha
+      gradient.setColorAt(1.0, QColor(255, 255, 0, 102)); // Yellow with alpha
+      painter.setBrush(gradient);
+      painter.drawPolygon(right_blindspot_vertices);
+    }
+  }
+  ModelRenderer::drawPath(painter, model, surface_rect.height());
+}
diff --git a/selfdrive/ui/sunnypilot/qt/onroad/model.h b/selfdrive/ui/sunnypilot/qt/onroad/model.h
index e8594629cb..24404f32f0 100644
--- a/selfdrive/ui/sunnypilot/qt/onroad/model.h
+++ b/selfdrive/ui/sunnypilot/qt/onroad/model.h
@@ -11,5 +11,12 @@
 
 class ModelRendererSP : public ModelRenderer {
 public:
-  ModelRendererSP() {}
+  ModelRendererSP() = default;
+
+private:
+  void update_model(const cereal::ModelDataV2::Reader &model, const cereal::RadarState::LeadData::Reader &lead) override;
+  void drawPath(QPainter &painter, const cereal::ModelDataV2::Reader &model, const QRect &rect) override;
+
+  QPolygonF left_blindspot_vertices;
+  QPolygonF right_blindspot_vertices;
 };
diff --git a/selfdrive/ui/sunnypilot/qt/util.cc b/selfdrive/ui/sunnypilot/qt/util.cc
index c729eaafd5..ca85935d0b 100644
--- a/selfdrive/ui/sunnypilot/qt/util.cc
+++ b/selfdrive/ui/sunnypilot/qt/util.cc
@@ -78,3 +78,35 @@ QMap<QString, QVariantMap> loadPlatformList() {
 
   return _platforms;
 }
+
+/**
+ * @brief Searches a list of strings for elements containing all search terms in a query.
+ *
+ * The search is case-insensitive and normalizes both the query and the list elements
+ * using Unicode KD normalization before comparison.  Non-alphanumeric characters are
+ * removed from the search terms before comparison.
+ *
+ * @param query The search query string.  Multiple words can be separated by spaces.
+ * @param list The source list of strings to search.
+ * @return A list of strings from the input list that contain all of the search terms.
+ */
+QStringList searchFromList(const QString &query, const QStringList &list) {
+  if (query.isEmpty()) {
+    return list;
+  }
+
+  QStringList search_terms = query.simplified().toLower().split(" ", QString::SkipEmptyParts);
+  QStringList search_results;
+
+  for (const QString &element : list) {
+    if (std::all_of(search_terms.begin(), search_terms.end(), [&](const QString &term) {
+          QString normalized_term = term.normalized(QString::NormalizationForm_KD).toLower();
+          normalized_term.remove(QRegularExpression("[^a-zA-Z0-9\\s]"));
+          QString normalized_element = element.normalized(QString::NormalizationForm_KD).toLower();
+          return normalized_element.contains(normalized_term, Qt::CaseInsensitive);
+        })) {
+      search_results << element;
+    }
+  }
+  return search_results;
+}
diff --git a/selfdrive/ui/sunnypilot/qt/util.h b/selfdrive/ui/sunnypilot/qt/util.h
index 0a581579e2..089b5370cc 100644
--- a/selfdrive/ui/sunnypilot/qt/util.h
+++ b/selfdrive/ui/sunnypilot/qt/util.h
@@ -12,9 +12,11 @@
 
 #include <QMap>
 #include <QPainter>
+#include <QRegularExpression>
 #include <QWidget>
 
 QString getUserAgent(bool sunnylink = false);
 std::optional<QString> getSunnylinkDongleId();
 std::optional<QString> getParamIgnoringDefault(const std::string &param_name, const std::string &default_value);
 QMap<QString, QVariantMap> loadPlatformList();
+QStringList searchFromList(const QString &query, const QStringList &list);
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
index 09ab5417ed..d873913b57 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.cc
@@ -118,7 +118,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
   if (!title.isEmpty()) {
     title_label = new QPushButton(title);
     title_label->setFixedHeight(120);
-    title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none; padding: 20 0 0 0");
+    title_label->setStyleSheet("font-size: 50px; font-weight: 450; text-align: left; border: none; padding: 0 0 0 0");
     main_layout->addWidget(title_label, 1);
 
     connect(title_label, &QPushButton::clicked, [=]() {
@@ -148,7 +148,7 @@ AbstractControlSP_SELECTOR::AbstractControlSP_SELECTOR(const QString &title, con
 
   // description
   description = new QLabel(desc);
-  description->setContentsMargins(0, 20, 40, 20);
+  description->setContentsMargins(40, 20, 40, 20);
   description->setStyleSheet("font-size: 40px; color: grey");
   description->setWordWrap(true);
   description->setVisible(false);
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/controls.h b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
index d1edaf8621..c8849faf53 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/controls.h
+++ b/selfdrive/ui/sunnypilot/qt/widgets/controls.h
@@ -214,12 +214,12 @@ private:
   bool store_confirm = false;
 };
 
-class ButtonParamControlSP : public AbstractControlSP_SELECTOR {
+class MultiButtonControlSP : public AbstractControlSP_SELECTOR {
   Q_OBJECT
 
 public:
-  ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                       const std::vector<QString> &button_texts, const int minimum_button_width = 300) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts) {
+  MultiButtonControlSP(const QString &title, const QString &desc, const QString &icon,
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false) : AbstractControlSP_SELECTOR(title, desc, icon), button_texts(button_texts), is_inline_layout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -243,28 +243,38 @@ public:
         color: #33FFFFFF;
       }
     )";
-    key = param.toStdString();
-    int value = atoi(params.get(key).c_str());
+
+    if (inline_layout) {
+      button_param_layout->setMargin(0);
+      button_param_layout->setSpacing(0);
+      spacingItem = nullptr;
+      if (!title.isEmpty()) {
+        main_layout->removeWidget(title_label);
+        hlayout->addWidget(title_label, 1);
+      }
+    }
 
     button_group = new QButtonGroup(this);
     button_group->setExclusive(true);
     for (int i = 0; i < button_texts.size(); i++) {
       QPushButton *button = new QPushButton(button_texts[i], this);
       button->setCheckable(true);
-      button->setChecked(i == value);
       button->setStyleSheet(style);
       button->setMinimumWidth(minimum_button_width);
-      if (i == 0) hlayout->addSpacing(2);
-      hlayout->addWidget(button);
+      if (i == 0) button_param_layout->addSpacing(2);
+      button_param_layout->addWidget(button);
       button_group->addButton(button, i);
     }
 
-    hlayout->setAlignment(Qt::AlignLeft);
+    button_param_layout->setAlignment(Qt::AlignLeft);
+    if (is_inline_layout) {
+      QFrame *container = new QFrame;
+      container->setLayout(button_param_layout);
+      container->setStyleSheet("background-color: #393939; border-radius: 20px;");
+      hlayout->addWidget(container);
+    }
 
-    QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), [=](int id) {
-      params.put(key, std::to_string(id));
-      emit buttonToggled(id);
-    });
+    QObject::connect(button_group, QOverload<int>::of(&QButtonGroup::buttonClicked), this, &MultiButtonControlSP::buttonClicked);
   }
 
   void setEnabled(bool enable) {
@@ -305,15 +315,21 @@ public:
     }
   }
 
-  void setDisabledSelectedButton(std::string val) {
-    int value = atoi(val.c_str());
+  void setEnableSelectedButtons(bool enable, const std::vector<int>& enabled_btns = {}) const {
     for (int i = 0; i < button_group->buttons().size(); i++) {
-      button_group->buttons()[i]->setEnabled(i != value);
+      // Enable the button if its index is in the enabled list
+      bool should_enable = std::find(enabled_btns.begin(), enabled_btns.end(), i) != enabled_btns.end();
+      button_group->buttons()[i]->setEnabled(enable && should_enable);
     }
   }
 
 protected:
+  QButtonGroup *button_group;
   void paintEvent(QPaintEvent *event) override {
+    if (is_inline_layout) {
+      return;
+    }
+
     QPainter p(this);
     p.setRenderHint(QPainter::Antialiasing);
 
@@ -339,15 +355,48 @@ protected:
   }
 
 signals:
-  void buttonToggled(int btn_id);
+  void buttonClicked(int id);
 
 private:
   std::string key;
   Params params;
-  QButtonGroup *button_group;
   std::vector<QString> button_texts;
 
   bool button_group_enabled = true;
+  bool is_inline_layout;
+  QHBoxLayout *button_param_layout = is_inline_layout ? new QHBoxLayout() : hlayout;
+};
+
+class ButtonParamControlSP : public MultiButtonControlSP {
+  Q_OBJECT
+public:
+  ButtonParamControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 225, const bool inline_layout = false) : MultiButtonControlSP(title, desc, icon,
+                                                                                                                          button_texts, minimum_button_width, inline_layout) {
+    key = param.toStdString();
+    int value = atoi(params.get(key).c_str());
+
+    if (value > 0 && value < button_group->buttons().size()) {
+      button_group->button(value)->setChecked(true);
+    }
+
+    QObject::connect(this, QOverload<int>::of(&MultiButtonControlSP::buttonClicked), [=](int id) {
+      params.put(key, std::to_string(id));
+    });
+  }
+
+  void refresh() {
+    int value = atoi(params.get(key).c_str());
+    button_group->button(value)->setChecked(true);
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
+private:
+  std::string key;
+  Params params;
 };
 
 class ListWidgetSP : public QWidget {
@@ -360,7 +409,7 @@ public:
     outer_layout.addLayout(&inner_layout);
     inner_layout.setMargin(0);
     inner_layout.setSpacing(25); // default spacing is 25
-    outer_layout.addStretch();
+    outer_layout.addStretch(1);
   }
   inline void addItem(QWidget *w) { inner_layout.addWidget(w); }
   inline void addItem(QLayout *layout) { inner_layout.addLayout(layout); }
@@ -415,15 +464,16 @@ public:
 class OptionControlSP : public AbstractControlSP_SELECTOR {
   Q_OBJECT
 
-private:
-  bool isInlineLayout;
-  QHBoxLayout *optionSelectorLayout = isInlineLayout ? new QHBoxLayout() : hlayout;
-
+protected:
   struct MinMaxValue {
     int min_value;
     int max_value;
   };
 
+private:
+  bool is_inline_layout;
+  QHBoxLayout *optionSelectorLayout = is_inline_layout ? new QHBoxLayout() : hlayout;
+
   int getParamValue() {
     const auto param_value = QString::fromStdString(params.get(key));
     const auto result = valueMap != nullptr ? valueMap->key(param_value) : param_value;
@@ -438,7 +488,7 @@ private:
 
 public:
   OptionControlSP(const QString &param, const QString &title, const QString &desc, const QString &icon,
-                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), isInlineLayout(inline_layout) {
+                  const MinMaxValue &range, const int per_value_change = 1, const bool inline_layout = false, const QMap<QString, QString> *valMap = nullptr) : AbstractControlSP_SELECTOR(title, desc, icon, nullptr), _title(title), valueMap(valMap), is_inline_layout(inline_layout) {
     const QString style = R"(
       QPushButton {
         border-radius: 20px;
@@ -513,7 +563,7 @@ public:
     }
 
     optionSelectorLayout->setAlignment(Qt::AlignLeft);
-    if (isInlineLayout) {
+    if (is_inline_layout) {
       QFrame *container = new QFrame;
       container->setLayout(optionSelectorLayout);
       container->setStyleSheet("background-color: #393939; border-radius: 20px;");
@@ -525,6 +575,10 @@ public:
     request_update = _update;
   }
 
+  void setFixedWidth(int width) {
+    label.setFixedWidth(width);
+  }
+
   inline void setLabel(const QString &text) { label.setText(text); }
 
   void setEnabled(bool enabled) {
@@ -540,7 +594,7 @@ public:
 
 protected:
   void paintEvent(QPaintEvent *event) override {
-    if (isInlineLayout) {
+    if (is_inline_layout) {
       return;
     }
 
@@ -633,16 +687,6 @@ public:
     }
   }
 
-protected:
-  // Override mouse release event to handle style updates smoothly
-  void mouseReleaseEvent(QMouseEvent *event) override {
-    if (!key.empty()) {
-      bool next_state = !params.getBool(key);
-      updateStyle(next_state);
-    }
-    QPushButton::mouseReleaseEvent(event);
-  }
-
 private:
   std::string key = "";
   Params params;
@@ -651,13 +695,14 @@ private:
 
   QString btn_enabled_off_style = "QPushButton:enabled { background-color: #393939; }";
   QString btn_enabled_on_style = "QPushButton:enabled { background-color: #1e79e8; }";
-  QString btn_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }";
-  QString btn_disabled_stype = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }";
+  QString btn_off_pressed_style = "QPushButton:pressed { background-color: #4A4A4A; }";
+  QString btn_on_pressed_style = "QPushButton:pressed { background-color: #1E8FFF; }";
+  QString btn_disabled_style = "QPushButton:disabled { background-color: #121212; color: #5C5C5C; }";
 
   void updateStyle(bool enabled) {
     QString enabled_style = enabled ? btn_enabled_on_style : btn_enabled_off_style;
-
-    setStyleSheet(buttonStyle + enabled_style + btn_pressed_style + btn_disabled_stype);
+    QString pressed_style = enabled ? btn_on_pressed_style : btn_off_pressed_style;
+    setStyleSheet(buttonStyle + enabled_style + pressed_style + btn_disabled_style);
   }
 };
 
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc b/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc
index 032abdbbfb..bfdcac2564 100644
--- a/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc
+++ b/selfdrive/ui/sunnypilot/qt/widgets/drive_stats.cc
@@ -34,7 +34,7 @@ DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
 
     int row = 0;
     grid_layout->addWidget(newLabel(title, "title"), row++, 0, 1, 3);
-    grid_layout->addItem(new QSpacerItem(0, 50), row++, 0, 1, 1);
+    grid_layout->addItem(new QSpacerItem(0, 30), row++, 0, 1, 1);
 
     grid_layout->addWidget(labels.routes = newLabel("0", "number"), row, 0, Qt::AlignLeft);
     grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc
new file mode 100644
index 0000000000..b918938d11
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.cc
@@ -0,0 +1,31 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h"
+
+ExpandableToggleRow::ExpandableToggleRow(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent)
+  : ToggleControlSP(title, desc, icon, false, parent) {
+
+  key = param.toStdString();
+  QObject::connect(this, &ExpandableToggleRow::toggleFlipped, this, &ExpandableToggleRow::toggleClicked);
+
+  collapsibleWidget = new QFrame(this);
+  collapsibleWidget->setContentsMargins(0, 0, 0, 0);
+  collapsibleWidget->setVisible(false);
+  QVBoxLayout *collapsible_layout = new QVBoxLayout();
+  collapsibleWidget->setLayout(collapsible_layout);
+
+  list = new ListWidgetSP(this, false);
+
+  main_layout->addWidget(collapsibleWidget);
+  collapsible_layout->addWidget(list);
+}
+
+void ExpandableToggleRow::toggleClicked(bool state) {
+  params.putBool(key, state);
+  collapsibleWidget->setVisible(state);
+}
diff --git a/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h
new file mode 100644
index 0000000000..4bfcb9ef55
--- /dev/null
+++ b/selfdrive/ui/sunnypilot/qt/widgets/expandable_row.h
@@ -0,0 +1,50 @@
+/**
+ * Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+ *
+ * This file is part of sunnypilot and is licensed under the MIT License.
+ * See the LICENSE.md file in the root directory for more details.
+ */
+
+#pragma once
+
+#include "selfdrive/ui/sunnypilot/qt/widgets/controls.h"
+
+class ExpandableToggleRow : public ToggleControlSP {
+  Q_OBJECT
+
+public:
+  ExpandableToggleRow(const QString &param, const QString &title, const QString &desc, const QString &icon, QWidget *parent = nullptr);
+
+  void addItem(QWidget *widget) {
+    list->addItem(widget);
+  }
+
+  ListWidgetSP *innerList() {
+    return list;
+  }
+
+  void refresh() {
+    bool state = params.getBool(key);
+    if (state != toggle.on) {
+      toggle.togglePosition();
+    }
+    collapsibleWidget->setVisible(state);
+  }
+
+  bool isToggled() {
+    return params.getBool(key);
+  }
+
+  void showEvent(QShowEvent *event) override {
+    refresh();
+  }
+
+private:
+  void toggleClicked(bool state);
+
+  std::string key;
+  Params params;
+
+  ListWidgetSP *list;
+  QFrame *collapsibleWidget = nullptr;
+};
diff --git a/selfdrive/ui/sunnypilot/ui.cc b/selfdrive/ui/sunnypilot/ui.cc
index 586a03b1dd..b2701356cc 100644
--- a/selfdrive/ui/sunnypilot/ui.cc
+++ b/selfdrive/ui/sunnypilot/ui.cc
@@ -41,6 +41,7 @@ void UIStateSP::update() {
 
 DeviceSP::DeviceSP(QObject *parent) : Device(parent) {
   QObject::connect(uiStateSP(), &UIStateSP::uiUpdate, this, &DeviceSP::update);
+  QObject::connect(this, &Device::displayPowerChanged, this, &DeviceSP::handleDisplayPowerChanged);
 }
 
 UIStateSP *uiStateSP() {
@@ -62,3 +63,10 @@ DeviceSP *deviceSP() {
   static DeviceSP _device;
   return &_device;
 }
+
+void DeviceSP::handleDisplayPowerChanged(bool on) {
+  // if enabled, trigger offroad mode when device goes to sleep
+  if (params.get("DeviceBootMode") == "1" && not on) {
+    params.putBool("OffroadMode", true);
+  }
+}
diff --git a/selfdrive/ui/sunnypilot/ui.h b/selfdrive/ui/sunnypilot/ui.h
index 08e1d37b0f..cf8de1c4bb 100644
--- a/selfdrive/ui/sunnypilot/ui.h
+++ b/selfdrive/ui/sunnypilot/ui.h
@@ -20,6 +20,11 @@ class UIStateSP : public UIState {
 public:
   UIStateSP(QObject *parent = 0);
   void updateStatus() override;
+  inline bool engaged() const override {
+    return scene.started && (
+      (*sm)["selfdriveState"].getSelfdriveState().getEnabled() || (*sm)["selfdriveStateSP"].getSelfdriveStateSP().getMads().getEnabled()
+    );
+  }
   void setSunnylinkRoles(const std::vector<RoleModel> &roles);
   void setSunnylinkDeviceUsers(const std::vector<UserModel> &users);
 
@@ -79,6 +84,10 @@ class DeviceSP : public Device {
 
 public:
   DeviceSP(QObject *parent = 0);
+
+private:
+  Params params;
+  void handleDisplayPowerChanged(bool on);
 };
 
 DeviceSP *deviceSP();
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 09dd7c5d8b..2ae3356bb8 100644
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -96,8 +96,15 @@ class TestTranslations:
     match = re.search(r'_([a-zA-Z]{2,3})', self.file)
     assert match, f"{self.name} - could not parse language"
 
-    response = requests.get(f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}")
-    response.raise_for_status()
+    try:
+      response = requests.get(
+        f"https://raw.githubusercontent.com/LDNOOBW/List-of-Dirty-Naughty-Obscene-and-Otherwise-Bad-Words/master/{match.group(1)}"
+      )
+      response.raise_for_status()
+    except requests.exceptions.HTTPError as e:
+      if e.response is not None and e.response.status_code == 429:
+        pytest.skip("word list rate limited")
+      raise
 
     banned_words = {line.strip() for line in response.text.splitlines()}
 
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 6d7e6352ba..d25a86c6dd 100755
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -26,7 +26,7 @@ from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.cache import DEFAULT_CACHE_DIR
 
-UI_DELAY = 0.1 # may be slower on CI?
+UI_DELAY = 0.5 # may be slower on CI?
 TEST_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 
 STREAMS: list[tuple[VisionStreamType, CameraConfig, bytes]] = []
@@ -37,7 +37,7 @@ DATA: dict[str, capnp.lib.capnp._DynamicStructBuilder] = dict.fromkeys(
   "driverStateV2", "roadCameraState", "wideRoadCameraState", "driverCameraState"], None)
 
 def setup_homescreen(click, pm: PubMaster, scroll=None):
-  pass
+  time.sleep(UI_DELAY)
 
 def setup_settings_device(click, pm: PubMaster, scroll=None):
   click(100, 100)
@@ -61,12 +61,13 @@ def setup_settings_software(click, pm: PubMaster, scroll=None):
   time.sleep(UI_DELAY)
 
 def setup_settings_firehose(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
   scroll(-400, 278, 962)
   click(278, 862)
 
 def setup_settings_developer(click, pm: PubMaster, scroll=None):
   CP = car.CarParams()
-  CP.experimentalLongitudinalAvailable = True
+  CP.alphaLongitudinalAvailable = True
   Params().put("CarParamsPersistent", CP.to_bytes())
 
   setup_settings_device(click, pm)
@@ -151,7 +152,7 @@ def setup_keyboard_uppercase(click, pm: PubMaster, scroll=None):
 
 def setup_driver_camera(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(1720, 620)
+  click(1720, 825)
   DATA['deviceState'].deviceState.started = False
   setup_onroad(click, pm)
   DATA['deviceState'].deviceState.started = True
@@ -212,6 +213,12 @@ def setup_settings_sunnylink_sponsor_button(click, pm: PubMaster, scroll=None):
   click(1967, 225)
   time.sleep(UI_DELAY)
 
+def setup_settings_models(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  click(278, 852)
+  time.sleep(UI_DELAY)
+
+
 def setup_settings_steering(click, pm: PubMaster, scroll=None):
   CP = car.CarParams()
   CP.carFingerprint = "HONDA_CIVIC"
@@ -222,26 +229,39 @@ def setup_settings_steering(click, pm: PubMaster, scroll=None):
   Params().put("CarParamsSPPersistent", CP_SP.to_bytes())
 
   setup_settings_device(click, pm)
-  click(278, 852)
+  click(278, 962)
   time.sleep(UI_DELAY)
 
 def setup_settings_steering_mads(click, pm: PubMaster, scroll=None):
   Params().put_bool("Mads", True)
 
   setup_settings_device(click, pm)
-  click(278, 852)
+  click(278, 962)
   click(970, 250)
   time.sleep(UI_DELAY)
 
 def setup_settings_steering_alc(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(278, 852)
+  click(278, 962)
   click(970, 534)
   time.sleep(UI_DELAY)
 
+def setup_settings_cruise(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  scroll(-400, 278, 962)
+  click(278, 324)
+  time.sleep(UI_DELAY)
+
+def setup_settings_visuals(click, pm: PubMaster, scroll=None):
+  setup_settings_device(click, pm)
+  scroll(-400, 278, 962)
+  click(278, 560)
+  time.sleep(UI_DELAY)
+
 def setup_settings_trips(click, pm: PubMaster, scroll=None):
   setup_settings_device(click, pm)
-  click(278, 962)
+  scroll(-400, 278, 962)
+  click(278, 646)
   time.sleep(UI_DELAY)
 
 def setup_settings_vehicle(click, pm: PubMaster, scroll=None):
@@ -288,9 +308,12 @@ CASES = {
 CASES.update({
   "settings_sunnylink": setup_settings_sunnylink,
   "settings_sunnylink_sponsor_button": setup_settings_sunnylink_sponsor_button,
+  "settings_models": setup_settings_models,
   "settings_steering": setup_settings_steering,
   "settings_steering_mads": setup_settings_steering_mads,
   "settings_steering_alc": setup_settings_steering_alc,
+  "settings_cruise": setup_settings_cruise,
+  "settings_visuals": setup_settings_visuals,
   "settings_trips": setup_settings_trips,
   "settings_vehicle": setup_settings_vehicle,
 })
diff --git a/selfdrive/ui/text b/selfdrive/ui/text
deleted file mode 100755
index b12235f4e6..0000000000
--- a/selfdrive/ui/text
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/bin/sh
-
-if [ -f /TICI ] && [ ! -f _text ]; then
-  cp qt/text_larch64 _text
-fi
-
-exec ./_text "$1"
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index 751ae7ce9b..de24097d8f 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>محدود بالاتصال الخلوي</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>منع تحميل البيانات الكبيرة عندما يكون الاتصال محدوداً</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>شبكة مخفية</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>من أجل &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>وضع المناورة الطولية</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>التحكم الطولي sunnypilot (ألفا)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>تحذير: التحكم الطولي في sunnypilot في المرحلة ألفا لهذه السيارة، وسيقوم بتعطيل مكابح الطوارئ الآلية (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>في هذه السيارة يعمل sunnypilot افتراضياً بالشكل المدمج في التحكم التكيفي في السرعة بدلاً من التحكم الطولي. قم بتمكين هذا الخيار من أجل الانتقال إلى التحكم الطولي. يوصى بتمكين الوضع التجريبي عند استخدام وضع التحكم الطولي ألفا من sunnypilot.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>تمكين ADB</translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>أداة ADB (Android Debug Bridge) تسمح بالاتصال بجهازك عبر USB أو عبر الشبكة. راجع هذا الرابط: https://docs.comma.ai/how-to/connect-to-comma لمزيد من المعلومات.</translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>إقران</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -530,6 +550,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -548,13 +611,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>جارٍ التثبيت...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -588,6 +644,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -615,10 +687,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -628,12 +696,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">اختيار</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">إعادة ضبط المعايرة</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">متابعة</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">إلغاء</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -925,6 +1160,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -970,14 +1229,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>إعادة التشغيل</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>إغلاق</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1138,6 +1389,18 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1429,108 +1692,20 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">اختيار</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">إعادة ضبط المعايرة</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">متابعة</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">إلغاء</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">اختر فرعاً</translation>
     </message>
 </context>
 <context>
@@ -1834,10 +2009,6 @@ This may take up to a minute.</source>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>الوضع التجريبي غير متوفر حالياً في هذه السيارة نظراً لاستخدام رصيد التحكم التكيفي بالسرعة من أجل التحكم الطولي.</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>قد يتم الحصول على التحكم الطولي في sunnypilot في عمليات التحديث المستقبلية.</translation>
-    </message>
     <message>
         <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>يمكن اختبار نسخة ألفا من التحكم الطولي من sunnypilot، مع الوضع التجريبي، لكن على الفروع غير المطلقة.</translation>
@@ -1875,8 +2046,16 @@ This may take up to a minute.</source>
         <translation>تمكين sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>استخدم نظام sunnypilot من أجل الضبط التكيفي للسرعة والحفاظ على مساعدة السائق للبقاء في المسار. انتباهك مطلوب في جميع الأوقات مع استخدام هذه الميزة. يعمل هذا التغيير في الإعدادات عند إيقاف تشغيل السيارة.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 0036d2e768..6229920121 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -62,29 +62,49 @@
         <source>Cellular Metered</source>
         <translation>Getaktete Verbindung</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>Hochladen großer Dateien über getaktete Verbindungen unterbinden</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
-        <translation type="unfinished"></translation>
+        <translation>Verborgenes Netzwerk</translation>
     </message>
     <message>
         <source>CONNECT</source>
-        <translation type="unfinished">CONNECT</translation>
+        <translation>VERBINDEN</translation>
     </message>
     <message>
         <source>Enter SSID</source>
-        <translation type="unfinished">SSID eingeben</translation>
+        <translation>SSID eingeben</translation>
     </message>
     <message>
         <source>Enter password</source>
-        <translation type="unfinished">Passwort eingeben</translation>
+        <translation>Passwort eingeben</translation>
     </message>
     <message>
         <source>for &quot;%1&quot;</source>
-        <translation type="unfinished">für &quot;%1&quot;</translation>
+        <translation>für &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -128,10 +148,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
 </context>
 <context>
     <name>DeclinePage</name>
-    <message>
-        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
-        <translation>Du musst die Nutzungsbedingungen akzeptieren, um Openpilot zu benutzen.</translation>
-    </message>
     <message>
         <source>Back</source>
         <translation>Zurück</translation>
@@ -140,43 +156,39 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Decline, uninstall %1</source>
         <translation>Ablehnen, deinstallieren %1</translation>
     </message>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DeveloperPanel</name>
     <message>
         <source>Joystick Debug Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Joystick Debug-Modus</translation>
     </message>
     <message>
         <source>Longitudinal Maneuver Mode</source>
-        <translation type="unfinished"></translation>
+        <translation>Längsmanöver-Modus</translation>
     </message>
     <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>openpilot Längsregelung (Alpha)</translation>
     </message>
     <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>WARNUNG: Die openpilot Längsregelung befindet sich für dieses Fahrzeug im Alpha-Stadium und deaktiviert das automatische Notbremsen (AEB).</translation>
     </message>
     <message>
         <source>Enable ADB</source>
-        <translation type="unfinished"></translation>
+        <translation>ADB aktivieren</translation>
     </message>
     <message>
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
-        <translation type="unfinished"></translation>
+        <translation>ADB (Android Debug Bridge) ermöglicht die Verbindung zu deinem Gerät über USB oder Netzwerk. Siehe https://docs.comma.ai/how-to/connect-to-comma für weitere Informationen.</translation>
     </message>
     <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -246,10 +258,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>REVIEW</source>
         <translation>TRAINING</translation>
     </message>
-    <message>
-        <source>Review the rules, features, and limitations of sunnypilot</source>
-        <translation>Wiederhole die Regeln, Fähigkeiten und Limitierungen von Openpilot</translation>
-    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation>Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest?</translation>
@@ -282,10 +290,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Power Off</source>
         <translation>Ausschalten</translation>
     </message>
-    <message>
-        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 9° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig.</translation>
-    </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
         <translation> Deine Geräteausrichtung ist %1° %2 und %3° %4.</translation>
@@ -336,15 +340,35 @@ Please use caution when using this feature. Only use the blinker when traffic an
     </message>
     <message>
         <source>Pair Device</source>
-        <translation type="unfinished"></translation>
+        <translation>Gerät koppeln</translation>
     </message>
     <message>
         <source>PAIR</source>
+        <translation>KOPPELN</translation>
+    </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Review the rules, features, and limitations of sunnypilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. sunnypilot is continuously calibrating, resetting is rarely required.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
+    <message>
+        <source>Quiet Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Driver Camera Preview</source>
         <translation type="unfinished"></translation>
@@ -361,6 +385,10 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Language</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Reset Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
         <translation type="unfinished">Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest?</translation>
@@ -401,22 +429,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Disengage to Enter Always Offroad Mode</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Exit Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Always Offroad</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Quiet Mode</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Settings</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Are you sure you want to reset all sunnypilot settings to default? Once the settings are reset, there is no going back.</source>
         <translation type="unfinished"></translation>
@@ -429,6 +441,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>The reset cannot be undone. You have been warned.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Exit Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -479,27 +499,27 @@ Please use caution when using this feature. Only use the blinker when traffic an
     <name>FirehosePanel</name>
     <message>
         <source>🔥 Firehose Mode 🔥</source>
-        <translation type="unfinished"></translation>
+        <translation>🔥 Firehose-Modus 🔥</translation>
     </message>
     <message>
         <source>Firehose Mode: ACTIVE</source>
-        <translation type="unfinished"></translation>
+        <translation>Firehose-Modus: AKTIV</translation>
     </message>
     <message>
         <source>ACTIVE</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
-        <translation type="unfinished"></translation>
+        <translation>AKTIV</translation>
     </message>
     <message numerus="yes">
         <source>&lt;b&gt;%n segment(s)&lt;/b&gt; of your driving is in the training dataset so far.</source>
-        <translation type="unfinished">
-            <numerusform></numerusform>
-            <numerusform></numerusform>
+        <translation>
+            <numerusform>&lt;b&gt;%n Segment&lt;/b&gt; deiner Fahrten ist bisher im Trainingsdatensatz.</numerusform>
+            <numerusform>&lt;b&gt;%n Segmente&lt;/b&gt; deiner Fahrten sind bisher im Trainingsdatensatz.</numerusform>
         </translation>
     </message>
+    <message>
+        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <translation>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INAKTIV&lt;/span&gt;: Verbinde dich mit einem ungedrosselten Netzwerk</translation>
+    </message>
     <message>
         <source>sunnypilot learns to drive by watching humans, like you, drive.
 
@@ -507,7 +527,7 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>&lt;span stylesheet=&apos;font-size: 60px; font-weight: bold; color: #e74c3c;&apos;&gt;INACTIVE&lt;/span&gt;: connect to an unmetered network</source>
+        <source>For maximum effectiveness, bring your device inside and connect to a good USB-C adapter and Wi-Fi weekly.&lt;br&gt;&lt;br&gt;Firehose Mode can also work while you&apos;re driving if connected to a hotspot or unlimited SIM card.&lt;br&gt;&lt;br&gt;&lt;br&gt;&lt;b&gt;Frequently Asked Questions&lt;/b&gt;&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter how or where I drive?&lt;/i&gt; Nope, just drive as you normally would.&lt;br&gt;&lt;br&gt;&lt;i&gt;Do all of my segments get pulled in Firehose Mode?&lt;/i&gt; No, we selectively pull a subset of your segments.&lt;br&gt;&lt;br&gt;&lt;i&gt;What&apos;s a good USB-C adapter?&lt;/i&gt; Any fast phone or laptop charger should be fine.&lt;br&gt;&lt;br&gt;&lt;i&gt;Does it matter which software I run?&lt;/i&gt; Yes, only upstream sunnypilot (and particular forks) are able to be used for training.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -526,6 +546,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -540,13 +603,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Installiere...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -580,6 +636,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -588,11 +660,15 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
+        <source>Unified Engagement Mode (UEM)</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Unified Engagement Mode (UEM)</source>
+        <source>Steering Mode on Brake Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Note: For vehicles without LFA/LKAS button, disabling this will prevent lateral control engagement.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -603,12 +679,36 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Note: Once lateral control is engaged via UEM, it will remain engaged until it is manually disabled via the MADS button or car shut off.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Pause Steering</source>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -616,17 +716,152 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Steering Mode on Brake Pedal</source>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">AUSWÄHLEN</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Neu kalibrieren</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Fortsetzen</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Abbrechen</translation>
+    </message>
+</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -729,6 +964,36 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>OffroadAlert</name>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>Updates konnten nicht heruntergeladen werden
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Kamera-Snapshots werden aufgenommen. Das System startet erst, wenn dies abgeschlossen ist.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>Ein Update für das Betriebssystem deines Geräts wird im Hintergrund heruntergeladen. Du wirst aufgefordert, das Update zu installieren, sobald es bereit ist.</translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>Gerät konnte nicht registriert werden. Es wird keine Verbindung zu den comma.ai-Servern herstellen oder Daten hochladen und erhält keinen Support von comma.ai. Wenn dies ein offizielles Gerät ist, besuche https://comma.ai/support.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe-Laufwerk nicht gemounted.</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>Nicht unterstütztes NVMe-Laufwerk erkannt. Das Gerät kann dadurch deutlich mehr Strom verbrauchen und überhitzen.</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>Gerätetemperatur zu hoch. Das System kühlt ab, bevor es startet. Aktuelle interne Komponententemperatur: %1</translation>
+    </message>
     <message>
         <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, sunnypilot won&apos;t engage in %1</source>
         <translation type="unfinished"></translation>
@@ -737,31 +1002,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Connect to internet to check for updates. sunnypilot won&apos;t automatically start until it connects to internet to check for updates.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Unable to download updates
-%1</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>NVMe drive not mounted.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>sunnypilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
         <translation type="unfinished"></translation>
@@ -770,10 +1010,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>sunnypilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>sunnypilot is now in Always Offroad mode. sunnypilot won&apos;t start until Always Offroad mode is disabled. Go to &quot;Settings&quot; -&gt; &quot;Device&quot; to exit Always Offroad mode.</source>
         <translation type="unfinished"></translation>
@@ -796,24 +1032,24 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>OnroadAlerts</name>
-    <message>
-        <source>sunnypilot Unavailable</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>TAKE CONTROL IMMEDIATELY</source>
-        <translation type="unfinished"></translation>
+        <translation>ÜBERNIMM SOFORT DIE KONTROLLE</translation>
     </message>
     <message>
         <source>Reboot Device</source>
-        <translation type="unfinished"></translation>
+        <translation>Gerät neu starten</translation>
     </message>
     <message>
         <source>Waiting to start</source>
-        <translation type="unfinished"></translation>
+        <translation>Warten auf Start</translation>
     </message>
     <message>
         <source>System Unresponsive</source>
+        <translation>System reagiert nicht</translation>
+    </message>
+    <message>
+        <source>sunnypilot Unavailable</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -837,7 +1073,7 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
     </message>
     <message>
         <source>Please connect to Wi-Fi to complete initial pairing</source>
-        <translation type="unfinished"></translation>
+        <translation>Bitte verbinde dich mit WLAN, um die Koppelung abzuschließen.</translation>
     </message>
 </context>
 <context>
@@ -916,6 +1152,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -937,15 +1197,15 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
     </message>
     <message>
         <source>24/7 LTE connectivity</source>
-        <translation type="unfinished"></translation>
+        <translation>24/7 LTE-Verbindung</translation>
     </message>
     <message>
         <source>1 year of drive storage</source>
-        <translation type="unfinished"></translation>
+        <translation>Fahrdaten-Speicherung für 1 Jahr</translation>
     </message>
     <message>
         <source>Remote snapshots</source>
-        <translation type="unfinished"></translation>
+        <translation>Remote-Snapshots</translation>
     </message>
 </context>
 <context>
@@ -961,18 +1221,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Neustart</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Verlassen</translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation>sunnypilot</translation>
-    </message>
     <message numerus="yes">
         <source>%n minute(s) ago</source>
         <translation>
@@ -996,6 +1244,10 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
     </message>
     <message>
         <source>now</source>
+        <translation>jetzt</translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1027,16 +1279,17 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
     </message>
     <message>
         <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation type="unfinished"></translation>
+        <translation>Datenpartition konnte nicht gemounted werden. Die Partition ist möglicherweise beschädigt. Drücke Bestätigen, um das Gerät zu löschen und zurückzusetzen.</translation>
     </message>
     <message>
         <source>Resetting device...
 This may take up to a minute.</source>
-        <translation type="unfinished"></translation>
+        <translation>Gerät wird zurückgesetzt...
+Dies kann bis zu einer Minute dauern.</translation>
     </message>
     <message>
         <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>System-Reset ausgelöst. Drücke Bestätigen, um alle Inhalte und Einstellungen zu löschen. Drücke Abbrechen, um den Startvorgang fortzusetzen.</translation>
     </message>
 </context>
 <context>
@@ -1063,11 +1316,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Developer</source>
-        <translation type="unfinished"></translation>
+        <translation>Entwickler</translation>
     </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation>Firehose</translation>
     </message>
 </context>
 <context>
@@ -1096,6 +1349,18 @@ This may take up to a minute.</source>
         <source>Software</source>
         <translation type="unfinished">Software</translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Steering</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
     <message>
         <source>Trips</source>
         <translation type="unfinished"></translation>
@@ -1104,16 +1369,16 @@ This may take up to a minute.</source>
         <source>Vehicle</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Developer</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Firehose</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">Firehose</translation>
     </message>
     <message>
-        <source>Steering</source>
+        <source>Developer</source>
+        <translation type="unfinished">Entwickler</translation>
+    </message>
+    <message>
+        <source>Visuals</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1189,11 +1454,11 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>No custom software found at this URL.</source>
-        <translation type="unfinished"></translation>
+        <translation>Keine benutzerdefinierte Software unter dieser URL gefunden.</translation>
     </message>
     <message>
         <source>Something went wrong. Reboot the device.</source>
-        <translation type="unfinished"></translation>
+        <translation>Etwas ist schiefgelaufen. Starte das Gerät neu.</translation>
     </message>
     <message>
         <source>Select a language</source>
@@ -1201,14 +1466,14 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Choose Software to Install</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>sunnypilot</source>
-        <translation type="unfinished">sunnypilot</translation>
+        <translation>Wähle die zu installierende Software</translation>
     </message>
     <message>
         <source>Custom Software</source>
+        <translation>Benutzerdefinierte Software</translation>
+    </message>
+    <message>
+        <source>sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1387,130 +1652,42 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>failed to check for update</source>
-        <translation type="unfinished"></translation>
+        <translation>Update-Prüfung fehlgeschlagen</translation>
     </message>
     <message>
         <source>up to date, last checked %1</source>
-        <translation type="unfinished"></translation>
+        <translation>Auf dem neuesten Stand, zuletzt geprüft am %1</translation>
     </message>
     <message>
         <source>DOWNLOAD</source>
-        <translation type="unfinished"></translation>
+        <translation>HERUNTERLADEN</translation>
     </message>
     <message>
         <source>update available</source>
-        <translation type="unfinished"></translation>
+        <translation>Update verfügbar</translation>
     </message>
     <message>
         <source>never</source>
-        <translation type="unfinished"></translation>
+        <translation>nie</translation>
     </message>
 </context>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">AUSWÄHLEN</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Neu kalibrieren</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Fortsetzen</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Abbrechen</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">Wähle einen Branch</translation>
     </message>
 </context>
 <context>
@@ -1569,22 +1746,6 @@ This may take up to a minute.</source>
         <source>Enable sunnylink</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Device ID</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>N/A</source>
-        <translation type="unfinished">Nicht verfügbar</translation>
-    </message>
     <message>
         <source>Sponsor Status</source>
         <translation type="unfinished"></translation>
@@ -1603,30 +1764,26 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>PAIR</source>
-        <translation type="unfinished"></translation>
+        <translation type="unfinished">KOPPELN</translation>
     </message>
     <message>
         <source>Pair your GitHub account to grant your device sponsor benefits, including API access on sunnylink.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>N/A</source>
+        <translation type="unfinished">Nicht verfügbar</translation>
+    </message>
     <message>
         <source>sunnylink Dongle ID not found. This may be due to weak internet connection or sunnylink registration issue. Please reboot and try again.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Not Sponsor</source>
+        <source>🎉Welcome back! We&apos;re excited to see you&apos;ve enabled sunnylink again! 🚀</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Not Paired</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>THANKS ♥</source>
+        <source>👋Not going to lie, it&apos;s sad to see you disabled sunnylink 😢, but we&apos;ll be here when you&apos;re ready to come back 🎉.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1681,6 +1838,26 @@ This may take up to a minute.</source>
         <source>Settings restored. Confirm to restart the interface.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Device ID</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>THANKS ♥</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Sponsor</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not Paired</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SunnylinkSponsorPopup</name>
@@ -1766,10 +1943,6 @@ This may take up to a minute.</source>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>Lade Daten der Fahreraufmerksamkeitsüberwachungskamera hoch, um die Fahreraufmerksamkeitsüberwachungsalgorithmen zu verbessern.</translation>
     </message>
-    <message>
-        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
-        <translation>Wenn aktiviert, deaktiviert sich Openpilot sobald das Gaspedal betätigt wird.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Experimenteller Modus</translation>
@@ -1778,14 +1951,6 @@ This may take up to a minute.</source>
         <source>Disengage on Accelerator Pedal</source>
         <translation>Bei Gasbetätigung ausschalten</translation>
     </message>
-    <message>
-        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>Openpilot fährt standardmäßig im &lt;b&gt;entspannten Modus&lt;/b&gt;. Der Experimentelle Modus aktiviert&lt;b&gt;Alpha-level Funktionen&lt;/b&gt;, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden:</translation>
-    </message>
-    <message>
-        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Lass das Fahrmodell Gas und Bremse kontrollieren. Openpilot wird so fahren, wie es dies von einem Menschen erwarten würde; inklusive des Anhaltens für Ampeln und Stoppschildern. Da das Fahrmodell entscheidet wie schnell es fährt stellt die gesetzte Geschwindigkeit lediglich das obere Limit dar. Dies ist ein Alpha-level Funktion. Fehler sind zu erwarten.</translation>
-    </message>
     <message>
         <source>New Driving Visualization</source>
         <translation>Neue Fahrvisualisierung</translation>
@@ -1796,50 +1961,42 @@ This may take up to a minute.</source>
     </message>
     <message>
         <source>Aggressive</source>
-        <translation type="unfinished"></translation>
+        <translation>Aggressiv</translation>
     </message>
     <message>
         <source>Standard</source>
-        <translation type="unfinished"></translation>
+        <translation>Standard</translation>
     </message>
     <message>
         <source>Relaxed</source>
-        <translation type="unfinished"></translation>
+        <translation>Entspannt</translation>
     </message>
     <message>
         <source>Driving Personality</source>
-        <translation type="unfinished"></translation>
+        <translation>Fahrstil</translation>
     </message>
     <message>
         <source>End-to-End Longitudinal Control</source>
-        <translation type="unfinished"></translation>
+        <translation>Ende-zu-Ende Längsregelung</translation>
     </message>
     <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
-        <translation type="unfinished"></translation>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>Die openpilot Längsregelung könnte in einem zukünftigen Update verfügbar sein.</translation>
     </message>
     <message>
         <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation type="unfinished"></translation>
+        <translation>Die Fahrvisualisierung wechselt bei niedrigen Geschwindigkeiten auf die nach vorne gerichtete Weitwinkelkamera, um Kurven besser darzustellen. Das Logo des Experimentellen Modus wird außerdem oben rechts angezeigt.</translation>
     </message>
     <message>
         <source>Always-On Driver Monitoring</source>
+        <translation>Dauerhaft aktive Fahrerüberwachung</translation>
+    </message>
+    <message>
+        <source>Enable sunnypilot</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
@@ -1851,12 +2008,36 @@ This may take up to a minute.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enable sunnypilot</source>
-        <translation>sunnypilot aktivieren</translation>
+        <source>When enabled, pressing the accelerator pedal will disengage sunnypilot.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Benutze das sunnypilot System als adaptiven Tempomaten und Spurhalteassistenten. Deine Aufmerksamkeit ist jederzeit erforderlich, um diese Funktion zu nutzen. Diese Einstellung wird übernommen, wenn das Auto aus ist.</translation>
+        <source>Enable driver monitoring even when sunnypilot is not engaged.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, sunnypilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode sunnypilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>sunnypilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. sunnypilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the sunnypilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1898,15 +2079,15 @@ This may take up to a minute.</source>
     <name>WiFiPromptWidget</name>
     <message>
         <source>Open</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
-        <translation type="unfinished"></translation>
+        <translation>Öffnen</translation>
     </message>
     <message>
         <source>Maximize your training data uploads to improve openpilot&apos;s driving models.</source>
-        <translation type="unfinished"></translation>
+        <translation>Maximiere deine Trainingsdaten-Uploads, um die Fahrmodelle von openpilot zu verbessern.</translation>
+    </message>
+    <message>
+        <source>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose Mode &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</source>
+        <translation>&lt;span style=&apos;font-family: &quot;Noto Color Emoji&quot;;&apos;&gt;🔥&lt;/span&gt; Firehose-Modus &lt;span style=&apos;font-family: Noto Color Emoji;&apos;&gt;🔥&lt;/span&gt;</translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
index 82f585a43c..3d9622166a 100644
--- a/selfdrive/ui/translations/main_es.ts
+++ b/selfdrive/ui/translations/main_es.ts
@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>Plano de datos limitado</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>Evitar grandes descargas de datos cuando tenga una conexión limitada</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>Red Oculta</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>para &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>Modo de maniobra longitudinal</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>Control longitudinal de sunnypilot (fase experimental)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>AVISO: el control longitudinal de sunnypilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>En este automóvil, sunnypilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de sunnypilot. Habilita esta opción para cambiar al control longitudinal de sunnypilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de sunnypilot (aún en fase experimental).</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation type="unfinished"></translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Disengage to Power Off</source>
         <translation>Desactivar para apagar</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -526,6 +546,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -540,13 +603,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Instalando...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -580,6 +636,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -607,10 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -620,12 +688,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECCIONAR</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Formatear Calibración</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Continuar</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -917,6 +1152,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -962,14 +1221,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Salir</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1118,6 +1369,18 @@ Esto puede tardar un minuto.</translation>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1409,108 +1672,20 @@ Esto puede tardar un minuto.</translation>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">SELECCIONAR</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Formatear Calibración</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Continuar</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Cancelar</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">Selecione una rama</translation>
     </message>
 </context>
 <context>
@@ -1830,10 +2005,6 @@ Esto puede tardar un minuto.</translation>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>El modo Experimental no está disponible actualmente para este auto, ya que el ACC default del auto está siendo usado para el control longitudinal.</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>El control longitudinal de sunnypilot podrá llegar en futuras actualizaciones.</translation>
-    </message>
     <message>
         <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>Se puede probar una versión experimental del control longitudinal sunnypilot, junto con el modo Experimental, en ramas no liberadas.</translation>
@@ -1855,8 +2026,16 @@ Esto puede tardar un minuto.</translation>
         <translation>Activar sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Utilice el sistema sunnypilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index fba7af60d9..741cc606a7 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>Connexion cellulaire limitée</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>Éviter les transferts de données importants sur une connexion limitée</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>Réseau Caché</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>pour &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>Mode manœuvre longitudinale</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>Contrôle longitudinal sunnypilot (Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>ATTENTION : le contrôle longitudinal sunnypilot est en alpha pour cette voiture et désactivera le freinage d&apos;urgence automatique (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>Sur cette voiture, sunnypilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d&apos;sunnypilot. Activez ceci pour passer au contrôle longitudinal sunnypilot. Il est recommandé d&apos;activer le mode expérimental lors de l&apos;activation du contrôle longitudinal sunnypilot alpha.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation type="unfinished"></translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>ASSOCIER</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -526,6 +546,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -540,13 +603,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Installation...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -580,6 +636,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -607,10 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -620,12 +688,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SÉLECTIONNER</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Réinitialiser la calibration</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Continuer</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Annuler</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -917,6 +1152,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -962,14 +1221,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Redémarrer</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Quitter</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1118,6 +1369,18 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1409,108 +1672,20 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">SÉLECTIONNER</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Réinitialiser la calibration</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Continuer</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Annuler</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">Sélectionner une branche</translation>
     </message>
 </context>
 <context>
@@ -1810,10 +1985,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>Le mode expérimental est actuellement indisponible pour cette voiture car le régulateur de vitesse adaptatif d&apos;origine est utilisé pour le contrôle longitudinal.</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>Le contrôle longitudinal sunnypilot pourrait être disponible dans une future mise à jour.</translation>
-    </message>
     <message>
         <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>Une version alpha du contrôle longitudinal sunnypilot peut être testée, avec le mode expérimental, sur des branches non publiées.</translation>
@@ -1855,8 +2026,16 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <translation>Activer sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Utilisez le système sunnypilot pour le régulateur de vitesse adaptatif et l&apos;assistance au maintien de voie. Votre attention est requise en permanence pour utiliser cette fonctionnalité. La modification de ce paramètre prend effet lorsque la voiture est éteinte.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index dba867fcea..f85ee37689 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>従量制通信設定</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>大量のデータのアップロードを防止する</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>ネットワーク非表示</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>[%1]</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>アクセル制御マニューバー</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>sunnypilotアクセル制御(Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>この車ではsunnypilotのアクセル制御はアルファ版であり、自動緊急ブレーキ(AEB)が無効化されます。</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>この車では、sunnypilotは車両内蔵のACC(アダプティブクルーズコントロール)をデフォルトとして使用し、sunnypilotのアクセル制御は無効化されています。アクセル制御をsunnypilotに切り替えるにはこの設定を有効にしてください。また同時にExperimentalモードを推奨します。</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>ADBを有効にする</translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB（Android Debug Bridge）により、USBまたはネットワーク経由でデバイスに接続できます。詳細は、https://docs.comma.ai/how-to/connect-to-comma を参照してください。</translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>OK</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>最大速度</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>インストール中...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">選択</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">キャリブレーションリセット</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">続ける</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">キャンセル</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>再起動</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>閉じる</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1113,6 +1364,18 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1404,108 +1667,20 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">選択</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">キャリブレーションリセット</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">続ける</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">キャンセル</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">ブランチを選択</translation>
     </message>
 </context>
 <context>
@@ -1809,10 +1984,6 @@ This may take up to a minute.</source>
         <source>End-to-End Longitudinal Control</source>
         <translation>End-to-Endアクセル制御</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>sunnypilotのアクセル制御は将来のアップデートで利用できる可能性があります。</translation>
-    </message>
     <message>
         <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation>sunnypilotのアルファ版アクセル制御は、Experimentalモードと共に非リリースのブランチでテストすることができます。</translation>
@@ -1850,8 +2021,16 @@ This may take up to a minute.</source>
         <translation>sunnypilot を有効化</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>sunnypilotによるアダプティブクルーズコントロールとレーンキープアシストを利用します。この機能を利用する際は常に前方への注意が必要です。この設定を変更は車の電源が必要です。</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 34be6e5a2e..89f30ea545 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>데이터 요금제</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>숨겨진 네트워크</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>&quot;%1&quot;에 접속하려면 비밀번호가 필요합니다</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>롱컨 제어 모드</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>sunnypilot 가감속 제어 (알파)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>경고: sunnypilot 가감속 제어는 알파 기능으로 차량의 자동긴급제동(AEB)기능이 작동하지 않습니다.</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>이 차량에서 sunnypilot은 sunnypilot 가감속 제어 대신 기본적으로 차량의 ACC로 가감속을 제어합니다. sunnypilot 가감속 제어로 전환하려면 이 기능을 활성화하세요. sunnypilot 가감속 제어 알파 기능을 활성화하는 경우 실험 모드 활성화를 권장합니다.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>ADB 사용</translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB (안드로이드 디버그 브릿지) USB 또는 네트워크를 통해 장치에 연결할 수 있습니다. 자세한 내용은 https://docs.comma.ai/how-to/connect-to-comma를 참조하세요.</translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>동기화</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>설치 중...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">선택</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">캘리브레이션</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">계속</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">취소</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>재부팅</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>종료</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1113,6 +1364,18 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1404,108 +1667,20 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">선택</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">캘리브레이션</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">계속</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">취소</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">브랜치 선택</translation>
     </message>
 </context>
 <context>
@@ -1789,10 +1964,6 @@ This may take up to a minute.</source>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>차량에 장착된 ACC로 가감속을 제어하기 때문에 현재 이 차량에서는 실험 모드를 사용할 수 없습니다.</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>sunnypilot 가감속 제어는 향후 업데이트에서 지원될 수 있습니다.</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>공격적</translation>
@@ -1850,8 +2021,16 @@ This may take up to a minute.</source>
         <translation>sunnypilot 사용</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>어댑티브 크루즈 컨트롤 및 차로 유지 보조를 위해 sunnypilot 시스템을 사용할 수 있습니다. 이 기능을 사용할 때에는 언제나 주의를 기울여야 합니다. 설정을 변경하면 차량 시동이 꺼졌을 때 적용됩니다.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index bb37dba541..bc9e50ee0a 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>Plano de Dados Limitado</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>Evite grandes uploads de dados quando estiver em uma conexão limitada</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>Rede Oculta</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>para &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>Modo Longitudinal Maneuver</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>Controle Longitudinal sunnypilot (Embrionário)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>AVISO: o controle longitudinal sunnypilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>Neste carro, o sunnypilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do sunnypilot. Habilite isso para alternar para o controle longitudinal sunnypilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal sunnypilot.</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>Habilitar ADB</translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB (Android Debug Bridge) permite conectar ao seu dispositivo por meio do USB ou através da rede. Veja https://docs.comma.ai/how-to/connect-to-comma para maiores informações.</translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>PAREAR</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -526,6 +546,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>LIMITE</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -540,13 +603,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Instalando...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -580,6 +636,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -607,10 +679,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -620,12 +688,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">SELECIONE</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Reinicializar Calibragem</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Continuar</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">Cancelar</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -917,6 +1152,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -962,14 +1221,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Reiniciar</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Sair</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1118,6 +1369,18 @@ Isso pode levar até um minuto.</translation>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1409,108 +1672,20 @@ Isso pode levar até um minuto.</translation>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">SELECIONE</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Reinicializar Calibragem</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Continuar</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">Cancelar</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">Selecione uma branch</translation>
     </message>
 </context>
 <context>
@@ -1794,10 +1969,6 @@ Isso pode levar até um minuto.</translation>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>O modo Experimental está atualmente indisponível para este carro já que o ACC original do carro é usado para controle longitudinal.</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>O controle longitudinal sunnypilot poderá vir em uma atualização futura.</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>Disputa</translation>
@@ -1855,8 +2026,16 @@ Isso pode levar até um minuto.</translation>
         <translation>Ativar sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Use o sistema sunnypilot para controle de cruzeiro adaptativo e assistência ao motorista de manutenção de faixa. Sua atenção é necessária o tempo todo para usar esse recurso. A alteração desta configuração tem efeito quando o carro é desligado.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 765aff4ab0..2c3d0bdb6c 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>ลดการส่งข้อมูลผ่านเซลลูล่าร์</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>ปิดการอัพโหลดข้อมูลขนาดใหญ่เมื่อเชื่อมต่อผ่านเซลลูล่าร์</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>เครือข่ายที่ซ่อนอยู่</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>สำหรับ &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished">ระบบควบคุมการเร่ง/เบรคโดย sunnypilot (Alpha)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished">คำเตือน: การควบคุมการเร่ง/เบรคโดย sunnypilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation type="unfinished">โดยปกติสำหรับรถคันนี้ sunnypilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย sunnypilot เปิดสวิตซ์นี้เพื่อให้ sunnypilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ sunnypilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation type="unfinished"></translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>จับคู่</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>สูงสุด</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>กำลังติดตั้ง...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">เลือก</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">รีเซ็ตการคาลิเบรท</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">ดำเนินการต่อ</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">ยกเลิก</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>รีบูต</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>ปิด</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1113,6 +1364,18 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1404,108 +1667,20 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">เลือก</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">รีเซ็ตการคาลิเบรท</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">ดำเนินการต่อ</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">ยกเลิก</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">เลือก Branch</translation>
     </message>
 </context>
 <context>
@@ -1789,10 +1964,6 @@ This may take up to a minute.</source>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>ขณะนี้โหมดทดลองไม่สามารถใช้งานได้ในรถคันนี้ เนื่องจากเปิดใช้ระบบควบคุมการเร่ง/เบรคของรถที่ติดตั้งจากโรงงานอยู่</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>ระบบควบคุมการเร่ง/เบรคโดย sunnypilot อาจมาในการอัปเดตในอนาคต</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>ดุดัน</translation>
@@ -1850,8 +2021,16 @@ This may take up to a minute.</source>
         <translation>เปิดใช้งาน sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>ใช้ระบบ sunnypilot สำหรับระบบควบคุมความเร็วอัตโนมัติ และระบบช่วยควบคุมรถให้อยู่ในเลน คุณจำเป็นต้องให้ความสนใจตลอดเวลาที่ใช้คุณสมบัตินี้ การเปลี่ยนการตั้งค่านี้จะมีผลเมื่อคุณดับเครื่องยนต์</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 1ddf267e4b..fd06e81ef1 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation type="unfinished"></translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation type="unfinished">için &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation type="unfinished"></translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>MAX</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>Yükleniyor...</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -618,10 +686,177 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">Kalibrasyonu sıfırla</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">Devam et</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -914,6 +1149,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -959,14 +1218,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>Yeniden başlat</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>Çık</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1111,6 +1362,18 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1402,107 +1665,19 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No custom model selected!</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">Kalibrasyonu sıfırla</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">Devam et</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
+        <source>Select a branch</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -1807,10 +1982,6 @@ This may take up to a minute.</source>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>An alpha version of sunnypilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
         <translation type="unfinished"></translation>
@@ -1848,8 +2019,16 @@ This may take up to a minute.</source>
         <translation>sunnypilot&apos;u aktifleştir</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>Ayarlanabilir hız sabitleyici ve şeritte kalma yardımı için sunnypilot sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız gerekiyor. Bu ayarın değiştirilmesi için araç kapatılıp açılması gerekiyor.</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index d336fef2c7..06c6c67152 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>按流量计费的手机移动网络</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>当使用按流量计费的连接时，避免上传大流量数据</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>隐藏的网络</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>网络名称：&quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>纵向操控测试模式</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>sunnypilot纵向控制（Alpha 版）</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：此车辆的 sunnypilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>在这辆车上，sunnypilot 默认使用车辆内建的主动巡航控制（ACC），而非 sunnypilot 的纵向控制。启用此项功能可切换至 sunnypilot 的纵向控制。当启用 sunnypilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>启用 ADB</translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB（Android调试桥接）允许通过USB或网络连接到您的设备。更多信息请参见 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。</translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>配对</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>最高定速</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>正在安装……</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">选择</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">重置设备校准</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">继续</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">取消</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>重启</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>退出</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1113,6 +1364,18 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1404,108 +1667,20 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">选择</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">重置设备校准</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">继续</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">取消</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">选择分支</translation>
     </message>
 </context>
 <context>
@@ -1789,10 +1964,6 @@ This may take up to a minute.</source>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>sunnypilot纵向控制可能会在未来的更新中提供。</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>积极</translation>
@@ -1850,8 +2021,16 @@ This may take up to a minute.</source>
         <translation>启用sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>使用sunnypilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index f69e106872..c46157e78e 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -62,10 +62,6 @@
         <source>Cellular Metered</source>
         <translation>行動網路</translation>
     </message>
-    <message>
-        <source>Prevent large data uploads when on a metered connection</source>
-        <translation>防止使用行動網路上傳大量的數據</translation>
-    </message>
     <message>
         <source>Hidden Network</source>
         <translation>隱藏的網路</translation>
@@ -86,6 +82,30 @@
         <source>for &quot;%1&quot;</source>
         <translation>給 &quot;%1&quot;</translation>
     </message>
+    <message>
+        <source>Prevent large data uploads when on a metered cellular connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>unmetered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Wi-Fi Network Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered Wi-Fi connection</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>AutoLaneChangeTimer</name>
@@ -151,18 +171,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>Longitudinal Maneuver Mode</source>
         <translation>縱向操控測試模式</translation>
     </message>
-    <message>
-        <source>sunnypilot Longitudinal Control (Alpha)</source>
-        <translation>sunnypilot 縱向控制 (Alpha 版)</translation>
-    </message>
-    <message>
-        <source>WARNING: sunnypilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：此車輛的 sunnypilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急煞車（AEB）功能。</translation>
-    </message>
-    <message>
-        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of sunnypilot&apos;s longitudinal control. Enable this to switch to sunnypilot longitudinal control. Enabling Experimental mode is recommended when enabling sunnypilot longitudinal control alpha.</source>
-        <translation>在這輛車上，sunnypilot 預設使用車輛內建的主動巡航控制（ACC），而非 sunnypilot 的縱向控制。啟用此項功能可切換至 sunnypilot 的縱向控制。當啟用 sunnypilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。</translation>
-    </message>
     <message>
         <source>Enable ADB</source>
         <translation>啟用 ADB</translation>
@@ -171,14 +179,6 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>ADB (Android Debug Bridge) allows connecting to your device over USB or over the network. See https://docs.comma.ai/how-to/connect-to-comma for more info.</source>
         <translation>ADB（Android 調試橋接）允許通過 USB 或網絡連接到您的設備。更多信息請參見 [https://docs.comma.ai/how-to/connect-to-comma](https://docs.comma.ai/how-to/connect-to-comma)。</translation>
     </message>
-    <message>
-        <source>Hyundai: Enable Radar Tracks</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Enable this to attempt to enable radar tracks for Hyundai, Kia, and Genesis models equipped with the supported Mando SCC radar. This allows sunnypilot to use radar data for improved lead tracking and overall longitudinal performance.</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Enable GitHub runner service</source>
         <translation type="unfinished"></translation>
@@ -199,6 +199,18 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>View the error log for sunnypilot crashes.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, sunnypilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanel</name>
@@ -342,6 +354,14 @@ Please use caution when using this feature. Only use the blinker when traffic an
         <source>PAIR</source>
         <translation>配對</translation>
     </message>
+    <message>
+        <source>Disengage to Reset Calibration</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Resetting calibration will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>DevicePanelSP</name>
@@ -525,6 +545,49 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation>最高</translation>
     </message>
 </context>
+<context>
+    <name>HyundaiSettings</name>
+    <message>
+        <source>Off</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Custom Longitudinal Tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature can only be used with openpilot longitudinal control enabled.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable &quot;Always Offroad&quot; in Device panel, or turn vehicle off to select an option.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Off: Uses default tuning</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Dynamic: Adjusts acceleration limits based on current speed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Predictive: Uses future trajectory data to anticipate needed adjustments</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fine-tune your driving experience by adjusting acceleration smoothness with openpilot longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -538,13 +601,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         </translation>
     </message>
 </context>
-<context>
-    <name>Installer</name>
-    <message>
-        <source>Installing...</source>
-        <translation>安裝中…</translation>
-    </message>
-</context>
 <context>
     <name>LaneChangeSettings</name>
     <message>
@@ -578,6 +634,22 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Customize Lane Change</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Enables independent engagements of Automatic Lane Centering (ALC) and Adaptive Cruise Control (ACC).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Start the vehicle to check vehicle compatibility.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports all MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform supports limited MADS settings.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>MadsSettings</name>
@@ -605,10 +677,6 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <source>Remain Active</source>
         <translation type="unfinished"></translation>
     </message>
-    <message>
-        <source>Pause Steering</source>
-        <translation type="unfinished"></translation>
-    </message>
     <message>
         <source>Disengage</source>
         <translation type="unfinished"></translation>
@@ -618,12 +686,179 @@ Firehose Mode allows you to maximize your training data uploads to improve openp
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.
-
-Remain Active: ALC will remain active even after the brake pedal is pressed.
-Pause Steering: ALC will be paused when the brake pedal is manually pressed.</source>
+        <source>Start the vehicle to check vehicle compatibility.</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>This feature defaults to OFF, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This feature defaults to ON, and does not allow selection due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>This platform only supports Disengage mode due to vehicle limitations.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Remain Active: ALC will remain active when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Pause: ALC will pause when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage: ALC will disengage when the brake pedal is pressed.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Choose how Automatic Lane Centering (ALC) behaves after the brake pedal is manually pressed in sunnypilot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MaxTimeOffroad</name>
+    <message>
+        <source>Max Time Offroad</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device will automatically shutdown after set time once the engine is turned off.&lt;br/&gt;(30h is the default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Always On</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>h</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> (default)</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>ModelsPanel</name>
+    <message>
+        <source>Current Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished">選取</translation>
+    </message>
+    <message>
+        <source>No custom model selected!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Vision</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Policy</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Downloading %1 model [%2]... (%3%)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] %3</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>downloaded</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>ready</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>from cache</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] download failed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>%1 model [%2] pending...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fetching models...</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Use Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a Model</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Default</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Model download has started in the background.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>We STRONGLY suggest you to reset calibration.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Would you like to do that now?</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation type="unfinished">重設校準</translation>
+    </message>
+    <message>
+        <source>Driving Model Selector</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Warning: You are on a metered connection!</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation type="unfinished">繼續</translation>
+    </message>
+    <message>
+        <source>on Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished">取消</translation>
+    </message>
 </context>
 <context>
     <name>MultiOptionDialog</name>
@@ -915,6 +1150,30 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
         <source>Select a vehicle</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Unrecognized Vehicle</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Fingerprinted automatically</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Not fingerprinted or manually selected</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select vehicle to force fingerprint manually.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Colors represent fingerprint status:</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeAdWidget</name>
@@ -960,14 +1219,6 @@ Pause Steering: ALC will be paused when the brake pedal is manually pressed.</so
 </context>
 <context>
     <name>QObject</name>
-    <message>
-        <source>Reboot</source>
-        <translation>重新啟動</translation>
-    </message>
-    <message>
-        <source>Exit</source>
-        <translation>離開</translation>
-    </message>
     <message>
         <source>sunnypilot</source>
         <translation>sunnypilot</translation>
@@ -1113,6 +1364,18 @@ This may take up to a minute.</source>
         <source>Steering</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>Models</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cruise</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Visuals</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -1404,108 +1667,20 @@ This may take up to a minute.</source>
 <context>
     <name>SoftwarePanelSP</name>
     <message>
-        <source>Current Model</source>
+        <source>Search Branch</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>SELECT</source>
-        <translation type="unfinished">選取</translation>
-    </message>
-    <message>
-        <source>No custom model selected!</source>
+        <source>Enter search keywords, or leave blank to list all branches.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Driving</source>
+        <source>No branches found for keywords: %1</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Navigation</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Metadata</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Downloading %1 model [%2]... (%3%)</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] %3</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>downloaded</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>ready</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>from cache</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] download failed</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 model [%2] pending...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Fetching models...</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Use Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Select a Model</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Default</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Model download has started in the background.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>We STRONGLY suggest you to reset calibration.</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Would you like to do that now?</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Reset Calibration</source>
-        <translation type="unfinished">重設校準</translation>
-    </message>
-    <message>
-        <source>Driving Model Selector</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Warning: You are on a metered connection!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Continue</source>
-        <translation type="unfinished">繼續</translation>
-    </message>
-    <message>
-        <source>on Metered</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Cancel</source>
-        <translation type="unfinished">取消</translation>
+        <source>Select a branch</source>
+        <translation type="unfinished">選取一個分支</translation>
     </message>
 </context>
 <context>
@@ -1789,10 +1964,6 @@ This may take up to a minute.</source>
         <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。</translation>
     </message>
-    <message>
-        <source>sunnypilot longitudinal control may come in a future update.</source>
-        <translation>sunnypilot 縱向控制可能會在未來的更新中提供。</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>積極</translation>
@@ -1850,8 +2021,16 @@ This may take up to a minute.</source>
         <translation>啟用 sunnypilot</translation>
     </message>
     <message>
-        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
-        <translation>使用 sunnypilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。</translation>
+        <source>Use the sunnypilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source> Changing this setting will restart openpilot if the car is powered on.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 3b565e0e13..c9dc70cdff 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -80,8 +80,12 @@ void UIState::updateStatus() {
       status = STATUS_OVERRIDE;
     } else {
       if (mads.getAvailable()) {
-        if (mads.getEnabled()) {
-          status = ss.getEnabled() ? STATUS_ENGAGED : STATUS_LAT_ONLY;
+        if (mads.getEnabled() && ss.getEnabled()) {
+          status = STATUS_ENGAGED;
+        } else if (mads.getEnabled()) {
+          status = STATUS_LAT_ONLY;
+        } else if (ss.getEnabled()) {
+          status = STATUS_LONG_ONLY;
         } else {
           status = STATUS_DISENGAGED;
         }
@@ -91,6 +95,11 @@ void UIState::updateStatus() {
     }
   }
 
+  if (engaged() != engaged_prev) {
+    engaged_prev = engaged();
+    emit engagedChanged(engaged());
+  }
+
   // Handle onroad/offroad transition
   if (scene.started != started_prev || sm->frame == 1) {
     if (scene.started) {
@@ -162,6 +171,8 @@ void Device::resetInteractiveTimeout(int timeout) {
 }
 
 void Device::updateBrightness(const UIState &s) {
+  int brightness;
+  int brightness_override = QString::fromStdString(Params().get("Brightness")).toInt();
   float clipped_brightness = offroad_brightness;
   if (s.scene.started && s.scene.light_sensor >= 0) {
     clipped_brightness = s.scene.light_sensor;
@@ -173,11 +184,19 @@ void Device::updateBrightness(const UIState &s) {
       clipped_brightness = std::pow((clipped_brightness + 16.0) / 116.0, 3.0);
     }
 
-    // Scale back to 10% to 100%
-    clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);
+    if (brightness_override == 1) {
+      clipped_brightness = std::clamp(100.0f * clipped_brightness, 1.0f, 100.0f);  // Scale back to 1% to 100%
+    } else if (brightness_override == 0) {
+      clipped_brightness = std::clamp(100.0f * clipped_brightness, 10.0f, 100.0f);  // Scale back to 10% to 100%
+    }
+  }
+
+  if (brightness_override == 0 || brightness_override == 1) {
+    brightness = brightness_filter.update(clipped_brightness);
+  } else {
+    brightness = brightness_override;
   }
 
-  int brightness = brightness_filter.update(clipped_brightness);
   if (!awake) {
     brightness = 0;
   }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 21e74af1d2..4ead8aecb9 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -72,7 +72,7 @@ class UIState : public QObject {
 public:
   UIState(QObject* parent = 0);
   virtual void updateStatus();
-  inline bool engaged() const {
+  virtual inline bool engaged() const {
     return scene.started && (*sm)["selfdriveState"].getSelfdriveState().getEnabled();
   }
 
@@ -85,6 +85,7 @@ public:
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
+  void engagedChanged(bool engaged);
 
 protected slots:
   virtual void update();
@@ -94,6 +95,7 @@ protected:
 
 private:
   bool started_prev = false;
+  bool engaged_prev = false;
 };
 
 #ifndef SUNNYPILOT
diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py
new file mode 100755
index 0000000000..e77e053cb7
--- /dev/null
+++ b/selfdrive/ui/ui.py
@@ -0,0 +1,24 @@
+#!/usr/bin/env python3
+import pyray as rl
+from openpilot.common.watchdog import kick_watchdog
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.selfdrive.ui.layouts.main import MainLayout
+from openpilot.selfdrive.ui.ui_state import ui_state
+
+
+
+def main():
+  gui_app.init_window("UI")
+  main_layout = MainLayout()
+  for _ in gui_app.render():
+    ui_state.update()
+
+    #TODO handle brigntness and awake state here
+
+    main_layout.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+    kick_watchdog()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/ui/ui_state.py b/selfdrive/ui/ui_state.py
new file mode 100644
index 0000000000..d9a8c40597
--- /dev/null
+++ b/selfdrive/ui/ui_state.py
@@ -0,0 +1,129 @@
+import pyray as rl
+from enum import Enum
+from cereal import messaging, log
+from openpilot.common.params import Params, UnknownKeyName
+
+
+UI_BORDER_SIZE = 30
+
+
+class UIStatus(Enum):
+  DISENGAGED = "disengaged"
+  ENGAGED = "engaged"
+  OVERRIDE = "override"
+
+
+class UIState:
+  _instance: 'UIState | None' = None
+
+  def __new__(cls):
+    if cls._instance is None:
+      cls._instance = super().__new__(cls)
+      cls._instance._initialize()
+    return cls._instance
+
+  def _initialize(self):
+    self.params = Params()
+    self.sm = messaging.SubMaster(
+      [
+        "modelV2",
+        "controlsState",
+        "liveCalibration",
+        "radarState",
+        "deviceState",
+        "pandaStates",
+        "carParams",
+        "driverMonitoringState",
+        "carState",
+        "driverStateV2",
+        "roadCameraState",
+        "wideRoadCameraState",
+        "managerState",
+        "selfdriveState",
+        "longitudinalPlan",
+      ]
+    )
+
+    # UI Status tracking
+    self.status: UIStatus = UIStatus.DISENGAGED
+    self.started_frame: int = 0
+    self._engaged_prev: bool = False
+    self._started_prev: bool = False
+
+    # Core state variables
+    self.is_metric: bool = self.params.get_bool("IsMetric")
+    self.started: bool = False
+    self.ignition: bool = False
+    self.panda_type: log.PandaState.PandaType = log.PandaState.PandaType.unknown
+    self.personality: log.LongitudinalPersonality = log.LongitudinalPersonality.standard
+    self.light_sensor: float = -1.0
+
+    self._update_params()
+
+  @property
+  def engaged(self) -> bool:
+    return self.started and self.sm["selfdriveState"].enabled
+
+  def update(self) -> None:
+    self.sm.update(0)
+    self._update_state()
+    self._update_status()
+
+  def _update_state(self) -> None:
+    # Handle panda states updates
+    if self.sm.updated["pandaStates"]:
+      panda_states = self.sm["pandaStates"]
+
+      if len(panda_states) > 0:
+        # Get panda type from first panda
+        self.panda_type = panda_states[0].pandaType
+        # Check ignition status across all pandas
+        if self.panda_type != log.PandaState.PandaType.unknown:
+          self.ignition = any(state.ignitionLine or state.ignitionCan for state in panda_states)
+    elif self.sm.frame - self.sm.recv_frame["pandaStates"] > 5 * rl.get_fps():
+      self.panda_type = log.PandaState.PandaType.unknown
+
+    # Handle wide road camera state updates
+    if self.sm.updated["wideRoadCameraState"]:
+      cam_state = self.sm["wideRoadCameraState"]
+
+      # Scale factor based on sensor type
+      scale = 6.0 if cam_state.sensor == 'ar0231' else 1.0
+      self.light_sensor = max(100.0 - scale * cam_state.exposureValPercent, 0.0)
+    elif not self.sm.alive["wideRoadCameraState"] or not self.sm.valid["wideRoadCameraState"]:
+      self.light_sensor = -1
+
+    # Update started state
+    self.started = self.sm["deviceState"].started and self.ignition
+
+  def _update_status(self) -> None:
+    if self.started and self.sm.updated["selfdriveState"]:
+      ss = self.sm["selfdriveState"]
+      state = ss.state
+
+      if state in (log.SelfdriveState.OpenpilotState.preEnabled, log.SelfdriveState.OpenpilotState.overriding):
+        self.status = UIStatus.OVERRIDE
+      else:
+        self.status = UIStatus.ENGAGED if ss.enabled else UIStatus.DISENGAGED
+
+    # Check for engagement state changes
+    if self.engaged != self._engaged_prev:
+      self._engaged_prev = self.engaged
+
+    # Handle onroad/offroad transition
+    if self.started != self._started_prev or self.sm.frame == 1:
+      if self.started:
+        self.status = UIStatus.DISENGAGED
+        self.started_frame = self.sm.frame
+
+      self._started_prev = self.started
+
+  def _update_params(self) -> None:
+    try:
+      self.is_metric = self.params.get_bool("IsMetric")
+    except UnknownKeyName:
+      self.is_metric = False
+
+
+# Global instance
+ui_state = UIState()
diff --git a/selfdrive/ui/widgets/offroad_alerts.py b/selfdrive/ui/widgets/offroad_alerts.py
new file mode 100644
index 0000000000..df88dc8554
--- /dev/null
+++ b/selfdrive/ui/widgets/offroad_alerts.py
@@ -0,0 +1,328 @@
+import json
+import pyray as rl
+from abc import ABC, abstractmethod
+from collections.abc import Callable
+from dataclasses import dataclass
+from openpilot.common.params import Params
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+
+class AlertColors:
+  HIGH_SEVERITY = rl.Color(226, 44, 44, 255)
+  LOW_SEVERITY = rl.Color(41, 41, 41, 255)
+  BACKGROUND = rl.Color(57, 57, 57, 255)
+  BUTTON = rl.WHITE
+  BUTTON_TEXT = rl.BLACK
+  SNOOZE_BG = rl.Color(79, 79, 79, 255)
+  TEXT = rl.WHITE
+
+
+class AlertConstants:
+  BUTTON_SIZE = (400, 125)
+  SNOOZE_BUTTON_SIZE = (550, 125)
+  REBOOT_BUTTON_SIZE = (600, 125)
+  MARGIN = 50
+  SPACING = 30
+  FONT_SIZE = 48
+  BORDER_RADIUS = 30
+  ALERT_HEIGHT = 120
+  ALERT_SPACING = 20
+
+
+@dataclass
+class AlertData:
+  key: str
+  text: str
+  severity: int
+  visible: bool = False
+
+
+class AbstractAlert(ABC):
+  def __init__(self, has_reboot_btn: bool = False):
+    self.params = Params()
+    self.has_reboot_btn = has_reboot_btn
+    self.dismiss_callback: Callable | None = None
+
+    self.dismiss_btn_rect = rl.Rectangle(0, 0, *AlertConstants.BUTTON_SIZE)
+    self.snooze_btn_rect = rl.Rectangle(0, 0, *AlertConstants.SNOOZE_BUTTON_SIZE)
+    self.reboot_btn_rect = rl.Rectangle(0, 0, *AlertConstants.REBOOT_BUTTON_SIZE)
+
+    self.snooze_visible = False
+    self.content_rect = rl.Rectangle(0, 0, 0, 0)
+    self.scroll_panel_rect = rl.Rectangle(0, 0, 0, 0)
+    self.scroll_panel = GuiScrollPanel()
+
+  def set_dismiss_callback(self, callback: Callable):
+    self.dismiss_callback = callback
+
+  @abstractmethod
+  def refresh(self) -> bool:
+    pass
+
+  @abstractmethod
+  def get_content_height(self) -> float:
+    pass
+
+  def handle_input(self, mouse_pos: rl.Vector2, mouse_clicked: bool) -> bool:
+    # TODO: fix scroll_panel.is_click_valid()
+    if not mouse_clicked:
+      return False
+
+    if rl.check_collision_point_rec(mouse_pos, self.dismiss_btn_rect):
+      if self.dismiss_callback:
+        self.dismiss_callback()
+      return True
+
+    if self.snooze_visible and rl.check_collision_point_rec(mouse_pos, self.snooze_btn_rect):
+      self.params.put_bool("SnoozeUpdate", True)
+      if self.dismiss_callback:
+        self.dismiss_callback()
+      return True
+
+    if self.has_reboot_btn and rl.check_collision_point_rec(mouse_pos, self.reboot_btn_rect):
+      HARDWARE.reboot()
+      return True
+
+    return False
+
+  def render(self, rect: rl.Rectangle):
+    rl.draw_rectangle_rounded(rect, AlertConstants.BORDER_RADIUS / rect.width, 10, AlertColors.BACKGROUND)
+
+    footer_height = AlertConstants.BUTTON_SIZE[1] + AlertConstants.SPACING
+    content_height = rect.height - 2 * AlertConstants.MARGIN - footer_height
+
+    self.content_rect = rl.Rectangle(
+      rect.x + AlertConstants.MARGIN,
+      rect.y + AlertConstants.MARGIN,
+      rect.width - 2 * AlertConstants.MARGIN,
+      content_height,
+    )
+    self.scroll_panel_rect = rl.Rectangle(
+      self.content_rect.x, self.content_rect.y, self.content_rect.width, self.content_rect.height
+    )
+
+    self._render_scrollable_content()
+    self._render_footer(rect)
+
+  def _render_scrollable_content(self):
+    content_total_height = self.get_content_height()
+    content_bounds = rl.Rectangle(0, 0, self.scroll_panel_rect.width, content_total_height)
+    scroll_offset = self.scroll_panel.handle_scroll(self.scroll_panel_rect, content_bounds)
+
+    rl.begin_scissor_mode(
+      int(self.scroll_panel_rect.x),
+      int(self.scroll_panel_rect.y),
+      int(self.scroll_panel_rect.width),
+      int(self.scroll_panel_rect.height),
+    )
+
+    content_rect_with_scroll = rl.Rectangle(
+      self.scroll_panel_rect.x,
+      self.scroll_panel_rect.y + scroll_offset.y,
+      self.scroll_panel_rect.width,
+      content_total_height,
+    )
+
+    self._render_content(content_rect_with_scroll)
+    rl.end_scissor_mode()
+
+  @abstractmethod
+  def _render_content(self, content_rect: rl.Rectangle):
+    pass
+
+  def _render_footer(self, rect: rl.Rectangle):
+    footer_y = rect.y + rect.height - AlertConstants.MARGIN - AlertConstants.BUTTON_SIZE[1]
+    font = gui_app.font(FontWeight.MEDIUM)
+
+    self.dismiss_btn_rect.x = rect.x + AlertConstants.MARGIN
+    self.dismiss_btn_rect.y = footer_y
+    rl.draw_rectangle_rounded(self.dismiss_btn_rect, 0.3, 10, AlertColors.BUTTON)
+
+    text = "Close"
+    text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x
+    text_x = self.dismiss_btn_rect.x + (AlertConstants.BUTTON_SIZE[0] - text_width) // 2
+    text_y = self.dismiss_btn_rect.y + (AlertConstants.BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2
+    rl.draw_text_ex(
+      font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.BUTTON_TEXT
+    )
+
+    if self.snooze_visible:
+      self.snooze_btn_rect.x = rect.x + rect.width - AlertConstants.MARGIN - AlertConstants.SNOOZE_BUTTON_SIZE[0]
+      self.snooze_btn_rect.y = footer_y
+      rl.draw_rectangle_rounded(self.snooze_btn_rect, 0.3, 10, AlertColors.SNOOZE_BG)
+
+      text = "Snooze Update"
+      text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x
+      text_x = self.snooze_btn_rect.x + (AlertConstants.SNOOZE_BUTTON_SIZE[0] - text_width) // 2
+      text_y = self.snooze_btn_rect.y + (AlertConstants.SNOOZE_BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2
+      rl.draw_text_ex(font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.TEXT)
+
+    elif self.has_reboot_btn:
+      self.reboot_btn_rect.x = rect.x + rect.width - AlertConstants.MARGIN - AlertConstants.REBOOT_BUTTON_SIZE[0]
+      self.reboot_btn_rect.y = footer_y
+      rl.draw_rectangle_rounded(self.reboot_btn_rect, 0.3, 10, AlertColors.BUTTON)
+
+      text = "Reboot and Update"
+      text_width = measure_text_cached(font, text, AlertConstants.FONT_SIZE).x
+      text_x = self.reboot_btn_rect.x + (AlertConstants.REBOOT_BUTTON_SIZE[0] - text_width) // 2
+      text_y = self.reboot_btn_rect.y + (AlertConstants.REBOOT_BUTTON_SIZE[1] - AlertConstants.FONT_SIZE) // 2
+      rl.draw_text_ex(
+        font, text, rl.Vector2(int(text_x), int(text_y)), AlertConstants.FONT_SIZE, 0, AlertColors.BUTTON_TEXT
+      )
+
+
+class OffroadAlert(AbstractAlert):
+  def __init__(self):
+    super().__init__(has_reboot_btn=False)
+    self.sorted_alerts: list[AlertData] = []
+
+  def refresh(self):
+    if not self.sorted_alerts:
+      self._build_alerts()
+
+    active_count = 0
+    connectivity_needed = False
+
+    for alert_data in self.sorted_alerts:
+      text = ""
+      bytes_data = self.params.get(alert_data.key)
+
+      if bytes_data:
+        try:
+          alert_json = json.loads(bytes_data)
+          text = alert_json.get("text", "").replace("{}", alert_json.get("extra", ""))
+        except json.JSONDecodeError:
+          text = ""
+
+      alert_data.text = text
+      alert_data.visible = bool(text)
+
+      if alert_data.visible:
+        active_count += 1
+
+      if alert_data.key == "Offroad_ConnectivityNeeded" and alert_data.visible:
+        connectivity_needed = True
+
+    self.snooze_visible = connectivity_needed
+    return active_count
+
+  def get_content_height(self) -> float:
+    if not self.sorted_alerts:
+      return 0
+
+    total_height = 20
+    font = gui_app.font(FontWeight.NORMAL)
+
+    for alert_data in self.sorted_alerts:
+      if not alert_data.visible:
+        continue
+
+      text_width = int(self.content_rect.width - 90)
+      wrapped_lines = wrap_text(font, alert_data.text, AlertConstants.FONT_SIZE, text_width)
+      line_count = len(wrapped_lines)
+      text_height = line_count * (AlertConstants.FONT_SIZE + 5)
+      alert_item_height = max(text_height + 40, AlertConstants.ALERT_HEIGHT)
+      total_height += alert_item_height + AlertConstants.ALERT_SPACING
+
+    if total_height > 20:
+      total_height = total_height - AlertConstants.ALERT_SPACING + 20
+
+    return total_height
+
+  def _build_alerts(self):
+    self.sorted_alerts = []
+    try:
+      with open("../selfdrived/alerts_offroad.json", "rb") as f:
+        alerts_config = json.load(f)
+        for key, config in sorted(alerts_config.items(), key=lambda x: x[1].get("severity", 0), reverse=True):
+          severity = config.get("severity", 0)
+          alert_data = AlertData(key=key, text="", severity=severity)
+          self.sorted_alerts.append(alert_data)
+    except (FileNotFoundError, json.JSONDecodeError):
+      pass
+
+  def _render_content(self, content_rect: rl.Rectangle):
+    y_offset = 20
+    font = gui_app.font(FontWeight.NORMAL)
+
+    for alert_data in self.sorted_alerts:
+      if not alert_data.visible:
+        continue
+
+      bg_color = AlertColors.HIGH_SEVERITY if alert_data.severity > 0 else AlertColors.LOW_SEVERITY
+      text_width = int(content_rect.width - 90)
+      wrapped_lines = wrap_text(font, alert_data.text, AlertConstants.FONT_SIZE, text_width)
+      line_count = len(wrapped_lines)
+      text_height = line_count * (AlertConstants.FONT_SIZE + 5)
+      alert_item_height = max(text_height + 40, AlertConstants.ALERT_HEIGHT)
+
+      alert_rect = rl.Rectangle(
+        content_rect.x + 10,
+        content_rect.y + y_offset,
+        content_rect.width - 30,
+        alert_item_height,
+      )
+
+      rl.draw_rectangle_rounded(alert_rect, 0.2, 10, bg_color)
+
+      text_x = alert_rect.x + 30
+      text_y = alert_rect.y + 20
+
+      for i, line in enumerate(wrapped_lines):
+        rl.draw_text_ex(
+          font,
+          line,
+          rl.Vector2(text_x, text_y + i * (AlertConstants.FONT_SIZE + 5)),
+          AlertConstants.FONT_SIZE,
+          0,
+          AlertColors.TEXT,
+        )
+
+      y_offset += alert_item_height + AlertConstants.ALERT_SPACING
+
+
+class UpdateAlert(AbstractAlert):
+  def __init__(self):
+    super().__init__(has_reboot_btn=True)
+    self.release_notes = ""
+    self._wrapped_release_notes = ""
+    self._cached_content_height: float = 0.0
+
+  def refresh(self) -> bool:
+    update_available: bool = self.params.get_bool("UpdateAvailable")
+    if update_available:
+      self.release_notes = self.params.get("UpdaterNewReleaseNotes", encoding='utf-8')
+      self._cached_content_height = 0
+
+    return update_available
+
+  def get_content_height(self) -> float:
+    if not self.release_notes:
+      return 100
+
+    if self._cached_content_height == 0:
+      self._wrapped_release_notes = self.release_notes
+      size = measure_text_cached(gui_app.font(FontWeight.NORMAL), self._wrapped_release_notes, AlertConstants.FONT_SIZE)
+      self._cached_content_height = max(size.y + 60, 100)
+
+    return self._cached_content_height
+
+  def _render_content(self, content_rect: rl.Rectangle):
+    if self.release_notes:
+      rl.draw_text_ex(
+        gui_app.font(FontWeight.NORMAL),
+        self._wrapped_release_notes,
+        rl.Vector2(content_rect.x + 30, content_rect.y + 30),
+        AlertConstants.FONT_SIZE,
+        0.0,
+        AlertColors.TEXT,
+      )
+    else:
+      no_notes_text = "No release notes available."
+      text_width = rl.measure_text(no_notes_text, AlertConstants.FONT_SIZE)
+      text_x = content_rect.x + (content_rect.width - text_width) // 2
+      text_y = content_rect.y + 50
+      rl.draw_text(no_notes_text, int(text_x), int(text_y), AlertConstants.FONT_SIZE, AlertColors.TEXT)
diff --git a/sunnypilot/mads/helpers.py b/sunnypilot/mads/helpers.py
index 831a75699e..4b1095c63e 100644
--- a/sunnypilot/mads/helpers.py
+++ b/sunnypilot/mads/helpers.py
@@ -11,15 +11,37 @@ from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
 
 
+class MadsSteeringModeOnBrake:
+  REMAIN_ACTIVE = 0
+  PAUSE = 1
+  DISENGAGE = 2
+
+
+def get_mads_limited_brands(CP: structs.CarParams) -> bool:
+  return CP.brand in ("rivian", "tesla")
+
+
+def read_steering_mode_param(CP: structs.CarParams, params: Params):
+  if get_mads_limited_brands(CP):
+    return MadsSteeringModeOnBrake.DISENGAGE
+
+  try:
+    return int(params.get("MadsSteeringMode"))
+  except (ValueError, TypeError):
+    return MadsSteeringModeOnBrake.REMAIN_ACTIVE
+
+
 def set_alternative_experience(CP: structs.CarParams, params: Params):
   enabled = params.get_bool("Mads")
-  pause_lateral_on_brake = params.get_bool("MadsPauseLateralOnBrake")
+  steering_mode = read_steering_mode_param(CP, params)
 
   if enabled:
     CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
 
-    if pause_lateral_on_brake:
-      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISENGAGE_LATERAL_ON_BRAKE
+    if steering_mode == MadsSteeringModeOnBrake.DISENGAGE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE
+    elif steering_mode == MadsSteeringModeOnBrake.PAUSE:
+      CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE
 
 
 def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
@@ -31,12 +53,12 @@ def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, p
       CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
       CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
 
-  # MADS is currently not supported in Tesla due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS for Tesla, identify consistent signals for MADS toggling
-  if CP.brand == "tesla":
-    params.remove("Mads")
-
-  # MADS is currently not supported in Rivian due to lack of consistent states to engage controls
-  # TODO-SP: To enable MADS for Rivian, identify consistent signals for MADS toggling
-  if CP.brand == "rivian":
-    params.remove("Mads")
+  # MADS Partial Support
+  # MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
+  # Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
+  # TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling
+  mads_partial_support = get_mads_limited_brands(CP)
+  if mads_partial_support:
+    params.put("MadsSteeringMode", "2")
+    params.put_bool("MadsUnifiedEngagementMode", True)
+    params.remove("MadsMainCruiseAllowed")
diff --git a/sunnypilot/mads/mads.py b/sunnypilot/mads/mads.py
index 2d7d41b4bc..f16b688358 100644
--- a/sunnypilot/mads/mads.py
+++ b/sunnypilot/mads/mads.py
@@ -9,6 +9,8 @@ from cereal import log, custom
 
 from opendbc.car import structs
 from opendbc.car.hyundai.values import HyundaiFlags
+from openpilot.common.params import Params
+from openpilot.sunnypilot.mads.helpers import MadsSteeringModeOnBrake, read_steering_mode_param, get_mads_limited_brands
 from openpilot.sunnypilot.mads.state import StateMachine, GEARS_ALLOW_PAUSED_SILENT
 
 State = custom.ModularAssistiveDrivingSystem.ModularAssistiveDrivingSystemState
@@ -24,75 +26,104 @@ IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
 
 class ModularAssistiveDrivingSystem:
   def __init__(self, selfdrive):
+    self.CP = selfdrive.CP
     self.params = selfdrive.params
 
     self.enabled = False
     self.active = False
     self.available = False
     self.allow_always = False
+    self.no_main_cruise = False
     self.selfdrive = selfdrive
     self.selfdrive.enabled_prev = False
     self.state_machine = StateMachine(self)
     self.events = self.selfdrive.events
     self.events_sp = self.selfdrive.events_sp
-
-    if self.selfdrive.CP.brand == "hyundai":
-      if self.selfdrive.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
+    self.disengage_on_accelerator = Params().get_bool("DisengageOnAccelerator")
+    if self.CP.brand == "hyundai":
+      if self.CP.flags & (HyundaiFlags.HAS_LDA_BUTTON | HyundaiFlags.CANFD):
         self.allow_always = True
 
+    if get_mads_limited_brands(self.CP):
+      self.no_main_cruise = True
+
     # read params on init
     self.enabled_toggle = self.params.get_bool("Mads")
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
-    self.pause_lateral_on_brake_toggle = self.params.get_bool("MadsPauseLateralOnBrake")
+    self.steering_mode_on_brake = read_steering_mode_param(self.CP, self.params)
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
   def read_params(self):
     self.main_enabled_toggle = self.params.get_bool("MadsMainCruiseAllowed")
     self.unified_engagement_mode = self.params.get_bool("MadsUnifiedEngagementMode")
 
+  def pedal_pressed_non_gas_pressed(self, CS: structs.CarState) -> bool:
+    if self.events.has(EventName.pedalPressed) and not (CS.gasPressed and not self.selfdrive.CS_prev.gasPressed and self.disengage_on_accelerator):
+      return True
+
+    return False
+
+  def should_silent_lkas_enable(self, CS: structs.CarState) -> bool:
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE and self.pedal_pressed_non_gas_pressed(CS):
+      return False
+
+    if self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
+      return False
+
+    return True
+
+  def block_unified_engagement_mode(self) -> bool:
+    # UEM disabled
+    if not self.unified_engagement_mode:
+      return True
+
+    if self.enabled:
+      return True
+
+    if self.selfdrive.enabled and self.selfdrive.enabled_prev:
+      return True
+
+    return False
+
+  def get_wrong_car_mode(self, alert_only: bool) -> None:
+    if alert_only:
+      if self.events.has(EventName.wrongCarMode):
+        self.replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
+    else:
+      self.events.remove(EventName.wrongCarMode)
+
+  def transition_paused_state(self):
+    if self.state_machine.state != State.paused:
+      self.events_sp.add(EventNameSP.silentLkasDisable)
+
+  def replace_event(self, old_event: int, new_event: int):
+    self.events.remove(old_event)
+    self.events_sp.add(new_event)
+
   def update_events(self, CS: structs.CarState):
-    def update_unified_engagement_mode():
-      uem_blocked = self.enabled or (self.selfdrive.enabled and self.selfdrive.enabled_prev)
-      if (self.unified_engagement_mode and uem_blocked) or not self.unified_engagement_mode:
-        self.events.remove(EventName.pcmEnable)
-        self.events.remove(EventName.buttonEnable)
-
-    def transition_paused_state():
-      if self.state_machine.state != State.paused:
-        self.events_sp.add(EventNameSP.silentLkasDisable)
-
-    def replace_event(old_event: int, new_event: int):
-      self.events.remove(old_event)
-      self.events_sp.add(new_event)
-
     if not self.selfdrive.enabled and self.enabled:
       if self.events.has(EventName.doorOpen):
-        replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
-        transition_paused_state()
+        self.replace_event(EventName.doorOpen, EventNameSP.silentDoorOpen)
+        self.transition_paused_state()
       if self.events.has(EventName.seatbeltNotLatched):
-        replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
-        transition_paused_state()
-      if self.events.has(EventName.wrongGear) and (CS.standstill or CS.gearShifter == GearShifter.reverse):
-        replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
-        transition_paused_state()
+        self.replace_event(EventName.seatbeltNotLatched, EventNameSP.silentSeatbeltNotLatched)
+        self.transition_paused_state()
+      if self.events.has(EventName.wrongGear) and (CS.vEgo < 2.5 or CS.gearShifter == GearShifter.reverse):
+        self.replace_event(EventName.wrongGear, EventNameSP.silentWrongGear)
+        self.transition_paused_state()
       if self.events.has(EventName.reverseGear):
-        replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
-        transition_paused_state()
+        self.replace_event(EventName.reverseGear, EventNameSP.silentReverseGear)
+        self.transition_paused_state()
       if self.events.has(EventName.brakeHold):
-        replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
-        transition_paused_state()
+        self.replace_event(EventName.brakeHold, EventNameSP.silentBrakeHold)
+        self.transition_paused_state()
       if self.events.has(EventName.parkBrake):
-        replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
-        transition_paused_state()
+        self.replace_event(EventName.parkBrake, EventNameSP.silentParkBrake)
+        self.transition_paused_state()
 
-      if self.pause_lateral_on_brake_toggle:
-        if CS.brakePressed:
-          transition_paused_state()
-
-      if not (self.pause_lateral_on_brake_toggle and CS.brakePressed) and \
-         not self.events_sp.contains_in_list(GEARS_ALLOW_PAUSED_SILENT):
-        if self.state_machine.state == State.paused:
-          self.events_sp.add(EventNameSP.silentLkasEnable)
+      if self.steering_mode_on_brake == MadsSteeringModeOnBrake.PAUSE:
+        if self.pedal_pressed_non_gas_pressed(CS):
+          self.transition_paused_state()
 
       self.events.remove(EventName.preEnableStandstill)
       self.events.remove(EventName.belowEngageSpeed)
@@ -100,8 +131,19 @@ class ModularAssistiveDrivingSystem:
       self.events.remove(EventName.cruiseDisabled)
       self.events.remove(EventName.manualRestart)
 
-    if self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable):
-      update_unified_engagement_mode()
+    selfdrive_enable_events = self.events.has(EventName.pcmEnable) or self.events.has(EventName.buttonEnable)
+    set_speed_btns_enable = any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents)
+
+    # wrongCarMode alert only or actively block control
+    self.get_wrong_car_mode(selfdrive_enable_events or set_speed_btns_enable)
+
+    if selfdrive_enable_events:
+      if self.pedal_pressed_non_gas_pressed(CS):
+        self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
+
+      if self.block_unified_engagement_mode():
+        self.events.remove(EventName.pcmEnable)
+        self.events.remove(EventName.buttonEnable)
     else:
       if self.main_enabled_toggle:
         if CS.cruiseState.available and not self.selfdrive.CS_prev.cruiseState.available:
@@ -120,20 +162,29 @@ class ModularAssistiveDrivingSystem:
         else:
           self.events_sp.add(EventNameSP.lkasEnable)
 
-    if not CS.cruiseState.available:
+    if not CS.cruiseState.available and not self.no_main_cruise:
       self.events.remove(EventName.buttonEnable)
       if self.selfdrive.CS_prev.cruiseState.available:
         self.events_sp.add(EventNameSP.lkasDisable)
 
+    if self.steering_mode_on_brake == MadsSteeringModeOnBrake.DISENGAGE:
+      if self.pedal_pressed_non_gas_pressed(CS):
+        if self.enabled:
+          self.events_sp.add(EventNameSP.lkasDisable)
+        else:
+          # block lkasEnable if being sent, then send pedalPressedAlertOnly event
+          if self.events_sp.contains(EventNameSP.lkasEnable):
+            self.events_sp.remove(EventNameSP.lkasEnable)
+            self.events_sp.add(EventNameSP.pedalPressedAlertOnly)
+
+    if self.should_silent_lkas_enable(CS):
+      if self.state_machine.state == State.paused:
+        self.events_sp.add(EventNameSP.silentLkasEnable)
+
     self.events.remove(EventName.pcmDisable)
     self.events.remove(EventName.buttonCancel)
     self.events.remove(EventName.pedalPressed)
     self.events.remove(EventName.wrongCruiseMode)
-    if any(be.type in SET_SPEED_BUTTONS for be in CS.buttonEvents):
-      if self.events.has(EventName.wrongCarMode):
-        replace_event(EventName.wrongCarMode, EventNameSP.wrongCarModeAlertOnly)
-    else:
-      self.events.remove(EventName.wrongCarMode)
 
   def update(self, CS: structs.CarState):
     if not self.enabled_toggle:
@@ -141,7 +192,7 @@ class ModularAssistiveDrivingSystem:
 
     self.update_events(CS)
 
-    if not self.selfdrive.CP.passive and self.selfdrive.initialized:
+    if not self.CP.passive and self.selfdrive.initialized:
       self.enabled, self.active = self.state_machine.update()
 
     # Copy of previous SelfdriveD states for MADS events handling
diff --git a/sunnypilot/mads/state.py b/sunnypilot/mads/state.py
index 89ae506ac8..73240c790c 100644
--- a/sunnypilot/mads/state.py
+++ b/sunnypilot/mads/state.py
@@ -51,7 +51,7 @@ class StateMachine:
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
       if self.check_contains(ET.USER_DISABLE):
-        if self._events_sp.has(EventNameSP.silentLkasDisable) or self._events_sp.has(EventNameSP.silentBrakeHold):
+        if self._events_sp.has(EventNameSP.silentLkasDisable):
           self.state = State.paused
         else:
           self.state = State.disabled
diff --git a/sunnypilot/mads/tests/test_mads_state_machine.py b/sunnypilot/mads/tests/test_mads_state_machine.py
index 51013b0baf..7bc556a0fc 100644
--- a/sunnypilot/mads/tests/test_mads_state_machine.py
+++ b/sunnypilot/mads/tests/test_mads_state_machine.py
@@ -73,7 +73,7 @@ class TestMADSStateMachine:
         self.clear_events()
 
   def test_user_disable_to_paused(self):
-    paused_events = (EventNameSP.silentLkasDisable, EventNameSP.silentBrakeHold)
+    paused_events = (EventNameSP.silentLkasDisable, )
     for state in ALL_STATES:
       for et in MAINTAIN_STATES[state]:
         self.events_sp.add(make_event([et, ET.USER_DISABLE]))
diff --git a/sunnypilot/mapd/__init__.py b/sunnypilot/mapd/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/sunnypilot/mapd/live_map_data/__init__.py b/sunnypilot/mapd/live_map_data/__init__.py
new file mode 100644
index 0000000000..557ad06515
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/__init__.py
@@ -0,0 +1,22 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.swaglog import cloudlog
+
+LOOK_AHEAD_HORIZON_TIME = 15.  # s. Time horizon for look ahead of turn speed sections to provide on liveMapDataSP msg.
+_DEBUG = False
+_CLOUDLOG_DEBUG = False
+ROAD_NAME_TIMEOUT = 30  # secs
+R = 6373000.0  # approximate radius of earth in mts
+QUERY_RADIUS = 3000  # mts. Radius to use on OSM data queries.
+QUERY_RADIUS_OFFLINE = 2250  # mts. Radius to use on offline OSM data queries.
+
+
+def get_debug(msg, log_to_cloud=True):
+  if _CLOUDLOG_DEBUG and log_to_cloud:
+    cloudlog.debug(msg)
+  if _DEBUG:
+    print(msg)
diff --git a/sunnypilot/mapd/live_map_data/base_map_data.py b/sunnypilot/mapd/live_map_data/base_map_data.py
new file mode 100644
index 0000000000..536d7720b7
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/base_map_data.py
@@ -0,0 +1,76 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import time
+from abc import abstractmethod, ABC
+
+from cereal import messaging
+from openpilot.common.gps import get_gps_location_service
+from openpilot.common.params import Params
+from openpilot.sunnypilot.navd.helpers import Coordinate, coordinate_from_param
+
+
+class BaseMapData(ABC):
+  def __init__(self):
+    self.params = Params()
+
+    self.gps_location_service = get_gps_location_service(self.params)
+    self.sm = messaging.SubMaster(['livePose', 'carControl'] + [self.gps_location_service])
+    self.pm = messaging.PubMaster(['liveMapDataSP'])
+
+    self.last_position = coordinate_from_param("LastGPSPosition", self.params)
+    self.last_altitude = None
+
+  @abstractmethod
+  def update_location(self) -> None:
+    pass
+
+  @abstractmethod
+  def get_current_speed_limit(self) -> float:
+    pass
+
+  @abstractmethod
+  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
+    pass
+
+  @abstractmethod
+  def get_current_road_name(self) -> str:
+    pass
+
+  def get_current_location(self) -> None:
+    gps = self.sm[self.gps_location_service]
+
+    # ignore the message if the fix is invalid
+    gps_ok = self.sm.updated[self.gps_location_service] or (time.monotonic() - self.sm.logMonoTime[self.gps_location_service] / 1e9) > 2.0
+    if not gps_ok and self.sm['livePose'].inputsOK:
+      return None
+
+    # livePose has these data, but aren't on cereal
+    self.last_position = Coordinate(gps.latitude, gps.longitude)
+    self.last_altitude = gps.altitude
+
+  def publish(self) -> None:
+    speed_limit = self.get_current_speed_limit()
+    next_speed_limit, next_speed_limit_distance = self.get_next_speed_limit_and_distance()
+
+    mapd_sp_send = messaging.new_message('liveMapDataSP')
+    mapd_sp_send.valid = self.sm.all_checks(service_list=[self.gps_location_service, 'livePose'])
+    live_map_data = mapd_sp_send.liveMapDataSP
+
+    live_map_data.speedLimitValid = bool(speed_limit > 0)
+    live_map_data.speedLimit = speed_limit
+    live_map_data.speedLimitAheadValid = bool(next_speed_limit > 0)
+    live_map_data.speedLimitAhead = next_speed_limit
+    live_map_data.speedLimitAheadDistance = next_speed_limit_distance
+    live_map_data.roadName = self.get_current_road_name()
+
+    self.pm.send('liveMapDataSP', mapd_sp_send)
+
+  def tick(self) -> None:
+    self.sm.update()
+    self.get_current_location()
+    self.update_location()
+    self.publish()
diff --git a/sunnypilot/mapd/live_map_data/debug.py b/sunnypilot/mapd/live_map_data/debug.py
new file mode 100644
index 0000000000..da9f4d7771
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/debug.py
@@ -0,0 +1,57 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+# DISCLAIMER: This code is intended principally for development and debugging purposes.
+# Although it provides a standalone entry point to the program, users should refer
+# to the actual implementations for consumption. Usage outside of development scenarios
+# is not advised and could lead to unpredictable results.
+
+import threading
+import traceback
+
+from cereal import messaging
+from openpilot.common.gps import get_gps_location_service
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Policy
+from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
+from openpilot.sunnypilot.mapd.live_map_data import get_debug
+
+
+def excepthook(args):
+  get_debug(f'MapD: Threading exception:\n{args}')
+  traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
+
+
+def live_map_data_sp_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  params = Params()
+  gps_location_service = get_gps_location_service(params)
+
+  while True:
+    live_map_data_sp_thread_debug(gps_location_service)
+
+
+def live_map_data_sp_thread_debug(gps_location_service):
+  _sub_master = messaging.SubMaster(['carState', 'livePose', 'liveMapDataSP', 'longitudinalPlanSP', gps_location_service])
+  _sub_master.update()
+
+  v_ego = _sub_master['carState'].vEgo
+  long_spl = _sub_master['longitudinalPlanSP'].speedLimit
+  _policy = Policy.car_state_priority
+  _resolver = SpeedLimitResolver(_policy)
+  _speed_limit, _distance, _source = _resolver.resolve(v_ego, long_spl, _sub_master)
+  print(_speed_limit, _distance, _source, " <-> ", long_spl)
+
+
+def main():
+  threading.excepthook = excepthook
+  live_map_data_sp_thread()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/mapd/live_map_data/osm_map_data.py b/sunnypilot/mapd/live_map_data/osm_map_data.py
new file mode 100644
index 0000000000..5f74a5d011
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/osm_map_data.py
@@ -0,0 +1,51 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+import platform
+
+from openpilot.common.params import Params
+from openpilot.sunnypilot.mapd.live_map_data.base_map_data import BaseMapData
+from openpilot.sunnypilot.navd.helpers import Coordinate
+
+
+class OsmMapData(BaseMapData):
+  def __init__(self):
+    super().__init__()
+    self.params = Params()
+    self.mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else self.params
+
+  def update_location(self) -> None:
+    if self.last_position is None or self.last_altitude is None:
+      return
+
+    params = {
+      "latitude": self.last_position.latitude,
+      "longitude": self.last_position.longitude,
+      "altitude": self.last_altitude,
+    }
+
+    self.mem_params.put("LastGPSPosition", json.dumps(params))
+
+  def get_current_speed_limit(self) -> float:
+    return float(self.mem_params.get("MapSpeedLimit", encoding='utf8') or 0.0)
+
+  def get_current_road_name(self) -> str:
+    return self.mem_params.get("RoadName", encoding='utf8') or ""
+
+  def get_next_speed_limit_and_distance(self) -> tuple[float, float]:
+    next_speed_limit_section_str = self.mem_params.get("NextMapSpeedLimit", encoding='utf8')
+    next_speed_limit_section = json.loads(next_speed_limit_section_str) if next_speed_limit_section_str else {}
+    next_speed_limit = next_speed_limit_section.get('speedlimit', 0.0)
+    next_speed_limit_latitude = next_speed_limit_section.get('latitude')
+    next_speed_limit_longitude = next_speed_limit_section.get('longitude')
+    next_speed_limit_distance = 0.0
+
+    if next_speed_limit_latitude and next_speed_limit_longitude:
+      next_speed_limit_coordinates = Coordinate(next_speed_limit_latitude, next_speed_limit_longitude)
+      next_speed_limit_distance = (self.last_position or Coordinate(0, 0)).distance_to(next_speed_limit_coordinates)
+
+    return next_speed_limit, next_speed_limit_distance
diff --git a/sunnypilot/mapd/live_map_data/standalone.py b/sunnypilot/mapd/live_map_data/standalone.py
new file mode 100644
index 0000000000..f73ecc7724
--- /dev/null
+++ b/sunnypilot/mapd/live_map_data/standalone.py
@@ -0,0 +1,42 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+# DISCLAIMER: This code is intended principally for development and debugging purposes.
+# Although it provides a standalone entry point to the program, users should refer
+# to the actual implementations for consumption. Usage outside of development scenarios
+# is not advised and could lead to unpredictable results.
+
+import threading
+import traceback
+
+from openpilot.common.realtime import Ratekeeper, config_realtime_process
+from openpilot.sunnypilot.mapd.live_map_data import get_debug
+from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
+
+
+def excepthook(args):
+  get_debug(f'MapD: Threading exception:\n{args}')
+  traceback.print_exception(args.exc_type, args.exc_value, args.exc_traceback)
+
+
+def live_map_data_sp_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  live_map_sp = OsmMapData()
+  rk = Ratekeeper(1, print_delay_threshold=None)
+
+  while True:
+    live_map_sp.tick()
+    rk.keep_time()
+
+
+def main():
+  threading.excepthook = excepthook
+  live_map_data_sp_thread()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/mapd/mapd_installer.py b/sunnypilot/mapd/mapd_installer.py
new file mode 100755
index 0000000000..0be30b5b62
--- /dev/null
+++ b/sunnypilot/mapd/mapd_installer.py
@@ -0,0 +1,152 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import logging
+import os
+import stat
+import time
+import traceback
+import requests
+from pathlib import Path
+from urllib.request import urlopen
+
+from cereal import messaging
+from openpilot.common.params import Params
+from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH, MAPD_BIN_DIR
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.ui.spinner import Spinner
+from openpilot.system.version import is_prebuilt
+import openpilot.system.sentry as sentry
+
+VERSION = 'v1.9.0'
+URL = f"https://github.com/pfeiferj/openpilot-mapd/releases/download/{VERSION}/mapd"
+
+
+class MapdInstallManager:
+  def __init__(self, spinner_ref: Spinner):
+    self._spinner = spinner_ref
+
+  def download(self) -> None:
+    self.ensure_directories_exist()
+    self._download_file()
+    self.update_installed_version(VERSION)
+
+  def check_and_download(self) -> None:
+    if self.download_needed():
+      self.download()
+
+  @staticmethod
+  def download_needed() -> bool:
+    return not os.path.exists(MAPD_PATH) or MapdInstallManager.get_installed_version() != VERSION
+
+  @staticmethod
+  def ensure_directories_exist() -> None:
+    if not os.path.exists(Paths.mapd_root()):
+      os.makedirs(Paths.mapd_root())
+    if not os.path.exists(MAPD_BIN_DIR):
+      os.makedirs(MAPD_BIN_DIR)
+
+  @staticmethod
+  def _safe_write_and_set_executable(file_path: Path, content: bytes) -> None:
+    with open(file_path, 'wb') as output:
+      output.write(content)
+      output.flush()
+      os.fsync(output.fileno())
+    current_permissions = stat.S_IMODE(os.lstat(file_path).st_mode)
+    os.chmod(file_path, current_permissions | stat.S_IEXEC)
+
+  def _download_file(self, num_retries=5) -> None:
+    temp_file = Path(MAPD_PATH + ".tmp")
+    download_timeout = 60
+    for cnt in range(num_retries):
+      try:
+        response = requests.get(URL, stream=True, timeout=download_timeout)
+        response.raise_for_status()
+        self._safe_write_and_set_executable(temp_file, response.content)
+        # No exceptions encountered. Safe to replace original file.
+        temp_file.replace(MAPD_PATH)
+        return
+      except requests.exceptions.ReadTimeout:
+        self._spinner.update(f"ReadTimeout caught. Timeout is [{download_timeout}]. Retrying download... [{cnt}]")
+        time.sleep(0.5)
+      except requests.exceptions.RequestException as e:
+        self._spinner.update(f"RequestException caught: {e}. Retrying download... [{cnt}]")
+        time.sleep(0.5)
+
+    # Delete temp file if the process was not successful.
+    if temp_file.exists():
+      temp_file.unlink()
+    logging.error("Failed to download file after all retries")
+
+  @staticmethod
+  def update_installed_version(version: str) -> None:
+    Params().put("MapdVersion", version)
+
+  @staticmethod
+  def get_installed_version() -> str:
+    return Params().get("MapdVersion", encoding="utf-8") or ""
+
+  def wait_for_internet_connection(self, return_on_failure: bool = False) -> bool:
+    max_retries = 10
+    for retries in range(max_retries + 1):
+      self._spinner.update(f"Waiting for internet connection... [{retries}/{max_retries}]")
+      time.sleep(2)
+      try:
+        _ = urlopen('https://sentry.io', timeout=10)
+        return True
+      except Exception as e:
+        print(f'Wait for internet failed: {e}')
+        if return_on_failure and retries == max_retries:
+          return False
+
+    return False
+
+  def non_prebuilt_install(self) -> None:
+    sm = messaging.SubMaster(['deviceState'])
+    metered = sm['deviceState'].networkMetered
+
+    if metered:
+      self._spinner.update("Can't proceed with mapd install since network is metered!")
+      time.sleep(5)
+      return
+
+    try:
+      self.ensure_directories_exist()
+      if not self.download_needed():
+        self._spinner.update("Mapd is good!")
+        time.sleep(0.1)
+        return
+
+      if self.wait_for_internet_connection(return_on_failure=True):
+        self._spinner.update(f"Downloading pfeiferj's mapd [{install_manager.get_installed_version()}] => [{VERSION}].")
+        time.sleep(0.1)
+        self.check_and_download()
+      self._spinner.close()
+
+    except Exception:
+      for i in range(6):
+        self._spinner.update("Failed to download OSM maps won't work until properly downloaded!" +
+                             "Try again manually rebooting. " +
+                             f"Boot will continue in {5 - i}s...")
+        time.sleep(1)
+
+      sentry.init(sentry.SentryProject.SELFDRIVE)
+      traceback.print_exc()
+      sentry.capture_exception()
+
+
+if __name__ == "__main__":
+  spinner = Spinner()
+  install_manager = MapdInstallManager(spinner)
+  install_manager.ensure_directories_exist()
+  if is_prebuilt():
+    debug_msg = f"[DEBUG] This is prebuilt, no mapd install required. VERSION: [{VERSION}], Param [{install_manager.get_installed_version()}]"
+    spinner.update(debug_msg)
+    install_manager.update_installed_version(VERSION)
+  else:
+    spinner.update(f"Checking if mapd is installed and valid. Prebuilt [{is_prebuilt()}]")
+    install_manager.non_prebuilt_install()
diff --git a/sunnypilot/mapd/mapd_manager.py b/sunnypilot/mapd/mapd_manager.py
new file mode 100755
index 0000000000..342ba3fe7b
--- /dev/null
+++ b/sunnypilot/mapd/mapd_manager.py
@@ -0,0 +1,147 @@
+#!/usr/bin/env python3
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import json
+import time
+import platform
+import os
+import glob
+import shutil
+
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper, config_realtime_process
+from openpilot.common.swaglog import cloudlog
+from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
+from openpilot.sunnypilot.mapd.live_map_data.osm_map_data import OsmMapData
+from openpilot.system.hardware.hw import Paths
+
+# PFEIFER - MAPD {{
+params = Params()
+mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params
+# }} PFEIFER - MAPD
+
+MAPD_BIN_DIR = os.path.join(BASEDIR, 'third_party/mapd_pfeiferj')
+MAPD_PATH = os.path.join(MAPD_BIN_DIR, 'mapd')
+
+
+def get_files_for_cleanup() -> list[str]:
+  paths = [
+    f"{Paths.mapd_root()}/db",
+    f"{Paths.mapd_root()}/v*"
+  ]
+  files_to_remove = []
+  for path in paths:
+    if os.path.exists(path):
+      files = glob.glob(path + '/**', recursive=True)
+      files_to_remove.extend(files)
+  # check for version and mapd files
+  if not os.path.isfile(MAPD_PATH):
+    files_to_remove.append(MAPD_PATH)
+  return files_to_remove
+
+
+def cleanup_old_osm_data(files_to_remove: list[str]) -> None:
+  for file in files_to_remove:
+    # Remove trailing slash if path is file
+    if file.endswith('/') and os.path.isfile(file[:-1]):
+      file = file[:-1]
+    # Try to remove as file or symbolic link first
+    if os.path.islink(file) or os.path.isfile(file):
+      os.remove(file)
+    elif os.path.isdir(file):  # If it's a directory
+      shutil.rmtree(file, ignore_errors=False)
+
+
+def request_refresh_osm_location_data(nations: list[str], states: list[str] = None) -> None:
+  params.put("OsmDownloadedDate", str(time.time()))
+  params.put_bool("OsmDbUpdatesCheck", False)
+
+  osm_download_locations = json.dumps({
+    "nations": nations,
+    "states": states or []
+  })
+
+  print(f"Downloading maps for {osm_download_locations}")
+  mem_params.put("OSMDownloadLocations", osm_download_locations)
+
+
+def filter_nations_and_states(nations: list[str], states: list[str] = None) -> tuple[list[str], list[str]]:
+  """Filters and prepares nation and state data for OSM map download.
+
+  If the nation is 'US' and a specific state is provided, the nation 'US' is removed from the list.
+  If the nation is 'US' and the state is 'All', the 'All' is removed from the list.
+  The idea behind these filters is that if a specific state in the US is provided,
+  there's no need to download map data for the entire US. Conversely,
+  if the state is unspecified (i.e., 'All'), we intend to download map data for the whole US,
+  and 'All' isn't a valid state name, so it's removed.
+
+  Parameters:
+  nations (list): A list of nations for which the map data is to be downloaded.
+  states (list, optional): A list of states for which the map data is to be downloaded. Defaults to None.
+
+  Returns:
+  tuple: Two lists. The first list is filtered nations and the second list is filtered states.
+  """
+
+  if "US" in nations and states and not any(x.lower() == "all" for x in states):
+    # If a specific state in the US is provided, remove 'US' from nations
+    nations.remove("US")
+  elif "US" in nations and states and any(x.lower() == "all" for x in states):
+    # If 'All' is provided as a state (case invariant), remove those instances from states
+    states = [x for x in states if x.lower() != "all"]
+  elif "US" not in nations and states and any(x.lower() == "all" for x in states):
+    states.remove("All")
+  return nations, states or []
+
+
+def update_osm_db() -> None:
+  # last_downloaded_date = float(params.get('OsmDownloadedDate', encoding='utf-8') or 0.0)
+  # if params.get_bool("OsmDbUpdatesCheck") or time.time() - last_downloaded_date >= 604800:  # 7 days * 24 hours/day * 60
+  if params.get_bool("OsmDbUpdatesCheck"):
+    cleanup_old_osm_data(get_files_for_cleanup())
+    country = params.get('OsmLocationName', encoding='utf-8')
+    state = params.get('OsmStateName', encoding='utf-8') or "All"
+    filtered_nations, filtered_states = filter_nations_and_states([country], [state])
+    request_refresh_osm_location_data(filtered_nations, filtered_states)
+
+  if not mem_params.get("OSMDownloadBounds"):
+    mem_params.put("OSMDownloadBounds", "")
+
+  if not mem_params.get("LastGPSPosition"):
+    mem_params.put("LastGPSPosition", "{}")
+
+
+def main_thread():
+  config_realtime_process([0, 1, 2, 3], 5)
+
+  rk = Ratekeeper(1, print_delay_threshold=None)
+  live_map_sp = OsmMapData()
+
+  # Create folder needed for OSM
+  try:
+    os.mkdir(Paths.mapd_root())
+  except FileExistsError:
+    pass
+  except PermissionError:
+    cloudlog.exception(f"mapd: failed to make {Paths.mapd_root()}")
+
+  while True:
+    show_alert = get_files_for_cleanup() and params.get_bool("OsmLocal")
+    set_offroad_alert("Offroad_OSMUpdateRequired", show_alert, "This alert will be cleared when new maps are downloaded.")
+
+    update_osm_db()
+    live_map_sp.tick()
+    rk.keep_time()
+
+
+def main():
+  main_thread()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/sunnypilot/modeld/SConscript b/sunnypilot/modeld/SConscript
index 1a54fe1e32..df897e3049 100644
--- a/sunnypilot/modeld/SConscript
+++ b/sunnypilot/modeld/SConscript
@@ -53,14 +53,7 @@ lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=c
 lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, snpe_lib, *cython_libs], FRAMEWORKS=frameworks, RPATH=snpe_rpath)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
 
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath)]
-
-# Get model metadata
-fn = File("models/supercombo").abspath
-cmd = f'python3 {Dir("#sunnypilot/modeld").abspath}/get_model_metadata.py {fn}.onnx'
-lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
-
 if arch == "larch64":
   thneed_lib = env.SharedLibrary('thneed', thneed_src, LIBS=[gpucommon, common, 'OpenCL', 'dl'])
   thneedmodel_lib = env.Library('thneedmodel', ['runners/thneedmodel.cc'])
-  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
+  lenvCython.Program('runners/thneedmodel_pyx.so', 'runners/thneedmodel_pyx.pyx', LIBS=envCython["LIBS"]+[thneedmodel_lib, thneed_lib, gpucommon, common, 'dl', 'OpenCL'])
\ No newline at end of file
diff --git a/sunnypilot/modeld/constants.py b/sunnypilot/modeld/constants.py
index 8f63afa461..18abc6c960 100644
--- a/sunnypilot/modeld/constants.py
+++ b/sunnypilot/modeld/constants.py
@@ -1,7 +1,8 @@
 import numpy as np
 
 def index_function(idx, max_val=192, max_idx=32):
-  return (max_val) * ((idx/max_idx)**2)
+  return max_val * ((idx/max_idx)**2)
+
 
 class ModelConstants:
   # time and distance indices
@@ -63,6 +64,7 @@ class ModelConstants:
 
   POLY_PATH_DEGREE = 4
 
+
 # model outputs slices
 class Plan:
   POSITION = slice(0, 3)
@@ -71,6 +73,7 @@ class Plan:
   T_FROM_CURRENT_EULER = slice(9, 12)
   ORIENTATION_RATE = slice(12, 15)
 
+
 class Meta:
   ENGAGED = slice(0, 1)
   # next 2, 4, 6, 8, 10 seconds
diff --git a/sunnypilot/modeld/fill_model_msg.py b/sunnypilot/modeld/fill_model_msg.py
index 1c40425bdd..608f24424d 100644
--- a/sunnypilot/modeld/fill_model_msg.py
+++ b/sunnypilot/modeld/fill_model_msg.py
@@ -50,7 +50,7 @@ def fill_xyz_poly(builder, degree, x, y, z):
   builder.zCoefficients = coeffs[:, 2].tolist()
 
 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], publish_state: PublishState,
+                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action, publish_state: PublishState,
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
                    timestamp_eof: int, model_execution_time: float, valid: bool,
                    v_ego: float, steer_delay: float, meta_const) -> None:
@@ -76,8 +76,11 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   driving_model_data.frameDropPerc = frame_drop_perc
   driving_model_data.modelExecutionTime = model_execution_time
 
-  action = driving_model_data.action
-  action.desiredCurvature = desired_curvature
+  # Populate drivingModelData.action
+  driving_model_data_action = driving_model_data.action
+  driving_model_data_action.desiredAcceleration = action.desiredAcceleration
+  driving_model_data_action.shouldStop = action.shouldStop
+  driving_model_data_action.desiredCurvature = desired_curvature
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -111,8 +114,10 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
   # lateral planning
-  action = modelV2.action
-  action.desiredCurvature = desired_curvature
+  modelV2_action = modelV2.action
+  modelV2_action.desiredAcceleration = action.desiredAcceleration
+  modelV2_action.shouldStop = action.shouldStop
+  modelV2_action.desiredCurvature = desired_curvature
 
   # times at X_IDXS according to model plan
   PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
diff --git a/sunnypilot/modeld/modeld.py b/sunnypilot/modeld/modeld.py
index a58a567100..d4bd96ff66 100755
--- a/sunnypilot/modeld/modeld.py
+++ b/sunnypilot/modeld/modeld.py
@@ -18,12 +18,16 @@ from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
+
 from openpilot.sunnypilot.modeld.runners import ModelRunner, Runtime
 from openpilot.sunnypilot.modeld.parse_model_outputs import Parser
 from openpilot.sunnypilot.modeld.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.sunnypilot.modeld.constants import ModelConstants
+from openpilot.sunnypilot.modeld.constants import ModelConstants, Plan
+from openpilot.sunnypilot.models.helpers import get_active_bundle, get_model_path, load_metadata, prepare_inputs, load_meta_constants
+from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
 from openpilot.sunnypilot.modeld.models.commonmodel_pyx import ModelFrame, CLContext
-from openpilot.sunnypilot.modeld.runners.run_helpers import get_model_path, load_metadata, prepare_inputs, load_meta_constants
+
 
 PROCESS_NAME = "selfdrive.modeld.modeld_snpe"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -34,6 +38,7 @@ MODEL_PATHS = {
 
 METADATA_PATH = Path(__file__).parent / 'models/supercombo_metadata.pkl'
 
+
 class FrameMeta:
   frame_id: int = 0
   timestamp_sof: int = 0
@@ -55,6 +60,10 @@ class ModelState:
     self.frame = ModelFrame(context)
     self.wide_frame = ModelFrame(context)
     self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    bundle = get_active_bundle()
+    overrides = {override.key: override.value for override in bundle.overrides}
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
 
     model_paths = get_model_path()
     self.model_metadata = load_metadata()
@@ -118,6 +127,15 @@ class ModelState:
         self.inputs['prev_desired_curv'][-1:] = outputs['desired_curvature'][0, :]
     return outputs
 
+  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
+                            long_action_t: float) -> log.ModelDataV2.Action:
+    plan = model_output['plan'][0]
+    desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], ModelConstants.T_IDXS,
+                                                     action_t=long_action_t)
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
+
+    return log.ModelDataV2.Action(desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
+
 
 def main(demo=False):
   cloudlog.warning("modeld init")
@@ -158,7 +176,7 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
@@ -184,8 +202,11 @@ def main(demo=False):
 
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
+  modeld_lagd = ModeldLagd()
+
+  # Enable lagd support for sunnypilot modeld
+  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
 
@@ -227,6 +248,8 @@ def main(demo=False):
     v_ego = sm["carState"].vEgo
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
+    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
+
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
@@ -280,7 +303,8 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+      action = model.get_action_from_model(model_output, prev_action, long_delay + DT_MDL)
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, action, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen,
                      v_ego, steer_delay, model.meta)
 
diff --git a/sunnypilot/modeld/models/supercombo.onnx b/sunnypilot/modeld/models/supercombo.onnx
deleted file mode 100644
index 8b7126c44a..0000000000
--- a/sunnypilot/modeld/models/supercombo.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:fb2018c74cdd9e5cb070ec7bed7f8581fabd55e39057d0a03aaffd2e42408154
-size 62486347
diff --git a/sunnypilot/modeld/runners/run_helpers.py b/sunnypilot/modeld/runners/run_helpers.py
deleted file mode 100644
index 5470106f1d..0000000000
--- a/sunnypilot/modeld/runners/run_helpers.py
+++ /dev/null
@@ -1,92 +0,0 @@
-"""
-Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
-
-This file is part of sunnypilot and is licensed under the MIT License.
-See the LICENSE.md file in the root directory for more details.
-"""
-
-import os
-import pickle
-import numpy as np
-
-from cereal import custom
-from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose
-from openpilot.sunnypilot.modeld.runners import ModelRunner
-from openpilot.sunnypilot.models.helpers import get_active_bundle
-from openpilot.system.hardware import PC
-from openpilot.system.hardware.hw import Paths
-from pathlib import Path
-
-USE_ONNX = os.getenv('USE_ONNX', PC)
-
-CUSTOM_MODEL_PATH = Paths.model_root()
-METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
-
-ModelManager = custom.ModelManagerSP
-
-
-def get_model_path():
-  if USE_ONNX:
-    return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'}
-
-  if bundle := get_active_bundle():
-    drive_model = next(model for model in bundle.models if model.type == ModelManager.Type.drive)
-    return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{drive_model.fileName}"}
-
-  return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'}
-
-
-def load_metadata():
-  metadata_path = METADATA_PATH
-
-  if bundle := get_active_bundle():
-    metadata_model = next(model for model in bundle.models if model.type == ModelManager.Type.metadata)
-    metadata_path = f"{CUSTOM_MODEL_PATH}/{metadata_model.fileName}"
-
-  with open(metadata_path, 'rb') as f:
-    return pickle.load(f)
-
-
-def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
-  # img buffers are managed in openCL transform code so we don't pass them as inputs
-  inputs = {
-    k: np.zeros(v, dtype=np.float32).flatten()
-    for k, v in model_metadata['input_shapes'].items()
-    if 'img' not in k
-  }
-
-  return inputs
-
-
-def load_meta_constants(model_metadata):
-  """
-  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
-  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
-  model class to return.
-
-  :param model_metadata: Dictionary containing metadata about the model. It includes
-      details such as input shapes, output slices, and other configurations for identifying
-      metadata-dependent meta model classes.
-  :type model_metadata: dict
-  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
-      based on the conditions and metadata provided.
-  :rtype: type
-  """
-  meta = Meta  # Default Meta
-
-  if 'sim_pose' in model_metadata['input_shapes'].keys():
-    # Meta for models with sim_pose input
-    meta = MetaSimPose
-  else:
-    # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
-    meta_slice = model_metadata['output_slices']['meta']
-    meta_tf_slice = slice(5868, 5921, None)
-
-    if (
-          meta_slice.start == meta_tf_slice.start and
-          meta_slice.stop == meta_tf_slice.stop and
-          meta_slice.step == meta_tf_slice.step
-    ):
-      meta = MetaTombRaider
-
-  return meta
diff --git a/sunnypilot/modeld_v2/SConscript b/sunnypilot/modeld_v2/SConscript
index 1a173dcdeb..bb4c8d4a50 100644
--- a/sunnypilot/modeld_v2/SConscript
+++ b/sunnypilot/modeld_v2/SConscript
@@ -13,7 +13,6 @@ common_src = [
   "transforms/transform.cc",
 ]
 
-
 # OpenCL is a framework on Mac
 if arch == "Darwin":
   frameworks += ['OpenCL']
@@ -29,22 +28,3 @@ for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transfor
 cython_libs = envCython["LIBS"] + libs
 commonmodel_lib = lenv.Library('commonmodel', common_src)
 lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *cython_libs], FRAMEWORKS=frameworks)
-tinygrad_files = ["#"+x for x in glob.glob(env.Dir("#tinygrad_repo").relpath + "/**", recursive=True, root_dir=env.Dir("#").abspath) if 'pycache' not in x]
-
-# Get model metadata
-fn = File("models/supercombo").abspath
-cmd = f'python3 {Dir("#sunnypilot/modeld_v2").abspath}/get_model_metadata.py {fn}.onnx'
-lenv.Command(fn + "_metadata.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
-
-# Compile tinygrad model
-pythonpath_string = 'PYTHONPATH="${PYTHONPATH}:' + env.Dir("#tinygrad_repo").abspath + '"'
-if arch == 'larch64':
-  device_string = 'QCOM=1'
-else:
-  device_string = 'CLANG=1 IMAGE=0'
-
-for model_name in ['supercombo', 'dmonitoring_model']:
-  fn = File(f"models/{model_name}").abspath
-  cmd = f'{pythonpath_string} {device_string} python3 {Dir("#tinygrad_repo").abspath}/examples/openpilot/compile3.py {fn}.onnx {fn}_tinygrad.pkl'
-  lenv.Command(fn + "_tinygrad.pkl", [fn + ".onnx"] + tinygrad_files, cmd)
-
diff --git a/sunnypilot/modeld_v2/dmonitoringmodeld b/sunnypilot/modeld_v2/dmonitoringmodeld
deleted file mode 100755
index 90b43800fe..0000000000
--- a/sunnypilot/modeld_v2/dmonitoringmodeld
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-exec "$DIR/dmonitoringmodeld.py" "$@"
diff --git a/sunnypilot/modeld_v2/dmonitoringmodeld.py b/sunnypilot/modeld_v2/dmonitoringmodeld.py
deleted file mode 100755
index 4469618c88..0000000000
--- a/sunnypilot/modeld_v2/dmonitoringmodeld.py
+++ /dev/null
@@ -1,192 +0,0 @@
-#!/usr/bin/env python3
-import os
-from openpilot.system.hardware import TICI
-if TICI:
-  from tinygrad.tensor import Tensor
-  from tinygrad.dtype import dtypes
-  from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-  os.environ['QCOM'] = '1'
-else:
-  from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner
-import math
-import time
-import pickle
-import ctypes
-import numpy as np
-from pathlib import Path
-from setproctitle import setproctitle
-
-from cereal import messaging
-from cereal.messaging import PubMaster, SubMaster
-from msgq.visionipc import VisionIpcClient, VisionStreamType, VisionBuf
-from openpilot.common.swaglog import cloudlog
-from openpilot.common.realtime import config_realtime_process
-from openpilot.common.transformations.model import dmonitoringmodel_intrinsics, DM_INPUT_SIZE
-from openpilot.common.transformations.camera import _ar_ox_fisheye, _os_fisheye
-from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import CLContext, MonitoringModelFrame
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import sigmoid
-from openpilot.system import sentry
-
-MODEL_WIDTH, MODEL_HEIGHT = DM_INPUT_SIZE
-CALIB_LEN = 3
-FEATURE_LEN = 512
-OUTPUT_SIZE = 84 + FEATURE_LEN
-
-PROCESS_NAME = "selfdrive.modeld.dmonitoringmodeld"
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-MODEL_PATH = Path(__file__).parent / 'models/dmonitoring_model.onnx'
-MODEL_PKL_PATH = Path(__file__).parent / 'models/dmonitoring_model_tinygrad.pkl'
-
-
-class DriverStateResult(ctypes.Structure):
-  _fields_ = [
-    ("face_orientation", ctypes.c_float*3),
-    ("face_position", ctypes.c_float*3),
-    ("face_orientation_std", ctypes.c_float*3),
-    ("face_position_std", ctypes.c_float*3),
-    ("face_prob", ctypes.c_float),
-    ("_unused_a", ctypes.c_float*8),
-    ("left_eye_prob", ctypes.c_float),
-    ("_unused_b", ctypes.c_float*8),
-    ("right_eye_prob", ctypes.c_float),
-    ("left_blink_prob", ctypes.c_float),
-    ("right_blink_prob", ctypes.c_float),
-    ("sunglasses_prob", ctypes.c_float),
-    ("occluded_prob", ctypes.c_float),
-    ("ready_prob", ctypes.c_float*4),
-    ("not_ready_prob", ctypes.c_float*2)]
-
-
-class DMonitoringModelResult(ctypes.Structure):
-  _fields_ = [
-    ("driver_state_lhd", DriverStateResult),
-    ("driver_state_rhd", DriverStateResult),
-    ("poor_vision_prob", ctypes.c_float),
-    ("wheel_on_right_prob", ctypes.c_float),
-    ("features", ctypes.c_float*FEATURE_LEN)]
-
-
-class ModelState:
-  inputs: dict[str, np.ndarray]
-  output: np.ndarray
-
-  def __init__(self, cl_ctx):
-    assert ctypes.sizeof(DMonitoringModelResult) == OUTPUT_SIZE * ctypes.sizeof(ctypes.c_float)
-
-    self.frame = MonitoringModelFrame(cl_ctx)
-    self.numpy_inputs = {
-      'calib': np.zeros((1, CALIB_LEN), dtype=np.float32),
-    }
-
-    if TICI:
-      self.tensor_inputs = {k: Tensor(v, device='NPY').realize() for k,v in self.numpy_inputs.items()}
-      with open(MODEL_PKL_PATH, "rb") as f:
-        self.model_run = pickle.load(f)
-    else:
-      self.onnx_cpu_runner = make_onnx_cpu_runner(MODEL_PATH)
-
-  def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple[np.ndarray, float]:
-    self.numpy_inputs['calib'][0,:] = calib
-
-    t1 = time.perf_counter()
-
-    input_img_cl = self.frame.prepare(buf, transform.flatten())
-    if TICI:
-      # The imgs tensors are backed by opencl memory, only need init once
-      if 'input_img' not in self.tensor_inputs:
-        self.tensor_inputs['input_img'] = qcom_tensor_from_opencl_address(input_img_cl.mem_address, (1, MODEL_WIDTH*MODEL_HEIGHT), dtype=dtypes.uint8)
-    else:
-      self.numpy_inputs['input_img'] = self.frame.buffer_from_cl(input_img_cl).reshape((1, MODEL_WIDTH*MODEL_HEIGHT))
-
-    if TICI:
-      output = self.model_run(**self.tensor_inputs).numpy().flatten()
-    else:
-      output = self.onnx_cpu_runner.run(None, self.numpy_inputs)[0].flatten()
-
-    t2 = time.perf_counter()
-    return output, t2 - t1
-
-
-def fill_driver_state(msg, ds_result: DriverStateResult):
-  msg.faceOrientation = list(ds_result.face_orientation)
-  msg.faceOrientationStd = [math.exp(x) for x in ds_result.face_orientation_std]
-  msg.facePosition = list(ds_result.face_position[:2])
-  msg.facePositionStd = [math.exp(x) for x in ds_result.face_position_std[:2]]
-  msg.faceProb = float(sigmoid(ds_result.face_prob))
-  msg.leftEyeProb = float(sigmoid(ds_result.left_eye_prob))
-  msg.rightEyeProb = float(sigmoid(ds_result.right_eye_prob))
-  msg.leftBlinkProb = float(sigmoid(ds_result.left_blink_prob))
-  msg.rightBlinkProb = float(sigmoid(ds_result.right_blink_prob))
-  msg.sunglassesProb = float(sigmoid(ds_result.sunglasses_prob))
-  msg.occludedProb = float(sigmoid(ds_result.occluded_prob))
-  msg.readyProb = [float(sigmoid(x)) for x in ds_result.ready_prob]
-  msg.notReadyProb = [float(sigmoid(x)) for x in ds_result.not_ready_prob]
-
-
-def get_driverstate_packet(model_output: np.ndarray, frame_id: int, location_ts: int, execution_time: float, gpu_execution_time: float):
-  model_result = ctypes.cast(model_output.ctypes.data, ctypes.POINTER(DMonitoringModelResult)).contents
-  msg = messaging.new_message('driverStateV2', valid=True)
-  ds = msg.driverStateV2
-  ds.frameId = frame_id
-  ds.modelExecutionTime = execution_time
-  ds.gpuExecutionTime = gpu_execution_time
-  ds.poorVisionProb = float(sigmoid(model_result.poor_vision_prob))
-  ds.wheelOnRightProb = float(sigmoid(model_result.wheel_on_right_prob))
-  ds.rawPredictions = model_output.tobytes() if SEND_RAW_PRED else b''
-  fill_driver_state(ds.leftDriverData, model_result.driver_state_lhd)
-  fill_driver_state(ds.rightDriverData, model_result.driver_state_rhd)
-  return msg
-
-
-def main():
-  setproctitle(PROCESS_NAME)
-  config_realtime_process([0, 1, 2, 3], 5)
-
-  sentry.set_tag("daemon", PROCESS_NAME)
-  cloudlog.bind(daemon=PROCESS_NAME)
-
-  cl_context = CLContext()
-  model = ModelState(cl_context)
-  cloudlog.warning("models loaded, dmonitoringmodeld starting")
-
-  cloudlog.warning("connecting to driver stream")
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_DRIVER, True, cl_context)
-  while not vipc_client.connect(False):
-    time.sleep(0.1)
-  assert vipc_client.is_connected()
-  cloudlog.warning(f"connected with buffer size: {vipc_client.buffer_len}")
-
-  sm = SubMaster(["liveCalibration"])
-  pm = PubMaster(["driverStateV2"])
-
-  calib = np.zeros(CALIB_LEN, dtype=np.float32)
-  model_transform = None
-
-  while True:
-    buf = vipc_client.recv()
-    if buf is None:
-      continue
-
-    if model_transform is None:
-      cam = _os_fisheye if buf.width == _os_fisheye.width else _ar_ox_fisheye
-      model_transform = np.linalg.inv(np.dot(dmonitoringmodel_intrinsics, np.linalg.inv(cam.intrinsics))).astype(np.float32)
-
-    sm.update(0)
-    if sm.updated["liveCalibration"]:
-      calib[:] = np.array(sm["liveCalibration"].rpyCalib)
-
-    t1 = time.perf_counter()
-    model_output, gpu_execution_time = model.run(buf, calib, model_transform)
-    t2 = time.perf_counter()
-
-    pm.send("driverStateV2", get_driverstate_packet(model_output, vipc_client.frame_id, vipc_client.timestamp_sof, t2 - t1, gpu_execution_time))
-
-
-if __name__ == "__main__":
-  try:
-    main()
-  except KeyboardInterrupt:
-    cloudlog.warning(f"child {PROCESS_NAME} got SIGINT")
-  except Exception:
-    sentry.capture_exception()
-    raise
diff --git a/sunnypilot/modeld_v2/fill_model_msg.py b/sunnypilot/modeld_v2/fill_model_msg.py
index c6129936ca..4d04d6e5ec 100644
--- a/sunnypilot/modeld_v2/fill_model_msg.py
+++ b/sunnypilot/modeld_v2/fill_model_msg.py
@@ -3,30 +3,21 @@ import capnp
 import numpy as np
 from cereal import log
 from openpilot.sunnypilot.modeld_v2.constants import ModelConstants, Plan
-from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED
+from openpilot.selfdrive.controls.lib.drive_helpers import get_curvature_from_plan
 
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
 
 ConfidenceClass = log.ModelDataV2.ConfidenceClass
 
 
-def curv_from_psis(psi_target, psi_rate, vego, delay):
-  vego = np.clip(vego, MIN_SPEED, np.inf)
-  curv_from_psi = psi_target / (vego * delay)  # epsilon to prevent divide-by-zero
-  return 2 * curv_from_psi - psi_rate / vego
+def get_curvature_from_output(output, vego, lat_action_t, current_generation=None):
+  if current_generation != 11:
+    if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
+      return float(desired_curv[0, 0])
 
-
-def get_curvature_from_plan(plan, vego, delay):
-  psi_target = np.interp(delay, ModelConstants.T_IDXS, plan[:, Plan.T_FROM_CURRENT_EULER][:, 2])
-  psi_rate = plan[:, Plan.ORIENTATION_RATE][0, 2]
-  return curv_from_psis(psi_target, psi_rate, vego, delay)
-
-
-def get_curvature_from_output(output, vego, delay):
-  if desired_curv := output.get('desired_curvature'):  # If the model outputs the desired curvature, use that directly
-    return float(desired_curv[0, 0])
-
-  return float(get_curvature_from_plan(output['plan'][0], vego, delay))
+  plan_output = output['plan'][0]
+  return float(get_curvature_from_plan(plan_output[:, Plan.T_FROM_CURRENT_EULER][:, 2], plan_output[:, Plan.ORIENTATION_RATE][:, 2],
+                                       ModelConstants.T_IDXS, vego, lat_action_t))
 
 
 class PublishState:
@@ -76,7 +67,7 @@ def fill_lane_line_meta(builder, lane_lines, lane_line_probs):
   builder.rightProb = lane_line_probs[2]
 
 def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
-                   net_output_data: dict[str, np.ndarray], v_ego: float, delay: float,
+                   net_output_data: dict[str, np.ndarray], action: log.ModelDataV2.Action,
                    publish_state: PublishState, vipc_frame_id: int, vipc_frame_id_extra: int,
                    frame_id: int, frame_drop: float, timestamp_eof: int, model_execution_time: float,
                    valid: bool, model_meta) -> None:
@@ -85,15 +76,13 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   extended_msg.valid = valid
   base_msg.valid = valid
 
-  desired_curvature = float(get_curvature_from_output(net_output_data, v_ego, delay))
-
   driving_model_data = base_msg.drivingModelData
 
   driving_model_data.frameId = vipc_frame_id
   driving_model_data.frameIdExtra = vipc_frame_id_extra
   driving_model_data.frameDropPerc = frame_drop_perc
   driving_model_data.modelExecutionTime = model_execution_time
-  driving_model_data.action.desiredCurvature = desired_curvature
+  driving_model_data.action = action
 
   modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
@@ -126,33 +115,17 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   # poly path
   fill_xyz_poly(driving_model_data.path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
 
-  # lateral planning
-  modelV2.action.desiredCurvature = desired_curvature
+  # action (includes lateral planning now)
+  modelV2.action = action
 
-  # times at X_IDXS according to model plan
-  PLAN_T_IDXS = [np.nan] * ModelConstants.IDX_N
-  PLAN_T_IDXS[0] = 0.0
-  plan_x = net_output_data['plan'][0,:,Plan.POSITION][:,0].tolist()
-  for xidx in range(1, ModelConstants.IDX_N):
-    tidx = 0
-    # increment tidx until we find an element that's further away than the current xidx
-    while tidx < ModelConstants.IDX_N - 1 and plan_x[tidx+1] < ModelConstants.X_IDXS[xidx]:
-      tidx += 1
-    if tidx == ModelConstants.IDX_N - 1:
-      # if the Plan doesn't extend far enough, set plan_t to the max value (10s), then break
-      PLAN_T_IDXS[xidx] = ModelConstants.T_IDXS[ModelConstants.IDX_N - 1]
-      break
-    # interpolate to find `t` for the current xidx
-    current_x_val = plan_x[tidx]
-    next_x_val = plan_x[tidx+1]
-    p = (ModelConstants.X_IDXS[xidx] - current_x_val) / (next_x_val - current_x_val) if abs(next_x_val - current_x_val) > 1e-9 else float('nan')
-    PLAN_T_IDXS[xidx] = p * ModelConstants.T_IDXS[tidx+1] + (1 - p) * ModelConstants.T_IDXS[tidx]
+  # times at X_IDXS of edges and lines aren't used
+  LINE_T_IDXS: list[float] = []
 
   # lane lines
   modelV2.init('laneLines', 4)
   for i in range(4):
     lane_line = modelV2.laneLines[i]
-    fill_xyzt(lane_line, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
+    fill_xyzt(lane_line, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['lane_lines'][0,i,:,0], net_output_data['lane_lines'][0,i,:,1])
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
@@ -162,7 +135,7 @@ def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._D
   modelV2.init('roadEdges', 2)
   for i in range(2):
     road_edge = modelV2.roadEdges[i]
-    fill_xyzt(road_edge, PLAN_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
+    fill_xyzt(road_edge, LINE_T_IDXS, np.array(ModelConstants.X_IDXS), net_output_data['road_edges'][0,i,:,0], net_output_data['road_edges'][0,i,:,1])
   modelV2.roadEdgeStds = net_output_data['road_edges_stds'][0,:,0,0].tolist()
 
   # leads
diff --git a/sunnypilot/modeld_v2/get_model_metadata.py b/sunnypilot/modeld_v2/get_model_metadata.py
index 144860204f..e0b5adc51b 100755
--- a/sunnypilot/modeld_v2/get_model_metadata.py
+++ b/sunnypilot/modeld_v2/get_model_metadata.py
@@ -4,22 +4,34 @@ import pathlib
 import onnx
 import codecs
 import pickle
+from typing import Any
+
 
 def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
   shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
   name = value_info.name
   return name, shape
 
+
+def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any:
+  for prop in model.metadata_props:
+    if prop.key == name:
+      return prop.value
+  return None
+
+
 if __name__ == "__main__":
   model_path = pathlib.Path(sys.argv[1])
   model = onnx.load(str(model_path))
-  i = [x.key for x in model.metadata_props].index('output_slices')
-  output_slices = model.metadata_props[i].value
+  output_slices = get_metadata_value_by_name(model, 'output_slices')
+  assert output_slices is not None, 'output_slices not found in metadata'
 
-  metadata = {}
-  metadata['output_slices'] = pickle.loads(codecs.decode(output_slices.encode(), "base64"))
-  metadata['input_shapes'] = dict([get_name_and_shape(x) for x in model.graph.input])
-  metadata['output_shapes'] = dict([get_name_and_shape(x) for x in model.graph.output])
+  metadata = {
+    'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
+    'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
+    'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
+    'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
+  }
 
   metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
   with open(metadata_path, 'wb') as f:
diff --git a/sunnypilot/modeld_v2/model_runner.py b/sunnypilot/modeld_v2/model_runner.py
deleted file mode 100644
index 82fc3f5196..0000000000
--- a/sunnypilot/modeld_v2/model_runner.py
+++ /dev/null
@@ -1,134 +0,0 @@
-import os
-import pickle
-from abc import ABC, abstractmethod
-import numpy as np
-
-from cereal import custom
-from openpilot.sunnypilot.modeld_v2 import MODEL_PATH, MODEL_PKL_PATH, METADATA_PATH
-from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem
-from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
-from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
-from openpilot.system.hardware import TICI
-from openpilot.system.hardware.hw import Paths
-
-from openpilot.sunnypilot.models.helpers import get_active_bundle
-from tinygrad.tensor import Tensor
-
-if TICI:
-  os.environ['QCOM'] = '1'
-
-SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
-CUSTOM_MODEL_PATH = Paths.model_root()
-ModelManager = custom.ModelManagerSP
-
-
-class ModelRunner(ABC):
-  """Abstract base class for model runners that defines the interface for running ML models."""
-
-  def __init__(self):
-    """Initialize the model runner with paths to model and metadata files."""
-    metadata_path = METADATA_PATH
-    self.is_20hz = None
-    self._drive_model = None
-    self._metadata_model = None
-
-    if bundle := get_active_bundle():
-      bundle_models = {model.type.raw: model for model in bundle.models}
-      self._drive_model = bundle_models.get(ModelManager.Type.drive)
-      self._metadata_model = bundle_models.get(ModelManager.Type.metadata)
-      self.is_20hz = bundle.is20hz
-
-    # Override the metadata path if a metadata model is found in the active bundle
-    if self._metadata_model:
-      metadata_path = f"{CUSTOM_MODEL_PATH}/{self._metadata_model.fileName}"
-
-    with open(metadata_path, 'rb') as f:
-      self.model_metadata = pickle.load(f)
-
-    self.input_shapes = self.model_metadata['input_shapes']
-    self.output_slices = self.model_metadata['output_slices']
-    self.inputs: dict = {}
-
-  @abstractmethod
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
-    """Prepare inputs for model inference."""
-    raise NotImplementedError
-
-  @abstractmethod
-  def run_model(self):
-    """Run model inference with prepared inputs."""
-
-  def slice_outputs(self, model_outputs: np.ndarray) -> dict:
-    """Slice model outputs according to metadata configuration."""
-    parsed_outputs = {k: model_outputs[np.newaxis, v] for k, v in self.output_slices.items()}
-    if SEND_RAW_PRED:
-      parsed_outputs['raw_pred'] = model_outputs.copy()
-    return parsed_outputs
-
-
-class TinygradRunner(ModelRunner):
-  """Tinygrad implementation of model runner for TICI hardware."""
-
-  def __init__(self):
-    super().__init__()
-
-    model_pkl_path = MODEL_PKL_PATH
-    if self._drive_model:
-      model_pkl_path = f"{CUSTOM_MODEL_PATH}/{self._drive_model.fileName}"
-      assert model_pkl_path.endswith('_tinygrad.pkl'), f"Invalid model file: {model_pkl_path} for TinygradRunner"
-
-    # Load Tinygrad model
-    with open(model_pkl_path, "rb") as f:
-      try:
-        self.model_run = pickle.load(f)
-      except FileNotFoundError as e:
-        assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
-        raise
-
-    self.input_to_dtype = {}
-    self.input_to_device = {}
-
-    for idx, name in enumerate(self.model_run.captured.expected_names):
-      self.input_to_dtype[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][2]  # 2 is the dtype
-      self.input_to_device[name] = self.model_run.captured.expected_st_vars_dtype_device[idx][3]  # 3 is the device
-
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
-    # Initialize image tensors if not already done
-    for key in imgs_cl:
-      if TICI and key not in self.inputs:
-        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=self.input_to_dtype[key])
-      elif not TICI:
-        shape = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
-        self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
-
-    # Update numpy inputs
-    for key, value in numpy_inputs.items():
-      if key not in imgs_cl:
-        self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
-
-    return self.inputs
-
-  def run_model(self):
-    return self.model_run(**self.inputs).numpy().flatten()
-
-
-class ONNXRunner(ModelRunner):
-  """ONNX implementation of model runner for non-TICI hardware."""
-
-  def __init__(self):
-    super().__init__()
-    self.runner = make_onnx_cpu_runner(MODEL_PATH)
-
-    self.input_to_nptype = {
-      model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type]
-      for model_input in self.runner.get_inputs()
-    }
-
-  def prepare_inputs(self, imgs_cl: dict[str, CLMem], numpy_inputs: dict[str, np.ndarray], frames: dict[str, DrivingModelFrame]) -> dict:
-    self.inputs = numpy_inputs
-    for key in imgs_cl:
-      self.inputs[key] = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key]).astype(dtype=self.input_to_nptype[key])
-    return self.inputs
-
-  def run_model(self):
-    return self.runner.run(None, self.inputs)[0].flatten()
diff --git a/sunnypilot/modeld_v2/modeld.py b/sunnypilot/modeld_v2/modeld.py
index bc67db297d..5b9c5ef9e5 100755
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -1,7 +1,4 @@
 #!/usr/bin/env python3
-from openpilot.system.hardware import TICI
-
-#
 import time
 import numpy as np
 import cereal.messaging as messaging
@@ -13,18 +10,21 @@ from opendbc.car.car_helpers import get_demo_car_params
 from openpilot.common.swaglog import cloudlog
 from openpilot.common.params import Params
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import config_realtime_process
+from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.common.transformations.model import get_warp_matrix
 from openpilot.system import sentry
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
-from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser
-from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState
-from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
-from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
+from openpilot.selfdrive.controls.lib.drive_helpers import get_accel_from_plan, smooth_value
 
+from openpilot.sunnypilot.modeld_v2.fill_model_msg import fill_model_msg, fill_pose_msg, PublishState, get_curvature_from_output
+from openpilot.sunnypilot.modeld_v2.constants import Plan
+from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.sunnypilot.modeld_v2.meta_helper import load_meta_constants
-from openpilot.sunnypilot.modeld_v2.model_runner import ONNXRunner, TinygradRunner
+
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.models.modeld_lagd import ModeldLagd
+from openpilot.sunnypilot.models.runners.helpers import get_model_runner
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 
@@ -38,24 +38,32 @@ class FrameMeta:
     if vipc is not None:
       self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
 
+
 class ModelState:
   frames: dict[str, DrivingModelFrame]
   inputs: dict[str, np.ndarray]
-  output: np.ndarray
   prev_desire: np.ndarray  # for tracking the rising edge of the pulse
+  temporal_idxs: slice | np.ndarray
 
   def __init__(self, context: CLContext):
     try:
-      self.model_runner = TinygradRunner() if TICI else ONNXRunner()
+      self.model_runner = get_model_runner()
+      self.constants = self.model_runner.constants
     except Exception as e:
       cloudlog.exception(f"Failed to initialize model runner: {str(e)}")
+      raise
+
+    model_bundle = get_active_bundle()
+    self.generation = model_bundle.generation
+    overrides = {override.key: override.value for override in model_bundle.overrides}
+
+    self.LAT_SMOOTH_SECONDS = float(overrides.get('lat', ".2"))
+    self.LONG_SMOOTH_SECONDS = float(overrides.get('long', ".0"))
+    self.MIN_LAT_CONTROL_SPEED = 0.3
 
     buffer_length = 5 if self.model_runner.is_20hz else 2
-    self.frames = {'input_imgs': DrivingModelFrame(context, buffer_length), 'big_input_imgs': DrivingModelFrame(context, buffer_length)}
-    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if self.model_runner.is_20hz:
-      self.full_features_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN, ModelConstants.FEATURE_LEN), dtype=np.float32)
-      self.desire_20Hz = np.zeros((ModelConstants.FULL_HISTORY_BUFFER_LEN + 1, ModelConstants.DESIRE_LEN), dtype=np.float32)
+    self.frames = {name: DrivingModelFrame(context, buffer_length) for name in self.model_runner.vision_input_names}
+    self.prev_desire = np.zeros(self.constants.DESIRE_LEN, dtype=np.float32)
 
     # img buffers are managed in openCL transform code
     self.numpy_inputs = {}
@@ -64,29 +72,36 @@ class ModelState:
       if key not in self.frames: # Managed by opencl
         self.numpy_inputs[key] = np.zeros(shape, dtype=np.float32)
 
-    self.parser = Parser()
-
-    if self.model_runner.is_20hz:
-      net_output_size = self.model_runner.model_metadata['output_shapes']['outputs'][1]
-      self.output = np.zeros(net_output_size, dtype=np.float32)
-
+    if self.model_runner.is_20hz_3d:  # split models
+      self.full_features_buffer = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN,  self.constants.FEATURE_LEN), dtype=np.float32)
+      self.full_desire = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.DESIRE_LEN), dtype=np.float32)
+      self.full_prev_desired_curv = np.zeros((1, self.constants.FULL_HISTORY_BUFFER_LEN, self.constants.PREV_DESIRED_CURV_LEN), dtype=np.float32)
+      self.temporal_idxs = slice(-1-(self.constants.TEMPORAL_SKIP*(self.constants.INPUT_HISTORY_BUFFER_LEN-1)), None, self.constants.TEMPORAL_SKIP)
+    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:
+      self.full_features_buffer = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.FEATURE_LEN), dtype=np.float32)
+      self.full_desire = np.zeros((self.constants.FULL_HISTORY_BUFFER_LEN + 1, self.constants.DESIRE_LEN), dtype=np.float32)
       num_elements = self.numpy_inputs['features_buffer'].shape[1]
       step_size = int(-100 / num_elements)
-      self.full_features_20Hz_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
-      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1, self.numpy_inputs['desire'].shape[2])
+      self.temporal_idxs = np.arange(step_size, step_size * (num_elements + 1), step_size)[::-1]
+      self.desire_reshape_dims = (self.numpy_inputs['desire'].shape[0], self.numpy_inputs['desire'].shape[1], -1,
+                                  self.numpy_inputs['desire'].shape[2])
 
-  def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_wide: np.ndarray,
+  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     # Model decides when action is completed, so desire input is just a pulse triggered on rising edge
     inputs['desire'][0] = 0
     new_desire = np.where(inputs['desire'] - self.prev_desire > .99, inputs['desire'], 0)
     self.prev_desire[:] = inputs['desire']
 
-    if self.model_runner.is_20hz:
-      self.desire_20Hz[:-1] = self.desire_20Hz[1:]
-      self.desire_20Hz[-1] = new_desire
-      self.numpy_inputs['desire'][:] = self.desire_20Hz.reshape(self.desire_reshape_dims).max(axis=2)
-    else:
+    if self.model_runner.is_20hz_3d:  # split models
+      self.full_desire[0,:-1] = self.full_desire[0,1:]
+      self.full_desire[0,-1] = new_desire
+      self.numpy_inputs['desire'][:] = self.full_desire.reshape((1, self.constants.INPUT_HISTORY_BUFFER_LEN, self.constants.TEMPORAL_SKIP, -1)).max(axis=2)
+    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
+      self.full_desire[:-1] = self.full_desire[1:]
+      self.full_desire[-1] = new_desire
+      self.numpy_inputs['desire'][:] = self.full_desire.reshape(self.desire_reshape_dims).max(axis=2)
+    else: # not 20hz
       length = inputs['desire'].shape[0]
       self.numpy_inputs['desire'][0, :-1] = self.numpy_inputs['desire'][0, 1:]
       self.numpy_inputs['desire'][0, -1, :length] = new_desire[:length]
@@ -95,8 +110,7 @@ class ModelState:
       if key in inputs and key not in ['desire']:
         self.numpy_inputs[key][:] = inputs[key]
 
-    imgs_cl = {'input_imgs': self.frames['input_imgs'].prepare(buf, transform.flatten()),
-               'big_input_imgs': self.frames['big_input_imgs'].prepare(wbuf, transform_wide.flatten())}
+    imgs_cl = {name: self.frames[name].prepare(bufs[name], transforms[name].flatten()) for name in self.model_runner.vision_input_names}
 
     # Prepare inputs using the model runner
     self.model_runner.prepare_inputs(imgs_cl, self.numpy_inputs, self.frames)
@@ -105,14 +119,17 @@ class ModelState:
       return None
 
     # Run model inference
-    self.output = self.model_runner.run_model()
-    outputs = self.parser.parse_outputs(self.model_runner.slice_outputs(self.output))
+    outputs = self.model_runner.run_model()
 
-    if self.model_runner.is_20hz:
-      self.full_features_20Hz[:-1] = self.full_features_20Hz[1:]
-      self.full_features_20Hz[-1] = outputs['hidden_state'][0, :]
-      self.numpy_inputs['features_buffer'][:] = self.full_features_20Hz[self.full_features_20Hz_idxs]
-    else:
+    if self.model_runner.is_20hz_3d: # split models
+      self.full_features_buffer[0, :-1] = self.full_features_buffer[0, 1:]
+      self.full_features_buffer[0, -1] = outputs['hidden_state'][0, :]
+      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[0, self.temporal_idxs]
+    elif self.model_runner.is_20hz and not self.model_runner.is_20hz_3d:  # 20hz supercombo
+      self.full_features_buffer[:-1] = self.full_features_buffer[1:]
+      self.full_features_buffer[-1] = outputs['hidden_state'][0, :]
+      self.numpy_inputs['features_buffer'][:] = self.full_features_buffer[self.temporal_idxs]
+    else: # not 20hz
       feature_len = outputs['hidden_state'].shape[1]
       self.numpy_inputs['features_buffer'][0, :-1] = self.numpy_inputs['features_buffer'][0, 1:]
       self.numpy_inputs['features_buffer'][0, -1, :feature_len] = outputs['hidden_state'][0, :feature_len]
@@ -126,11 +143,36 @@ class ModelState:
         input_name_prev = 'prev_desired_curv'
 
       if input_name_prev is not None:
-        length = outputs['desired_curvature'][0].size
-        self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
-        self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
+        self.process_desired_curvature(outputs, input_name_prev)
     return outputs
 
+  def process_desired_curvature(self, outputs, input_name_prev):
+    if self.model_runner.is_20hz_3d:  # split models
+      self.full_prev_desired_curv[0,:-1] = self.full_prev_desired_curv[0,1:]
+      self.full_prev_desired_curv[0,-1,:] = outputs['desired_curvature'][0, :]
+      self.numpy_inputs[input_name_prev][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
+      if self.generation == 11:
+        self.numpy_inputs[input_name_prev][:] = 0*self.full_prev_desired_curv[0, self.temporal_idxs]
+    else:
+      length = outputs['desired_curvature'][0].size
+      self.numpy_inputs[input_name_prev][0, :-length, 0] = self.numpy_inputs[input_name_prev][0, length:, 0]
+      self.numpy_inputs[input_name_prev][0, -length:, 0] = outputs['desired_curvature'][0]
+
+  def get_action_from_model(self, model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action,
+                            lat_action_t: float, long_action_t: float, v_ego: float) -> log.ModelDataV2.Action:
+    plan = model_output['plan'][0]
+    desired_accel, should_stop = get_accel_from_plan(plan[:, Plan.VELOCITY][:, 0], plan[:, Plan.ACCELERATION][:, 0], self.constants.T_IDXS,
+                                                     action_t=long_action_t)
+    desired_accel = smooth_value(desired_accel, prev_action.desiredAcceleration, self.LONG_SMOOTH_SECONDS)
+
+    desired_curvature = get_curvature_from_output(model_output, v_ego, lat_action_t, self.generation)
+    if v_ego > self.MIN_LAT_CONTROL_SPEED:
+      desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, self.LAT_SMOOTH_SECONDS)
+    else:
+      desired_curvature = prev_action.desiredCurvature
+
+    return log.ModelDataV2.Action(desiredCurvature=float(desired_curvature),desiredAcceleration=float(desired_accel), shouldStop=bool(should_stop))
+
 
 def main(demo=False):
   cloudlog.warning("modeld init")
@@ -171,13 +213,13 @@ def main(demo=False):
 
   # messaging
   pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
-  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
+  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay"])
 
   publish_state = PublishState()
   params = Params()
 
   # setup filter to track dropped frames
-  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
+  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / model.constants.MODEL_FREQ)
   frame_id = 0
   last_vipc_frame_id = 0
   run_count = 0
@@ -196,8 +238,12 @@ def main(demo=False):
     CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("modeld got CarParams: %s", CP.brand)
 
-  # TODO this needs more thought, use .2s extra for now to estimate other delays
-  steer_delay = CP.steerActuatorDelay + .2
+
+  modeld_lagd = ModeldLagd()
+
+  # TODO Move smooth seconds to action function
+  long_delay = CP.longitudinalActuatorDelay + model.LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()
 
   DH = DesireHelper()
 
@@ -227,7 +273,7 @@ def main(demo=False):
 
       if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
         cloudlog.error(f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}),\
-                         extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
+                       extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})")
 
     else:
       # Use single camera
@@ -239,18 +285,20 @@ def main(demo=False):
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
     v_ego = max(sm["carState"].vEgo, 0.)
+    steer_delay = modeld_lagd.lagd_main(CP, sm, model)
     if sm.updated["liveCalibration"] and sm.seen['roadCameraState'] and sm.seen['deviceState']:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
       dc = DEVICE_CAMERAS[(str(sm['deviceState'].deviceType), str(sm['roadCameraState'].sensor))]
-      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics, False).astype(np.float32)
+      model_transform_main = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics,
+                                             False).astype(np.float32)
       model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
       live_calib_seen = True
 
     traffic_convention = np.zeros(2)
     traffic_convention[int(is_rhd)] = 1
 
-    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
-    if desire >= 0 and desire < ModelConstants.DESIRE_LEN:
+    vec_desire = np.zeros(model.constants.DESIRE_LEN, dtype=np.float32)
+    if desire >= 0 and desire < model.constants.DESIRE_LEN:
       vec_desire[desire] = 1
 
     # tracked dropped frames
@@ -266,6 +314,8 @@ def main(demo=False):
     if prepare_only:
       cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
 
+    bufs = {name: buf_extra if 'big' in name else buf_main for name in model.model_runner.vision_input_names}
+    transforms = {name: model_transform_extra if 'big' in name else model_transform_main for name in model.model_runner.vision_input_names}
     inputs:dict[str, np.ndarray] = {
       'desire': vec_desire,
       'traffic_convention': traffic_convention,
@@ -275,7 +325,7 @@ def main(demo=False):
       inputs['lateral_control_params'] = np.array([v_ego, steer_delay], dtype=np.float32)
 
     mt1 = time.perf_counter()
-    model_output = model.run(buf_main, buf_extra, model_transform_main, model_transform_extra, inputs, prepare_only)
+    model_output = model.run(bufs, transforms, inputs, prepare_only)
     mt2 = time.perf_counter()
     model_execution_time = mt2 - mt1
 
@@ -283,7 +333,10 @@ def main(demo=False):
       modelv2_send = messaging.new_message('modelV2')
       drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(drivingdata_send, modelv2_send, model_output, v_ego, steer_delay,
+
+      action = model.get_action_from_model(model_output, prev_action, steer_delay + DT_MDL, long_delay + DT_MDL, v_ego)
+      prev_action = action
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, action,
                      publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
                      frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen, load_meta_constants())
 
diff --git a/sunnypilot/modeld_v2/models/dmonitoring_model.current b/sunnypilot/modeld_v2/models/dmonitoring_model.current
deleted file mode 100644
index 121871ef2b..0000000000
--- a/sunnypilot/modeld_v2/models/dmonitoring_model.current
+++ /dev/null
@@ -1,2 +0,0 @@
-fa69be01-b430-4504-9d72-7dcb058eb6dd
-d9fb22d1c4fa3ca3d201dbc8edf1d0f0918e53e6
diff --git a/sunnypilot/modeld_v2/models/dmonitoring_model.onnx b/sunnypilot/modeld_v2/models/dmonitoring_model.onnx
deleted file mode 100644
index dcc727510e..0000000000
--- a/sunnypilot/modeld_v2/models/dmonitoring_model.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:50efe6451a3fb3fa04b6bb0e846544533329bd46ecefe9e657e91214dee2aaeb
-size 7196502
diff --git a/sunnypilot/modeld_v2/models/supercombo.onnx b/sunnypilot/modeld_v2/models/supercombo.onnx
deleted file mode 100644
index 4c9f795574..0000000000
--- a/sunnypilot/modeld_v2/models/supercombo.onnx
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d21daa542227ecc5972da45df4e26f018ba113c0461f270e367d57e3ad89221a
-size 51461700
diff --git a/sunnypilot/modeld_v2/parse_model_outputs_split.py b/sunnypilot/modeld_v2/parse_model_outputs_split.py
new file mode 100644
index 0000000000..7fab66e038
--- /dev/null
+++ b/sunnypilot/modeld_v2/parse_model_outputs_split.py
@@ -0,0 +1,127 @@
+import numpy as np
+from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+
+
+def safe_exp(x, out=None):
+  # -11 is around 10**14, more causes float16 overflow
+  return np.exp(np.clip(x, -np.inf, 11), out=out)
+
+
+def sigmoid(x):
+  return 1. / (1. + safe_exp(-x))
+
+
+def softmax(x, axis=-1):
+  x -= np.max(x, axis=axis, keepdims=True)
+  if x.dtype == np.float32 or x.dtype == np.float64:
+    safe_exp(x, out=x)
+  else:
+    x = safe_exp(x)
+  x /= np.sum(x, axis=axis, keepdims=True)
+  return x
+
+
+class Parser:
+  def __init__(self, ignore_missing=False):
+    self.ignore_missing = ignore_missing
+
+  def check_missing(self, outs, name):
+    if name not in outs and not self.ignore_missing:
+      raise ValueError(f"Missing output {name}")
+    return name not in outs
+
+  def parse_categorical_crossentropy(self, name, outs, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    if out_shape is not None:
+      raw = raw.reshape((raw.shape[0],) + out_shape)
+    outs[name] = softmax(raw, axis=-1)
+
+  def parse_binary_crossentropy(self, name, outs):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    outs[name] = sigmoid(raw)
+
+  def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
+    if self.check_missing(outs, name):
+      return
+    raw = outs[name]
+    raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
+
+    n_values = (raw.shape[2] - out_N)//2
+    pred_mu = raw[:,:,:n_values]
+    pred_std = safe_exp(raw[:,:,n_values: 2*n_values])
+
+    if in_N > 1:
+      weights = np.zeros((raw.shape[0], in_N, out_N), dtype=raw.dtype)
+      for i in range(out_N):
+        weights[:,:,i - out_N] = softmax(raw[:,:,i - out_N], axis=-1)
+
+      if out_N == 1:
+        for fidx in range(weights.shape[0]):
+          idxs = np.argsort(weights[fidx][:,0])[::-1]
+          weights[fidx] = weights[fidx][idxs]
+          pred_mu[fidx] = pred_mu[fidx][idxs]
+          pred_std[fidx] = pred_std[fidx][idxs]
+      full_shape = tuple([raw.shape[0], in_N] + list(out_shape))
+      outs[name + '_weights'] = weights
+      outs[name + '_hypotheses'] = pred_mu.reshape(full_shape)
+      outs[name + '_stds_hypotheses'] = pred_std.reshape(full_shape)
+
+      pred_mu_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      pred_std_final = np.zeros((raw.shape[0], out_N, n_values), dtype=raw.dtype)
+      for fidx in range(weights.shape[0]):
+        for hidx in range(out_N):
+          idxs = np.argsort(weights[fidx,:,hidx])[::-1]
+          pred_mu_final[fidx, hidx] = pred_mu[fidx, idxs[0]]
+          pred_std_final[fidx, hidx] = pred_std[fidx, idxs[0]]
+    else:
+      pred_mu_final = pred_mu
+      pred_std_final = pred_std
+
+    if out_N > 1:
+      final_shape = tuple([raw.shape[0], out_N] + list(out_shape))
+    else:
+      final_shape = tuple([raw.shape[0],] + list(out_shape))
+    outs[name] = pred_mu_final.reshape(final_shape)
+    outs[name + '_stds'] = pred_std_final.reshape(final_shape)
+
+  def split_outputs(self, outs: dict[str, np.ndarray]) -> None:
+    if 'lane_lines' in outs:
+      self.parse_mdn('lane_lines', outs, in_N=0, out_N=0,
+                     out_shape=(SplitModelConstants.NUM_LANE_LINES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+      self.parse_mdn('road_edges', outs, in_N=0, out_N=0,
+                     out_shape=(SplitModelConstants.NUM_ROAD_EDGES,SplitModelConstants.IDX_N,SplitModelConstants.LANE_LINES_WIDTH))
+      self.parse_mdn('lead', outs, in_N=SplitModelConstants.LEAD_MHP_N, out_N=SplitModelConstants.LEAD_MHP_SELECTION,
+                     out_shape=(SplitModelConstants.LEAD_TRAJ_LEN,SplitModelConstants.LEAD_WIDTH))
+      if 'sim_pose' in outs:
+        self.parse_mdn('sim_pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+      for k in ['lead_prob', 'lane_lines_prob']:
+        self.parse_binary_crossentropy(k, outs)
+
+  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.WIDE_FROM_DEVICE_WIDTH,))
+    self.parse_mdn('road_transform', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.POSE_WIDTH,))
+    self.split_outputs(outs)
+    self.parse_categorical_crossentropy('desire_pred', outs, out_shape=(SplitModelConstants.DESIRE_PRED_LEN,SplitModelConstants.DESIRE_PRED_WIDTH))
+    self.parse_binary_crossentropy('meta', outs)
+    return outs
+
+  def parse_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.parse_mdn('plan', outs, in_N=SplitModelConstants.PLAN_MHP_N, out_N=SplitModelConstants.PLAN_MHP_SELECTION,
+                   out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.PLAN_WIDTH))
+    self.split_outputs(outs)
+    if 'lat_planner_solution' in outs:
+      self.parse_mdn('lat_planner_solution', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.IDX_N,SplitModelConstants.LAT_PLANNER_SOLUTION_WIDTH))
+    if 'desired_curvature' in outs:
+      self.parse_mdn('desired_curvature', outs, in_N=0, out_N=0, out_shape=(SplitModelConstants.DESIRED_CURV_WIDTH,))
+    self.parse_categorical_crossentropy('desire_state', outs, out_shape=(SplitModelConstants.DESIRE_PRED_WIDTH,))
+    return outs
+
+  def parse_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    outs = self.parse_vision_outputs(outs)
+    outs = self.parse_policy_outputs(outs)
+    return outs
diff --git a/sunnypilot/models/default_model.py b/sunnypilot/models/default_model.py
old mode 100644
new mode 100755
diff --git a/sunnypilot/models/fetcher.py b/sunnypilot/models/fetcher.py
index 3e3e479903..02ae52d77e 100644
--- a/sunnypilot/models/fetcher.py
+++ b/sunnypilot/models/fetcher.py
@@ -11,6 +11,7 @@ import time
 import requests
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
+from sunnypilot.models.helpers import is_bundle_version_compatible
 
 from cereal import custom
 
@@ -19,68 +20,60 @@ class ModelParser:
   """Handles parsing of model data into cereal objects"""
 
   @staticmethod
-  def _parse_model(full_name: str, file_name: str, uri_data: dict,
-                   model_type: custom.ModelManagerSP.Type) -> custom.ModelManagerSP.Model:
-    model = custom.ModelManagerSP.Model()
+  def _parse_download_uri(download_uri_data) -> custom.ModelManagerSP.DownloadUri:
     download_uri = custom.ModelManagerSP.DownloadUri()
+    download_uri.uri = download_uri_data.get("url")
+    download_uri.sha256 = download_uri_data.get("sha256")
+    return download_uri
 
-    download_uri.uri = uri_data["url"]
-    download_uri.sha256 = uri_data["sha256"]
+  @staticmethod
+  def _parse_artifact(artifact_data) -> custom.ModelManagerSP.Artifact:
+    artifact = custom.ModelManagerSP.Artifact()
+    artifact.fileName = artifact_data.get("file_name")
+    artifact.downloadUri = ModelParser._parse_download_uri(artifact_data.get("download_uri", {}))
+    return artifact
 
-    model.fullName = full_name
-    model.fileName = file_name
-    model.downloadUri = download_uri
-    model.type = model_type
+  @staticmethod
+  def _parse_model(model_data) -> custom.ModelManagerSP.Model:
+    model = custom.ModelManagerSP.Model()
 
+    model.type = model_data.get("type")
+    model.artifact = ModelParser._parse_artifact(model_data.get("artifact", {}))
+    if metadata := model_data.get("metadata"):
+      model.metadata = ModelParser._parse_artifact(metadata)
     return model
 
   @staticmethod
-  def _parse_bundle(key: str, value: dict) -> custom.ModelManagerSP.ModelBundle:
+  def _parse_overrides(overrides_data: dict[str, str]) -> list[custom.ModelManagerSP.Override]:
+    overrides = []
+    for key, value in overrides_data.items():
+      override = custom.ModelManagerSP.Override()
+      override.key = key
+      override.value = value
+      overrides.append(override)
+    return overrides
+
+  @staticmethod
+  def _parse_bundle(bundle) -> custom.ModelManagerSP.ModelBundle:
     model_bundle = custom.ModelManagerSP.ModelBundle()
-
-    # Parse main driving model
-    models = [
-      ModelParser._parse_model(
-        value["full_name"],
-        value["file_name"],
-        value["download_uri"],
-        custom.ModelManagerSP.Type.drive
-      )
-    ]
-
-    # Parse navigation model if exists
-    if value.get("download_uri_nav"):
-      models.append(ModelParser._parse_model(
-        value["full_name_nav"],
-        value["file_name_nav"],
-        value["download_uri_nav"],
-        custom.ModelManagerSP.Type.navigation
-      ))
-
-    # Parse metadata model if exists
-    if value.get("download_uri_metadata"):
-      models.append(ModelParser._parse_model(
-        value["full_name_metadata"],
-        value["file_name_metadata"],
-        value["download_uri_metadata"],
-        custom.ModelManagerSP.Type.metadata
-      ))
-
-    model_bundle.index = int(value["index"])
-    model_bundle.internalName = key
-    model_bundle.displayName = value["display_name"]
-    model_bundle.models = models
+    model_bundle.index = int(bundle["index"])
+    model_bundle.internalName = bundle["short_name"]
+    model_bundle.displayName = bundle["display_name"]
+    model_bundle.models = [ModelParser._parse_model(model) for model in bundle.get("models",[])]
     model_bundle.status = 0
-    model_bundle.generation = int(value["generation"])
-    model_bundle.environment = value["environment"]
-    model_bundle.runner = value.get("runner", custom.ModelManagerSP.Runner.snpe)
-    model_bundle.is20hz = value.get("is_20hz", False)
+    model_bundle.generation = int(bundle["generation"])
+    model_bundle.environment = bundle["environment"]
+    model_bundle.runner = bundle.get("runner", custom.ModelManagerSP.Runner.snpe)
+    model_bundle.is20hz = bundle.get("is_20hz", False)
+    model_bundle.minimumSelectorVersion = int(bundle["minimum_selector_version"])
+    model_bundle.overrides = ModelParser._parse_overrides(bundle.get("overrides", {}))
 
     return model_bundle
 
   @staticmethod
   def parse_models(json_data: dict) -> list[custom.ModelManagerSP.ModelBundle]:
-    return [ModelParser._parse_bundle(key, value) for key, value in json_data.items()]
+    found_bundles = [ModelParser._parse_bundle(bundle) for bundle in json_data.get("bundles", [])]
+    return [bundle for bundle in found_bundles if is_bundle_version_compatible(bundle.to_dict())]
 
 
 class ModelCache:
@@ -122,7 +115,7 @@ class ModelCache:
 
 class ModelFetcher:
   """Handles fetching and caching of model data from remote source"""
-  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v2.json"
+  MODEL_URL = "https://docs.sunnypilot.ai/driving_models_v4.json"
 
   def __init__(self, params: Params):
     self.params = params
@@ -143,7 +136,7 @@ class ModelFetcher:
       cloudlog.exception("Error fetching models")
       raise
 
-  def get_available_models(self) -> list[custom.ModelManagerSP.ModelBundle]:
+  def get_available_bundles(self) -> list[custom.ModelManagerSP.ModelBundle]:
     """Gets the list of available models, with smart cache handling"""
     cached_data, is_expired = self.model_cache.get()
 
@@ -160,3 +153,17 @@ class ModelFetcher:
 
     cloudlog.warning("Failed to fetch fresh data. Using expired cache as fallback")
     return self.model_parser.parse_models(cached_data)
+
+if __name__ == "__main__":
+  params = Params()
+  model_fetcher = ModelFetcher(params)
+  bundles = model_fetcher.get_available_bundles()
+  for bundle in bundles:
+    for model in bundle.models:
+      model_overrides = {override.key: override.value for override in bundle.overrides}
+      # Print model details
+      print(f"Bundle: {bundle.internalName}, Type: {model.type}, Status: {bundle.status}, Overrides: {model_overrides}")
+      # Print artifact details
+      print(f"Artifact: {model.artifact.fileName}, Download URI: {model.artifact.downloadUri.uri}")
+      # Print metadata details
+      print(f"Metadata: {model.metadata.fileName}, Download URI: {model.metadata.downloadUri.uri}")
diff --git a/sunnypilot/models/helpers.py b/sunnypilot/models/helpers.py
index dbdef55900..a614447ceb 100644
--- a/sunnypilot/models/helpers.py
+++ b/sunnypilot/models/helpers.py
@@ -7,8 +7,27 @@ See the LICENSE.md file in the root directory for more details.
 
 import hashlib
 import os
+import pickle
+import numpy as np
+import json
+
 from openpilot.common.params import Params
-from cereal import custom, messaging
+from cereal import custom
+from openpilot.sunnypilot.modeld.constants import Meta, MetaTombRaider, MetaSimPose
+from openpilot.sunnypilot.modeld.runners import ModelRunner
+from openpilot.system.hardware import PC
+from openpilot.system.hardware.hw import Paths
+from pathlib import Path
+
+CURRENT_SELECTOR_VERSION = 6
+REQUIRED_MIN_SELECTOR_VERSION = 5
+
+USE_ONNX = os.getenv('USE_ONNX', PC)
+
+CUSTOM_MODEL_PATH = Paths.model_root()
+METADATA_PATH = Path(__file__).parent / '../models/supercombo_metadata.pkl'
+
+ModelManager = custom.ModelManagerSP
 
 
 async def verify_file(file_path: str, expected_hash: str) -> bool:
@@ -24,13 +43,36 @@ async def verify_file(file_path: str, expected_hash: str) -> bool:
   return sha256_hash.hexdigest().lower() == expected_hash.lower()
 
 
+def is_bundle_version_compatible(bundle: dict) -> bool:
+  """
+  Checks whether the model bundle is compatible with the current selector version constraints.
+
+  The bundle specifies a `minimum_selector_version`, which defines the minimum selector version
+  required to load the model. This function ensures that:
+
+    1. The model is not too old: the bundle must require at least `REQUIRED_MIN_SELECTOR_VERSION`.
+    2. The model is not too new: it must support the current selector version (`CURRENT_SELECTOR_VERSION`).
+
+  This allows the selector to enforce both a minimum and maximum range of supported models,
+  even if a model would otherwise be compatible.
+
+  :param bundle: Dictionary containing `minimum_selector_version`, as defined by the model bundle.
+  :type bundle: Dict
+  :return: True if the selector version is within the accepted range for the bundle; otherwise False.
+  :rtype: Bool
+  """
+  return bool(REQUIRED_MIN_SELECTOR_VERSION <= bundle.get("minimumSelectorVersion", 0) <= CURRENT_SELECTOR_VERSION)
+
 def get_active_bundle(params: Params = None) -> custom.ModelManagerSP.ModelBundle:
   """Gets the active model bundle from cache"""
   if params is None:
     params = Params()
 
-  if active_bundle := params.get("ModelManager_ActiveBundle"):
-    return messaging.log_from_bytes(active_bundle, custom.ModelManagerSP.ModelBundle)
+  try:
+    if (active_bundle := json.loads(params.get("ModelManager_ActiveBundle") or "{}")) and is_bundle_version_compatible(active_bundle):
+      return custom.ModelManagerSP.ModelBundle(**active_bundle)
+  except Exception:
+    pass
 
   return None
 
@@ -71,3 +113,74 @@ def get_active_model_runner(params: Params = None, force_check=False) -> custom.
     params.put("ModelRunnerTypeCache", str(int(runner_type)))
 
   return runner_type
+
+def _get_model():
+  if bundle := get_active_bundle():
+    drive_model = next(model for model in bundle.models if model.type == ModelManager.Model.Type.supercombo)
+    return drive_model
+
+  return None
+
+def get_model_path():
+  if USE_ONNX:
+    return {ModelRunner.ONNX: Path(__file__).parent / '../models/supercombo.onnx'}
+
+  if model := _get_model():
+    return {ModelRunner.THNEED: f"{CUSTOM_MODEL_PATH}/{model.artifact.fileName}"}
+
+  return {ModelRunner.THNEED: Path(__file__).parent / '../models/supercombo.thneed'}
+
+
+def load_metadata():
+  metadata_path = METADATA_PATH
+
+  if model := _get_model():
+    metadata_path = f"{CUSTOM_MODEL_PATH}/{model.metadata.fileName}"
+
+  with open(metadata_path, 'rb') as f:
+    return pickle.load(f)
+
+
+def prepare_inputs(model_metadata) -> dict[str, np.ndarray]:
+  # img buffers are managed in openCL transform code so we don't pass them as inputs
+  inputs = {
+    k: np.zeros(v, dtype=np.float32).flatten()
+    for k, v in model_metadata['input_shapes'].items()
+    if 'img' not in k
+  }
+
+  return inputs
+
+
+def load_meta_constants(model_metadata):
+  """
+  Determines and loads the appropriate meta model class based on the metadata provided. The function checks
+  specific keys and conditions within the provided metadata dictionary to identify the corresponding meta
+  model class to return.
+
+  :param model_metadata: Dictionary containing metadata about the model. It includes
+      details such as input shapes, output slices, and other configurations for identifying
+      metadata-dependent meta model classes.
+  :type model_metadata: dict
+  :return: The appropriate meta model class (Meta, MetaSimPose, or MetaTombRaider)
+      based on the conditions and metadata provided.
+  :rtype: type
+  """
+  meta = Meta  # Default Meta
+
+  if 'sim_pose' in model_metadata['input_shapes'].keys():
+    # Meta for models with sim_pose input
+    meta = MetaSimPose
+  else:
+    # Meta for Tomb Raider, it does not include sim_pose input but has the same meta slice as previous models
+    meta_slice = model_metadata['output_slices']['meta']
+    meta_tf_slice = slice(5868, 5921, None)
+
+    if (
+            meta_slice.start == meta_tf_slice.start and
+            meta_slice.stop == meta_tf_slice.stop and
+            meta_slice.step == meta_tf_slice.step
+    ):
+      meta = MetaTombRaider
+
+  return meta
diff --git a/sunnypilot/models/manager.py b/sunnypilot/models/manager.py
index 5fbad6cd8e..630d6a8d77 100644
--- a/sunnypilot/models/manager.py
+++ b/sunnypilot/models/manager.py
@@ -8,6 +8,7 @@ See the LICENSE.md file in the root directory for more details.
 import asyncio
 import os
 import time
+import json
 
 import aiohttp
 from openpilot.common.params import Params
@@ -73,43 +74,54 @@ class ModelManagerSP:
         # Clean up start time after download completes
         del self._download_start_times[model.fileName]
 
-  async def _process_model(self, model, destination_path: str) -> None:
+  async def _process_artifact(self, artifact, destination_path: str) -> None:
     """Processes a single model download including verification"""
-    url = model.downloadUri.uri
-    expected_hash = model.downloadUri.sha256
-    filename = model.fileName
+    if not artifact.downloadUri.uri:
+      return None
+
+    url = artifact.downloadUri.uri
+    expected_hash = artifact.downloadUri.sha256
+    filename = artifact.fileName
     full_path = os.path.join(destination_path, filename)
 
     try:
       # Check existing file
       if os.path.exists(full_path) and await verify_file(full_path, expected_hash):
-        model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
-        model.downloadProgress.progress = 100
-        model.downloadProgress.eta = 0
+        artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
+        artifact.downloadProgress.progress = 100
+        artifact.downloadProgress.eta = 0
         self._report_status()
         return
 
       # Download and verify
-      await self._download_file(url, full_path, model)
+      await self._download_file(url, full_path, artifact)
       if not await verify_file(full_path, expected_hash):
         raise ValueError(f"Hash validation failed for {filename}")
 
-      model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      model.downloadProgress.eta = 0
+      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
+      artifact.downloadProgress.eta = 0
       self._report_status()
 
     except Exception as e:
       cloudlog.error(f"Error downloading {filename}: {str(e)}")
       if os.path.exists(full_path):
         os.remove(full_path)
-      model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
-      model.downloadProgress.eta = 0
+      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
+      artifact.downloadProgress.eta = 0
       self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
       self._report_status()
       # Clean up start time if it exists
-      self._download_start_times.pop(model.fileName, None)
+      self._download_start_times.pop(artifact.fileName, None)
       raise
 
+  async def _process_model(self, model, destination_path: str) -> None:
+    """Processes a single model download including verification"""
+    model_artifact = model.artifact
+    metadata_artifact = model.metadata
+
+    await self._process_artifact(metadata_artifact, destination_path)
+    await self._process_artifact(model_artifact, destination_path)
+
   def _report_status(self) -> None:
     """Reports current status through messaging system"""
     msg = messaging.new_message('modelManagerSP', valid=True)
@@ -134,7 +146,7 @@ class ModelManagerSP:
       await asyncio.gather(*tasks)
       self.active_bundle = self.selected_bundle
       self.active_bundle.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      self.params.put("ModelManager_ActiveBundle", self.active_bundle.to_bytes())
+      self.params.put("ModelManager_ActiveBundle", json.dumps(self.active_bundle.to_dict()))
       self.selected_bundle = None
 
     except Exception:
@@ -154,7 +166,7 @@ class ModelManagerSP:
 
     while True:
       try:
-        self.available_models = self.model_fetcher.get_available_models()
+        self.available_models = self.model_fetcher.get_available_bundles()
         self.active_bundle = get_active_bundle(self.params)
 
         if index_to_download := self.params.get("ModelManager_DownloadIndex", block=False, encoding="utf-8"):
diff --git a/sunnypilot/models/modeld_lagd.py b/sunnypilot/models/modeld_lagd.py
new file mode 100644
index 0000000000..9e538123a8
--- /dev/null
+++ b/sunnypilot/models/modeld_lagd.py
@@ -0,0 +1,26 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+
+
+class ModeldLagd:
+  def __init__(self):
+    self.params = Params()
+
+  def lagd_main(self, CP, sm, model):
+    if self.params.get_bool("LagdToggle"):
+      lateral_delay = sm["liveDelay"].lateralDelay
+      lat_smooth = model.LAT_SMOOTH_SECONDS
+      result = lateral_delay + lat_smooth
+      cloudlog.debug(f"LAGD USING LIVE DELAY: {lateral_delay:.3f} + {lat_smooth:.3f} = {result:.3f}")
+      return result
+    steer_actuator_delay = CP.steerActuatorDelay
+    lat_smooth = model.LAT_SMOOTH_SECONDS
+    result = (steer_actuator_delay + 0.2) + lat_smooth
+    cloudlog.debug(f"LAGD USING STEER ACTUATOR: {steer_actuator_delay:.3f} + 0.2 + {lat_smooth:.3f} = {result:.3f}")
+    return result
diff --git a/sunnypilot/models/runners/constants.py b/sunnypilot/models/runners/constants.py
new file mode 100644
index 0000000000..cbd1fdb376
--- /dev/null
+++ b/sunnypilot/models/runners/constants.py
@@ -0,0 +1,18 @@
+import os
+import numpy as np
+from openpilot.sunnypilot.modeld_v2.models.commonmodel_pyx import DrivingModelFrame, CLMem
+from openpilot.system.hardware.hw import Paths
+from cereal import custom
+
+# Type definitions for clarity
+NumpyDict = dict[str, np.ndarray]
+ShapeDict = dict[str, tuple[int, ...]]
+SliceDict = dict[str, slice]
+CLMemDict = dict[str, CLMem]
+FrameDict = dict[str, DrivingModelFrame]
+
+ModelType = custom.ModelManagerSP.Model.Type
+Model = custom.ModelManagerSP.Model
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+CUSTOM_MODEL_PATH = Paths.model_root()
diff --git a/sunnypilot/models/runners/helpers.py b/sunnypilot/models/runners/helpers.py
new file mode 100644
index 0000000000..6a128b340e
--- /dev/null
+++ b/sunnypilot/models/runners/helpers.py
@@ -0,0 +1,35 @@
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
+from openpilot.sunnypilot.models.runners.tinygrad.tinygrad_runner import TinygradRunner, TinygradSplitRunner
+from openpilot.sunnypilot.models.runners.constants import ModelType
+from openpilot.system.hardware import TICI
+
+if not TICI:
+  from openpilot.sunnypilot.models.runners.onnx.onnx_runner import ONNXRunner
+
+def get_model_runner() -> ModelRunner:
+  """
+  Factory function to create and return the appropriate ModelRunner instance.
+
+  Selects between ONNXRunner (for non-TICI platforms) and TinygradRunner
+  (for TICI platforms), choosing TinygradSplitRunner if separate vision/policy
+  models are detected in the active bundle.
+
+  :return: An instance of a ModelRunner subclass (ONNXRunner, TinygradRunner, or TinygradSplitRunner).
+  """
+  if not TICI:
+    return ONNXRunner()
+
+  # On TICI platforms, use Tinygrad runners
+  bundle = get_active_bundle()
+  if bundle and bundle.models:
+    model_types = {m.type.raw for m in bundle.models}
+    # Check if the bundle uses separate vision and policy models
+    if ModelType.vision in model_types or ModelType.policy in model_types:
+      return TinygradSplitRunner()
+    # Otherwise, assume a single model (likely supercombo)
+    if bundle.models:
+      return TinygradRunner(bundle.models[0].type.raw)
+
+  # Default fallback to TinygradRunner with the supercombo type if bundle info is missing/incomplete
+  return TinygradRunner(ModelType.supercombo)
diff --git a/sunnypilot/models/runners/model_runner.py b/sunnypilot/models/runners/model_runner.py
new file mode 100644
index 0000000000..7124662791
--- /dev/null
+++ b/sunnypilot/models/runners/model_runner.py
@@ -0,0 +1,190 @@
+import os
+from abc import abstractmethod, ABC
+
+import numpy as np
+from openpilot.sunnypilot.models.helpers import get_active_bundle
+from openpilot.system.hardware import TICI
+from openpilot.sunnypilot.models.runners.constants import NumpyDict, ShapeDict, CLMemDict, FrameDict, Model, SliceDict, SEND_RAW_PRED
+from openpilot.system.hardware.hw import Paths
+import pickle
+
+CUSTOM_MODEL_PATH = Paths.model_root()
+
+
+# Set QCOM environment variable for TICI devices, potentially enabling hardware acceleration
+USBGPU = "USBGPU" in os.environ
+if USBGPU:
+  os.environ['AMD'] = '1'
+  os.environ['AMD_IFACE'] = 'USB'
+elif TICI:
+  os.environ['QCOM'] = '1'
+else:
+  os.environ['LLVM'] = '1'
+  os.environ['JIT'] = '2'  # TODO: This may cause issues
+
+
+class ModelData:
+  """
+  Stores metadata and configuration for a specific machine learning model.
+
+  This class loads model metadata (like input shapes and output slices)
+  from a pickle file associated with a model instance.
+
+  :param model: The machine learning model object containing metadata.
+  """
+  def __init__(self, model: Model):
+    self.model = model
+    self.metadata = model.metadata
+    self.input_shapes: ShapeDict = {}
+    self.output_slices: SliceDict = {}
+    if self.metadata:
+      self._load_metadata()
+
+  def _load_metadata(self) -> None:
+    """Loads input shapes and output slices from the model's metadata pickle file."""
+    metadata_path = f"{CUSTOM_MODEL_PATH}/{self.metadata.fileName}"
+    with open(metadata_path, 'rb') as f:
+      model_metadata = pickle.load(f)
+    self.input_shapes = model_metadata.get('input_shapes', {})
+    self.output_slices = model_metadata.get('output_slices', {})
+
+
+class ModularRunner(ABC):
+  """
+  Represents a modular runner for handling and slicing model outputs.
+
+  This abstract base class is designed to provide an interface for modular
+  parsing and processing of model outputs. Classes inheriting from it must
+  implement the specified abstract methods, defining how model outputs
+  should be handled and stored. The primary goal is to enable structured
+  parsing of outputs through a dictionary-based method mapping.
+
+  :ivar parser_method_dict: Mapping dictionary containing parser methods
+      for handling specific types of outputs.
+  :type parser_method_dict: dict
+  """
+
+  @property
+  @abstractmethod
+  def parser_method_dict(self) -> dict:
+    pass
+
+  @parser_method_dict.setter
+  @abstractmethod
+  def parser_method_dict(self, value: dict) -> None:
+    pass
+
+  @abstractmethod
+  def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    pass
+
+
+class ModelRunner(ModularRunner):
+  """
+  Abstract base class for managing and executing machine learning models.
+
+  Provides a common interface for loading models, preparing inputs, running
+  inference, and slicing/parsing outputs based on model metadata. Derived
+  classes implement the specifics of input preparation and model execution
+  for different frameworks (e.g., Tinygrad, ONNX).
+  """
+
+  def __init__(self):
+    """Initializes the model runner, loading the active model bundle."""
+    self.is_20hz: bool | None = None
+    self.is_20hz_3d: bool | None = None
+    self.models: dict[int, ModelData] = {}
+    self._model_data: ModelData | None = None  # Active model data for current operation
+    self._parser_method_dict: dict = {}
+    self.inputs: dict = {}
+    self._parser = None
+    self._load_models()
+    self._constants = None
+
+  @property
+  def constants(self):
+    return self._constants
+
+  @property
+  def parser_method_dict(self) -> dict:
+    """Returns the dictionary mapping model types to their respective parsing methods."""
+    return self._parser_method_dict
+
+  @parser_method_dict.setter
+  def parser_method_dict(self, value: dict) -> None:
+    """Sets the dictionary mapping model types to their respective parsing methods."""
+    self._parser_method_dict = value
+
+  def _load_models(self) -> None:
+    """Loads the active model bundle configuration and sets up ModelData."""
+    bundle = get_active_bundle()
+    if not bundle:
+      raise ValueError("No active model bundle found, why are we being executed?")
+
+    self.models = {model.type.raw: ModelData(model) for model in bundle.models}
+    self.is_20hz = bundle.is20hz
+    self.is_20hz_3d = False
+
+  @property
+  def input_shapes(self) -> ShapeDict:
+    """Returns the input shapes for the currently active model."""
+    if self._model_data:
+      return self._model_data.input_shapes
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+  @property
+  def output_slices(self) -> SliceDict:
+    """Returns the output slices for the currently active model."""
+    if self._model_data:
+      return self._model_data.output_slices
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the input shapes."""
+    if self._model_data:
+      return list(self._model_data.input_shapes.keys())
+    raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+  @abstractmethod
+  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
+    """
+    Abstract method to prepare inputs for model inference.
+
+    :param imgs_cl: Dictionary of OpenCL memory objects for image inputs.
+    :param numpy_inputs: Dictionary of numpy arrays for non-image inputs.
+    :param frames: Dictionary of DrivingModelFrame objects for context.
+    :return: Dictionary of prepared inputs ready for the model.
+    """
+    raise NotImplementedError
+
+  @abstractmethod
+  def _run_model(self) -> NumpyDict:
+    """
+    Abstract method to execute model inference with prepared inputs.
+
+    :return: Dictionary containing the model's raw output arrays.
+    """
+    raise NotImplementedError
+
+  def _slice_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """
+    Slices the raw model output array based on the output_slices metadata.
+
+    :param model_outputs: The raw numpy array output from the model.
+    :return: A dictionary where keys are output names and values are sliced numpy arrays.
+    """
+    if not self._model_data:
+      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+    sliced_outputs = {k: model_outputs[np.newaxis, v] for k, v in self._model_data.output_slices.items()}
+    if SEND_RAW_PRED:
+      sliced_outputs['raw_pred'] = model_outputs.copy()  # Optionally include the full raw output
+    return sliced_outputs
+
+  def run_model(self) -> NumpyDict:
+    """
+    Executes the model inference pipeline: runs the model and parses outputs.
+
+    :return: Dictionary containing the final parsed model outputs.
+    """
+    return self._run_model()  # Parsing is handled within specific runner implementations
diff --git a/sunnypilot/models/runners/onnx/onnx_runner.py b/sunnypilot/models/runners/onnx/onnx_runner.py
new file mode 100644
index 0000000000..1ffead4560
--- /dev/null
+++ b/sunnypilot/models/runners/onnx/onnx_runner.py
@@ -0,0 +1,62 @@
+import numpy as np
+
+from openpilot.sunnypilot.modeld_v2 import MODEL_PATH
+from openpilot.sunnypilot.modeld_v2.runners.ort_helpers import make_onnx_cpu_runner, ORT_TYPES_TO_NP_TYPES
+from openpilot.sunnypilot.models.runners.constants import ModelType, ShapeDict, CLMemDict, NumpyDict, FrameDict
+from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+
+
+class ONNXRunner(ModelRunner):
+  """
+  A ModelRunner implementation for executing ONNX models using ONNX Runtime CPU.
+
+  Handles loading the ONNX model, preparing inputs as numpy arrays, running
+  inference, and parsing outputs. This runner is typically used on non-TICI platforms.
+  """
+  def __init__(self):
+    super().__init__()
+    # Initialize ONNX Runtime session for the model at MODEL_PATH
+    self.runner = make_onnx_cpu_runner(MODEL_PATH)
+    # Map expected input names to numpy dtypes
+    self.input_to_nptype = {
+      model_input.name: ORT_TYPES_TO_NP_TYPES[model_input.type]
+      for model_input in self.runner.get_inputs()
+    }
+    # For ONNX, _model_data isn't strictly necessary as shapes/types come from the runner
+    # However, we might still need output_slices if custom models define them.
+    # We assume supercombo type for potentially loading output_slices metadata if available.
+    self._model_data = self.models.get(ModelType.supercombo)
+    self._constants = ModelConstants  # Constants for ONNX models, if needed
+
+  @property
+  def input_shapes(self) -> ShapeDict:
+    """Returns the input shapes defined in the ONNX model."""
+    # ONNX shapes are derived directly from the model definition via the runner
+    return {runner_input.name: runner_input.shape for runner_input in self.runner.get_inputs()}
+
+  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
+    """Prepares inputs for the ONNX model as numpy arrays."""
+    self.inputs = numpy_inputs # Start with non-image numpy inputs
+    # Convert image inputs from OpenCL buffers to numpy arrays
+    for key in imgs_cl:
+      buffer = frames[key].buffer_from_cl(imgs_cl[key])
+      reshaped_buffer = buffer.reshape(self.input_shapes[key])
+      self.inputs[key] = reshaped_buffer.astype(dtype=self.input_to_nptype[key])
+    return self.inputs
+
+  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses the raw ONNX model outputs using the standard Parser."""
+    # Use slicing if metadata is available, otherwise pass raw outputs
+    if self._model_data is None:
+      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+    outputs_to_parse = self._slice_outputs(model_outputs) if self._model_data else {'raw_pred': model_outputs}
+    result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](outputs_to_parse)
+    return result
+
+  def _run_model(self) -> NumpyDict:
+    """Runs the ONNX model inference and parses the outputs."""
+    # Execute the ONNX Runtime session
+    outputs = self.runner.run(None, self.inputs)[0].flatten()
+    return self._parse_outputs(outputs)
diff --git a/sunnypilot/models/runners/tinygrad/model_types.py b/sunnypilot/models/runners/tinygrad/model_types.py
new file mode 100644
index 0000000000..ba388aed93
--- /dev/null
+++ b/sunnypilot/models/runners/tinygrad/model_types.py
@@ -0,0 +1,59 @@
+import os
+from abc import ABC
+
+import numpy as np
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs import Parser as CombinedParser
+from openpilot.sunnypilot.modeld_v2.parse_model_outputs_split import Parser as SplitParser
+from openpilot.sunnypilot.models.runners.constants import ModelType, NumpyDict
+from openpilot.sunnypilot.models.runners.model_runner import ModularRunner
+from openpilot.system.hardware.hw import Paths
+
+
+SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
+CUSTOM_MODEL_PATH = Paths.model_root()
+
+
+class PolicyTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for policy-only models.
+
+  Uses a SplitParser to handle outputs specific to the policy part of a split model setup.
+  """
+  def __init__(self):
+    self._policy_parser = SplitParser()
+    self.parser_method_dict[ModelType.policy] = self._parse_policy_outputs
+
+  def _parse_policy_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses policy model outputs using SplitParser."""
+    result: NumpyDict = self._policy_parser.parse_policy_outputs(self._slice_outputs(model_outputs))
+    return result
+
+class VisionTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for vision-only models.
+
+  Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
+  """
+  def __init__(self):
+    self._vision_parser = SplitParser()
+    self.parser_method_dict[ModelType.vision] = self._parse_vision_outputs
+
+  def _parse_vision_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses vision model outputs using SplitParser."""
+    result: NumpyDict = self._vision_parser.parse_vision_outputs(self._slice_outputs(model_outputs))
+    return result
+
+class SupercomboTinygrad(ModularRunner, ABC):
+  """
+  A TinygradRunner specialized for vision-only models.
+
+  Uses a SplitParser to handle outputs specific to the vision part of a split model setup.
+  """
+  def __init__(self):
+    self._supercombo_parser = CombinedParser()
+    self.parser_method_dict[ModelType.supercombo] = self._parse_supercombo_outputs
+
+  def _parse_supercombo_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses vision model outputs using SplitParser."""
+    result: NumpyDict = self._supercombo_parser.parse_outputs(self._slice_outputs(model_outputs))
+    return result
diff --git a/sunnypilot/models/runners/tinygrad/tinygrad_runner.py b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
new file mode 100644
index 0000000000..270890cace
--- /dev/null
+++ b/sunnypilot/models/runners/tinygrad/tinygrad_runner.py
@@ -0,0 +1,139 @@
+import pickle
+
+import numpy as np
+from openpilot.sunnypilot.modeld_v2.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+from openpilot.sunnypilot.models.runners.constants import CLMemDict, FrameDict, NumpyDict, ModelType, ShapeDict, CUSTOM_MODEL_PATH, SliceDict
+from openpilot.sunnypilot.models.runners.model_runner import ModelRunner
+from openpilot.sunnypilot.models.runners.tinygrad.model_types import PolicyTinygrad, VisionTinygrad, SupercomboTinygrad
+from openpilot.system.hardware import TICI
+from openpilot.sunnypilot.models.split_model_constants import SplitModelConstants
+from openpilot.sunnypilot.modeld_v2.constants import ModelConstants
+
+from tinygrad.tensor import Tensor
+
+
+class TinygradRunner(ModelRunner, SupercomboTinygrad, PolicyTinygrad, VisionTinygrad):
+  """
+  A ModelRunner implementation for executing Tinygrad models.
+
+  Handles loading Tinygrad model artifacts (.pkl), preparing inputs as Tinygrad
+  Tensors (potentially using QCOM extensions on TICI), running inference,
+  and parsing the outputs.
+
+  :param model_type: The type of model (e.g., supercombo) to load and run.
+  """
+  def __init__(self, model_type: int = ModelType.supercombo):
+    ModelRunner.__init__(self)
+    SupercomboTinygrad.__init__(self)
+    PolicyTinygrad.__init__(self)
+    VisionTinygrad.__init__(self)
+    self._constants = ModelConstants
+    self._model_data = self.models.get(model_type)
+    if not self._model_data or not self._model_data.model:
+      raise ValueError(f"Model data for type {model_type} not available.")
+
+    artifact_filename = self._model_data.model.artifact.fileName
+    assert artifact_filename.endswith('_tinygrad.pkl'), \
+      f"Invalid model file {artifact_filename} for TinygradRunner"
+
+    model_pkl_path = f"{CUSTOM_MODEL_PATH}/{artifact_filename}"
+    with open(model_pkl_path, "rb") as f:
+      try:
+        # Load the compiled Tinygrad model runner function
+        self.model_run = pickle.load(f)
+      except FileNotFoundError as e:
+        # Provide a helpful error message if the model was built for a different platform
+        assert "/dev/kgsl-3d0" not in str(e), "Model was built on C3 or C3X, but is being loaded on PC"
+        raise
+
+    # Map input names to their required dtype and device from the loaded model
+    self.input_to_dtype = {}
+    self.input_to_device = {}
+    for idx, name in enumerate(self.model_run.captured.expected_names):
+      info = self.model_run.captured.expected_st_vars_dtype_device[idx]
+      self.input_to_dtype[name] = info[2]  # dtype
+      self.input_to_device[name] = info[3]  # device
+
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the input shapes."""
+    return [name for name in self.input_shapes.keys() if 'img' in name]
+
+  def prepare_vision_inputs(self, imgs_cl: CLMemDict, frames: FrameDict):
+    """Prepares vision (image) inputs as Tinygrad Tensors."""
+    for key in imgs_cl:
+      if TICI and key not in self.inputs:
+        # On TICI, directly use OpenCL memory address for efficiency via QCOM extensions
+        self.inputs[key] = qcom_tensor_from_opencl_address(imgs_cl[key].mem_address, self.input_shapes[key], dtype=self.input_to_dtype[key])
+      elif not TICI:
+        # On other platforms, copy data from CL buffer to a numpy array first
+        shape = frames[key].buffer_from_cl(imgs_cl[key]).reshape(self.input_shapes[key])
+        self.inputs[key] = Tensor(shape, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+
+  def prepare_policy_inputs(self, numpy_inputs: NumpyDict):
+    """Prepares non-image (policy) inputs as Tinygrad Tensors."""
+    for key, value in numpy_inputs.items():
+      self.inputs[key] = Tensor(value, device=self.input_to_device[key], dtype=self.input_to_dtype[key]).realize()
+
+  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
+    """Prepares all vision and policy inputs for the model."""
+    self.prepare_vision_inputs(imgs_cl, frames)
+    self.prepare_policy_inputs(numpy_inputs)
+    return self.inputs
+
+  def _run_model(self) -> NumpyDict:
+    """Runs the Tinygrad model inference and parses the outputs."""
+    outputs = self.model_run(**self.inputs).numpy().flatten()
+    return self._parse_outputs(outputs)
+
+  def _parse_outputs(self, model_outputs: np.ndarray) -> NumpyDict:
+    """Parses the raw model outputs using the standard Parser."""
+    if self._model_data is None:
+      raise ValueError("Model data is not available. Ensure the model is loaded correctly.")
+
+    result: NumpyDict = self.parser_method_dict[self._model_data.model.type.raw](model_outputs)
+    return result
+
+
+class TinygradSplitRunner(ModelRunner):
+  """
+  A ModelRunner that coordinates separate TinygradVisionRunner and TinygradPolicyRunner instances.
+
+  Manages the execution of split vision and policy models, combining their inputs and outputs.
+  """
+  def __init__(self):
+    super().__init__()
+    self.is_20hz_3d = True
+    self.vision_runner = TinygradRunner(ModelType.vision)
+    self.policy_runner = TinygradRunner(ModelType.policy)
+    self._constants = SplitModelConstants
+
+  def _run_model(self) -> NumpyDict:
+    """Runs both vision and policy models and merges their parsed outputs."""
+    policy_output = self.policy_runner.run_model()
+    vision_output = self.vision_runner.run_model()
+    return {**policy_output, **vision_output} # Combine results
+
+  @property
+  def vision_input_names(self) -> list[str]:
+    """Returns the list of vision input names from the vision runner."""
+    return list(self.vision_runner.vision_input_names)
+
+  @property
+  def input_shapes(self) -> ShapeDict:
+    """Returns the combined input shapes from both vision and policy models."""
+    return {**self.policy_runner.input_shapes, **self.vision_runner.input_shapes}
+
+  @property
+  def output_slices(self) -> SliceDict:
+    """Returns the combined output slices from both vision and policy models."""
+    return {**self.policy_runner.output_slices, **self.vision_runner.output_slices}
+
+  def prepare_inputs(self, imgs_cl: CLMemDict, numpy_inputs: NumpyDict, frames: FrameDict) -> dict:
+    """Prepares inputs for both vision and policy models."""
+    # Policy inputs only depend on numpy_inputs
+    self.policy_runner.prepare_policy_inputs(numpy_inputs)
+    # Vision inputs depend on imgs_cl and frames
+    self.vision_runner.prepare_vision_inputs(imgs_cl, frames)
+    # Return combined inputs (though they are stored within respective runners)
+    return {**self.policy_runner.inputs, **self.vision_runner.inputs}
diff --git a/sunnypilot/models/split_model_constants.py b/sunnypilot/models/split_model_constants.py
new file mode 100644
index 0000000000..a3e1dce8f6
--- /dev/null
+++ b/sunnypilot/models/split_model_constants.py
@@ -0,0 +1,94 @@
+import numpy as np
+
+
+def index_function(idx, max_val=192, max_idx=32):
+  return max_val * ((idx/max_idx)**2)
+
+
+class SplitModelConstants:
+  # time and distance indices
+  IDX_N = 33
+  T_IDXS = [index_function(idx, max_val=10.0) for idx in range(IDX_N)]
+  X_IDXS = [index_function(idx, max_val=192.0) for idx in range(IDX_N)]
+  LEAD_T_IDXS = [0., 2., 4., 6., 8., 10.]
+  LEAD_T_OFFSETS = [0., 2., 4.]
+  META_T_IDXS = [2., 4., 6., 8., 10.]
+
+  # model inputs constants
+  MODEL_FREQ = 20
+  HISTORY_FREQ = 5
+  HISTORY_LEN_SECONDS = 5
+  TEMPORAL_SKIP = MODEL_FREQ // HISTORY_FREQ
+  FULL_HISTORY_BUFFER_LEN = MODEL_FREQ * HISTORY_LEN_SECONDS
+  INPUT_HISTORY_BUFFER_LEN = HISTORY_FREQ * HISTORY_LEN_SECONDS
+
+  FEATURE_LEN = 512
+
+  DESIRE_LEN = 8
+  TRAFFIC_CONVENTION_LEN = 2
+  LAT_PLANNER_STATE_LEN = 4
+  LATERAL_CONTROL_PARAMS_LEN = 2
+  PREV_DESIRED_CURV_LEN = 1
+
+  # model outputs constants
+  FCW_THRESHOLDS_5MS2 = np.array([.05, .05, .15, .15, .15], dtype=np.float32)
+  FCW_THRESHOLDS_3MS2 = np.array([.7, .7], dtype=np.float32)
+  FCW_5MS2_PROBS_WIDTH = 5
+  FCW_3MS2_PROBS_WIDTH = 2
+
+  DISENGAGE_WIDTH = 5
+  POSE_WIDTH = 6
+  WIDE_FROM_DEVICE_WIDTH = 3
+  LEAD_WIDTH = 4
+  LANE_LINES_WIDTH = 2
+  ROAD_EDGES_WIDTH = 2
+  PLAN_WIDTH = 15
+  DESIRE_PRED_WIDTH = 8
+  LAT_PLANNER_SOLUTION_WIDTH = 4
+  DESIRED_CURV_WIDTH = 1
+
+  NUM_LANE_LINES = 4
+  NUM_ROAD_EDGES = 2
+
+  LEAD_TRAJ_LEN = 6
+  DESIRE_PRED_LEN = 4
+
+  PLAN_MHP_N = 5
+  LEAD_MHP_N = 2
+  PLAN_MHP_SELECTION = 1
+  LEAD_MHP_SELECTION = 3
+
+  FCW_THRESHOLD_5MS2_HIGH = 0.15
+  FCW_THRESHOLD_5MS2_LOW = 0.05
+  FCW_THRESHOLD_3MS2 = 0.7
+
+  CONFIDENCE_BUFFER_LEN = 5
+  RYG_GREEN = 0.01165
+  RYG_YELLOW = 0.06157
+
+  POLY_PATH_DEGREE = 4
+
+
+# model outputs slices
+class Plan:
+  POSITION = slice(0, 3)
+  VELOCITY = slice(3, 6)
+  ACCELERATION = slice(6, 9)
+  T_FROM_CURRENT_EULER = slice(9, 12)
+  ORIENTATION_RATE = slice(12, 15)
+
+
+class Meta:
+  ENGAGED = slice(0, 1)
+  # next 2, 4, 6, 8, 10 seconds
+  GAS_DISENGAGE = slice(1, 31, 6)
+  BRAKE_DISENGAGE = slice(2, 31, 6)
+  STEER_OVERRIDE = slice(3, 31, 6)
+  HARD_BRAKE_3 = slice(4, 31, 6)
+  HARD_BRAKE_4 = slice(5, 31, 6)
+  HARD_BRAKE_5 = slice(6, 31, 6)
+  # next 0, 2, 4, 6, 8, 10 seconds
+  GAS_PRESS = slice(31, 55, 4)
+  BRAKE_PRESS = slice(32, 55, 4)
+  LEFT_BLINKER = slice(33, 55, 4)
+  RIGHT_BLINKER = slice(34, 55, 4)
diff --git a/sunnypilot/navd/helpers.py b/sunnypilot/navd/helpers.py
new file mode 100644
index 0000000000..85894fb2ab
--- /dev/null
+++ b/sunnypilot/navd/helpers.py
@@ -0,0 +1,189 @@
+from __future__ import annotations
+
+import json
+import math
+import numpy as np
+from typing import Any, cast
+
+from openpilot.common.conversions import Conversions
+from openpilot.common.params import Params
+
+DIRECTIONS = ('left', 'right', 'straight')
+MODIFIABLE_DIRECTIONS = ('left', 'right')
+
+EARTH_MEAN_RADIUS = 6371007.2
+SPEED_CONVERSIONS = {
+  'km/h': Conversions.KPH_TO_MS,
+  'mph': Conversions.MPH_TO_MS,
+}
+
+
+class Coordinate:
+  def __init__(self, latitude: float, longitude: float) -> None:
+    self.latitude = latitude
+    self.longitude = longitude
+    self.annotations: dict[str, float] = {}
+
+  @classmethod
+  def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate:
+    return cls(t[1], t[0])
+
+  def as_dict(self) -> dict[str, float]:
+    return {'latitude': self.latitude, 'longitude': self.longitude}
+
+  def __str__(self) -> str:
+    return f'Coordinate({self.latitude}, {self.longitude})'
+
+  def __repr__(self) -> str:
+    return self.__str__()
+
+  def __eq__(self, other) -> bool:
+    if not isinstance(other, Coordinate):
+      return False
+    return (self.latitude == other.latitude) and (self.longitude == other.longitude)
+
+  def __sub__(self, other: Coordinate) -> Coordinate:
+    return Coordinate(self.latitude - other.latitude, self.longitude - other.longitude)
+
+  def __add__(self, other: Coordinate) -> Coordinate:
+    return Coordinate(self.latitude + other.latitude, self.longitude + other.longitude)
+
+  def __mul__(self, c: float) -> Coordinate:
+    return Coordinate(self.latitude * c, self.longitude * c)
+
+  def dot(self, other: Coordinate) -> float:
+    return self.latitude * other.latitude + self.longitude * other.longitude
+
+  def distance_to(self, other: Coordinate) -> float:
+    # Haversine formula
+    dlat = math.radians(other.latitude - self.latitude)
+    dlon = math.radians(other.longitude - self.longitude)
+
+    haversine_dlat = math.sin(dlat / 2.0)
+    haversine_dlat *= haversine_dlat
+    haversine_dlon = math.sin(dlon / 2.0)
+    haversine_dlon *= haversine_dlon
+
+    y = haversine_dlat \
+        + math.cos(math.radians(self.latitude)) \
+        * math.cos(math.radians(other.latitude)) \
+        * haversine_dlon
+    x = 2 * math.asin(math.sqrt(y))
+    return x * EARTH_MEAN_RADIUS
+
+
+def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate):
+  if a.distance_to(b) < 0.01:
+    return a.distance_to(p)
+
+  ap = p - a
+  ab = b - a
+  t = np.clip(ap.dot(ab) / ab.dot(ab), 0.0, 1.0)
+  projection = a + ab * t
+  return projection.distance_to(p)
+
+
+def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float:
+  if len(geometry) <= 2:
+    return geometry[0].distance_to(pos)
+
+  # 1. Find segment that is closest to current position
+  # 2. Total distance is sum of distance to start of closest segment
+  #    + all previous segments
+  total_distance = 0.0
+  total_distance_closest = 0.0
+  closest_distance = 1e9
+
+  for i in range(len(geometry) - 1):
+    d = minimum_distance(geometry[i], geometry[i + 1], pos)
+
+    if d < closest_distance:
+      closest_distance = d
+      total_distance_closest = total_distance + geometry[i].distance_to(pos)
+
+    total_distance += geometry[i].distance_to(geometry[i + 1])
+
+  return total_distance_closest
+
+
+def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None:
+  if params is None:
+    params = Params()
+
+  json_str = params.get(param)
+  if json_str is None:
+    return None
+
+  pos = json.loads(json_str)
+  if 'latitude' not in pos or 'longitude' not in pos:
+    return None
+
+  return Coordinate(pos['latitude'], pos['longitude'])
+
+
+def string_to_direction(direction: str) -> str:
+  for d in DIRECTIONS:
+    if d in direction:
+      if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
+        return 'slight' + d.capitalize()
+      return d
+  return 'none'
+
+
+def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float:
+  unit = cast(str, maxspeed['unit'])
+  speed = cast(float, maxspeed['speed'])
+  return SPEED_CONVERSIONS[unit] * speed
+
+
+def field_valid(dat: dict, field: str) -> bool:
+  return field in dat and dat[field] is not None
+
+
+def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None:
+  if not len(banners):
+    return None
+
+  instruction = {}
+
+  # A segment can contain multiple banners, find one that we need to show now
+  current_banner = banners[0]
+  for banner in banners:
+    if distance_to_maneuver < banner['distanceAlongGeometry']:
+      current_banner = banner
+
+  # Only show banner when close enough to maneuver
+  instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry']
+
+  # Primary
+  p = current_banner['primary']
+  if field_valid(p, 'text'):
+    instruction['maneuverPrimaryText'] = p['text']
+  if field_valid(p, 'type'):
+    instruction['maneuverType'] = p['type']
+  if field_valid(p, 'modifier'):
+    instruction['maneuverModifier'] = p['modifier']
+
+  # Secondary
+  if field_valid(current_banner, 'secondary'):
+    instruction['maneuverSecondaryText'] = current_banner['secondary']['text']
+
+  # Lane lines
+  if field_valid(current_banner, 'sub'):
+    lanes = []
+    for component in current_banner['sub']['components']:
+      if component['type'] != 'lane':
+        continue
+
+      lane = {
+        'active': component['active'],
+        'directions': [string_to_direction(d) for d in component['directions']],
+      }
+
+      if field_valid(component, 'active_direction'):
+        lane['activeDirection'] = string_to_direction(component['active_direction'])
+
+      lanes.append(lane)
+    instruction['lanes'] = lanes
+
+  return instruction
diff --git a/sunnypilot/neural_network_data b/sunnypilot/neural_network_data
index 61dbe23f5d..b59ab483c8 160000
--- a/sunnypilot/neural_network_data
+++ b/sunnypilot/neural_network_data
@@ -1 +1 @@
-Subproject commit 61dbe23f5d6e3086cc549f7c598090256ad6bd87
+Subproject commit b59ab483c86cd70d04de91ad878024cd66fe86b6
diff --git a/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png b/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
new file mode 100644
index 0000000000..edc5c6e5c2
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/images/spinner_sunnypilot.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dbacb55581a5ea8cbcd5cea0560ec21d96ac7185463a40fff0f81bebf044ffa
+size 23187
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png b/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png
new file mode 100644
index 0000000000..1b8308a0ac
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_exit_offroad.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d44f71f7603b106986fff7835f35c4c18c4c619a29e6292f8626ae3eedd85e57
+size 7811
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_map.png b/sunnypilot/selfdrive/assets/offroad/icon_map.png
new file mode 100644
index 0000000000..82c0236a48
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_map.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57a92adcf88c7223b07697f8c2b315f4f4a34b32a866284610d5250144863c6f
+size 28235
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_models.png b/sunnypilot/selfdrive/assets/offroad/icon_models.png
new file mode 100644
index 0000000000..0131759703
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_models.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9b431c274a55437b5a65ada7c85503e137bc2ffa8917510ad9affb14a407d82
+size 14366
diff --git a/sunnypilot/selfdrive/assets/offroad/icon_visuals.png b/sunnypilot/selfdrive/assets/offroad/icon_visuals.png
new file mode 100644
index 0000000000..3cc9c3b145
--- /dev/null
+++ b/sunnypilot/selfdrive/assets/offroad/icon_visuals.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ecaac6fb687fcab3300d1fe2dfea96fb49734d634a663e2c02ee0b26ebd773e
+size 20632
diff --git a/sunnypilot/selfdrive/car/car_specific.py b/sunnypilot/selfdrive/car/car_specific.py
index 057f79cf0c..7e6f300d73 100644
--- a/sunnypilot/selfdrive/car/car_specific.py
+++ b/sunnypilot/selfdrive/car/car_specific.py
@@ -5,12 +5,16 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from cereal import custom
+from cereal import log, custom
 from opendbc.car import structs
 
+from opendbc.car.chrysler.values import RAM_DT
+from openpilot.selfdrive.selfdrived.events import Events
 from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
 
+EventName = log.OnroadEvent.EventName
 EventNameSP = custom.OnroadEventSP.EventName
+GearShifter = structs.CarState.GearShifter
 
 
 class CarSpecificEventsSP:
@@ -18,17 +22,24 @@ class CarSpecificEventsSP:
     self.CP = CP
     self.params = params
 
-    self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
-    self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
+    self.low_speed_alert = False
 
-  def read_params(self):
-    self.hyundai_radar_tracks = self.params.get_bool("HyundaiRadarTracks")
-    self.hyundai_radar_tracks_confirmed = self.params.get_bool("HyundaiRadarTracksConfirmed")
+  def update(self, CS: structs.CarState, events: Events):
+    events_sp = EventsSP()
 
-  def update(self):
-    events = EventsSP()
-    if self.CP.brand == 'hyundai':
-      if self.hyundai_radar_tracks and not self.hyundai_radar_tracks_confirmed:
-        events.add(EventNameSP.hyundaiRadarTracksConfirmed)
+    if self.CP.brand == 'chrysler':
+      if self.CP.carFingerprint in RAM_DT:
+        # remove belowSteerSpeed event from CarSpecificEvents as RAM_DT uses a different logic
+        if events.has(EventName.belowSteerSpeed):
+          events.remove(EventName.belowSteerSpeed)
 
-    return events
+        # TODO-SP: use if/elif to have the gear shifter condition takes precedence over the speed condition
+        # TODO-SP: add 1 m/s hysteresis
+        if CS.vEgo >= self.CP.minEnableSpeed:
+          self.low_speed_alert = False
+        if CS.gearShifter != GearShifter.drive:
+          self.low_speed_alert = True
+      if self.low_speed_alert:
+        events.add(EventName.belowSteerSpeed)
+
+    return events_sp
diff --git a/sunnypilot/selfdrive/car/cruise_ext.py b/sunnypilot/selfdrive/car/cruise_ext.py
new file mode 100644
index 0000000000..6f0419ed14
--- /dev/null
+++ b/sunnypilot/selfdrive/car/cruise_ext.py
@@ -0,0 +1,47 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from cereal import car
+from openpilot.common.params import Params
+
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+class VCruiseHelperSP:
+  def __init__(self) -> None:
+    self.params = Params()
+
+    self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
+    self.short_increment = self.read_int_param("CustomAccShortPressIncrement", 1)
+    self.long_increment = self.read_int_param("CustomAccLongPressIncrement", 5)
+
+  def read_int_param(self, key: str, default: int = 0) -> int:
+    try:
+      return int(self.params.get(key, encoding='utf8'))
+    except (ValueError, TypeError):
+      return default
+
+  def read_custom_set_speed_params(self) -> None:
+    self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
+    self.short_increment = self.read_int_param("CustomAccShortPressIncrement", 1)
+    self.long_increment = self.read_int_param("CustomAccLongPressIncrement", 5)
+
+  def update_v_cruise_delta(self, long_press: bool, v_cruise_delta: float) -> tuple[bool, float]:
+    if not self.custom_acc_enabled:
+      v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
+      return long_press, v_cruise_delta
+
+    # Apply user-specified multipliers to the base increment
+    short_increment = np.clip(self.short_increment, 1, 10)
+    long_increment = np.clip(self.long_increment, 1, 10)
+
+    actual_increment = long_increment if long_press else short_increment
+    round_to_nearest = actual_increment in (5, 10)
+    v_cruise_delta = v_cruise_delta * actual_increment
+
+    return round_to_nearest, v_cruise_delta
diff --git a/sunnypilot/selfdrive/car/interfaces.py b/sunnypilot/selfdrive/car/interfaces.py
index 5fac76c283..e2a232a3ef 100644
--- a/sunnypilot/selfdrive/car/interfaces.py
+++ b/sunnypilot/selfdrive/car/interfaces.py
@@ -5,12 +5,9 @@ This file is part of sunnypilot and is licensed under the MIT License.
 See the LICENSE.md file in the root directory for more details.
 """
 
-from opendbc.car import Bus, structs
-from opendbc.car.can_definitions import CanRecvCallable, CanSendCallable
-from opendbc.car.car_helpers import can_fingerprint
+from opendbc.car import structs
 from opendbc.car.interfaces import CarInterfaceBase
-from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
-from opendbc.car.hyundai.values import HyundaiFlags, DBC as HYUNDAI_DBC
+from opendbc.sunnypilot.car.hyundai.longitudinal.helpers import LongitudinalTuningType
 from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
@@ -26,8 +23,24 @@ def log_fingerprint(CP: structs.CarParams) -> None:
     sentry.capture_fingerprint(CP.carFingerprint, CP.brand)
 
 
-def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None,
-                                              enabled: bool = False) -> None:
+def _initialize_custom_longitudinal_tuning(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                           params: Params = None) -> None:
+  if params is None:
+    params = Params()
+
+  # Hyundai Custom Longitudinal Tuning
+  if CP.brand == 'hyundai':
+    hyundai_longitudinal_tuning = int(params.get("HyundaiLongitudinalTuning", encoding="utf8") or 0)
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.DYNAMIC:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_DYNAMIC.value
+    if hyundai_longitudinal_tuning == LongitudinalTuningType.PREDICTIVE:
+      CP_SP.flags |= HyundaiFlagsSP.LONG_TUNING_PREDICTIVE.value
+
+  CP_SP = CI.get_longitudinal_tuning_sp(CP, CP_SP)
+
+
+def _initialize_neural_network_lateral_control(CI: CarInterfaceBase, CP: structs.CarParams, CP_SP: structs.CarParamsSP,
+                                               params: Params = None, enabled: bool = False) -> None:
   if params is None:
     params = Params()
 
@@ -40,50 +53,16 @@ def _initialize_neural_network_lateral_control(CP: structs.CarParams, CP_SP: str
     enabled = params.get_bool("NeuralNetworkLateralControl")
 
   if enabled:
-    CarInterfaceBase.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
+    CI.configure_torque_tune(CP.carFingerprint, CP.lateralTuning)
 
   CP_SP.neuralNetworkLateralControl.model.path = nnlc_model_path
   CP_SP.neuralNetworkLateralControl.model.name = nnlc_model_name
   CP_SP.neuralNetworkLateralControl.fuzzyFingerprint = not exact_match
 
 
-def _initialize_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None) -> None:
-  if params is None:
-    params = Params()
+def setup_interfaces(CI: CarInterfaceBase, params: Params = None) -> None:
+  CP = CI.CP
+  CP_SP = CI.CP_SP
 
-  if CP.brand == 'hyundai':
-    if CP.flags & HyundaiFlags.MANDO_RADAR and CP.radarUnavailable:
-      # Having this automatic without a toggle causes a weird process replay diff because
-      # somehow it sees fewer logs than intended
-      if params.get_bool("HyundaiRadarTracksToggle"):
-        CP_SP.flags |= HyundaiFlagsSP.ENABLE_RADAR_TRACKS.value
-        if params.get_bool("HyundaiRadarTracks"):
-          CP.radarUnavailable = False
-
-
-def setup_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params = None):
-  _initialize_neural_network_lateral_control(CP, CP_SP, params)
-  _initialize_radar_tracks(CP, CP_SP, params)
-
-
-def _enable_radar_tracks(CP: structs.CarParams, CP_SP: structs.CarParamsSP, can_recv: CanRecvCallable,
-                        params: Params) -> None:
-  if CP.brand == 'hyundai':
-    if CP_SP.flags & HyundaiFlagsSP.ENABLE_RADAR_TRACKS:
-      can_recv()
-      _, fingerprint = can_fingerprint(can_recv)
-      radar_unavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in HYUNDAI_DBC[CP.carFingerprint]
-
-      radar_tracks = params.get_bool("HyundaiRadarTracks")
-      radar_tracks_persistent = params.get_bool("HyundaiRadarTracksPersistent")
-
-      params.put_bool_nonblocking("HyundaiRadarTracksConfirmed", radar_tracks)
-
-      if not radar_tracks_persistent:
-        params.put_bool_nonblocking("HyundaiRadarTracks", not radar_unavailable)
-        params.put_bool_nonblocking("HyundaiRadarTracksPersistent", True)
-
-
-def init_interfaces(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params,
-                                can_recv: CanRecvCallable, can_send: CanSendCallable):
-  _enable_radar_tracks(CP, CP_SP, can_recv, params)
+  _initialize_custom_longitudinal_tuning(CI, CP, CP_SP, params)
+  _initialize_neural_network_lateral_control(CI, CP, CP_SP, params)
diff --git a/sunnypilot/selfdrive/car/tests/test_custom_cruise.py b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
new file mode 100644
index 0000000000..2f9d976847
--- /dev/null
+++ b/sunnypilot/selfdrive/car/tests/test_custom_cruise.py
@@ -0,0 +1,149 @@
+import pytest
+from parameterized import parameterized_class
+
+from cereal import car
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.cruise import V_CRUISE_INITIAL
+from openpilot.selfdrive.car.tests.test_cruise_speed import TestVCruiseHelper
+
+ButtonEvent = car.CarState.ButtonEvent
+ButtonType = car.CarState.ButtonEvent.Type
+
+
+@parameterized_class(('pcm_cruise',), [(False,)])
+class TestCustomAccIncrements(TestVCruiseHelper):
+  def setup_method(self):
+    TestVCruiseHelper.setup_method(self)
+    self.params = Params()
+    self.reset_custom_params()
+
+  def reset_custom_params(self) -> None:
+    """Reset to default custom ACC parameters"""
+    self.params.put_bool("CustomAccIncrementsEnabled", False)
+    self.params.put("CustomAccShortPressIncrement", "1")
+    self.params.put("CustomAccLongPressIncrement", "5")
+    self.v_cruise_helper.read_custom_set_speed_params()
+
+  def press_button_short(self, button_type: car.CarState.ButtonEvent.Type) -> None:
+    """Simulate a short button press (press + release)"""
+    CS = car.CarState(cruiseState={"available": True})
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=True)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=False)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+  def press_button_long(self, button_type: car.CarState.ButtonEvent.Type) -> None:
+    """Simulate a long button press (50+ frames)"""
+    CS = car.CarState(cruiseState={"available": True})
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=True)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+    # Hold for 50 frames to trigger long press
+    CS.buttonEvents = []
+    for _ in range(50):
+      self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+    CS.buttonEvents = [ButtonEvent(type=button_type, pressed=False)]
+    self.v_cruise_helper.update_v_cruise(CS, enabled=True, is_metric=True)
+
+  def set_custom_increments(self, enabled: bool, short_inc: int, long_inc: int) -> None:
+    """Set custom ACC increment parameters"""
+    self.params.put_bool("CustomAccIncrementsEnabled", enabled)
+    self.params.put("CustomAccShortPressIncrement", str(short_inc))
+    self.params.put("CustomAccLongPressIncrement", str(long_inc))
+    self.v_cruise_helper.read_custom_set_speed_params()
+
+  def test_default_behavior_when_disabled(self):
+    """Test that default increments are used when custom ACC is disabled"""
+    self.set_custom_increments(enabled=False, short_inc=5, long_inc=10)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+
+    # Short press should increment by 1 (default)
+    self.press_button_short(ButtonType.accelCruise)
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + 1
+
+  @pytest.mark.parametrize("increment", (1, 2, 3, 4, 5, 6, 7, 8, 9, 10))
+  def test_custom_short_press_increments(self, increment):
+    """Test custom short press increments (1-10)"""
+    self.set_custom_increments(enabled=True, short_inc=increment, long_inc=5)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_short(ButtonType.accelCruise)
+
+    if increment in (5, 10):
+      # Should round to nearest increment
+      expected_speed = ((initial_speed // increment) + 1) * increment
+    else:
+      expected_speed = initial_speed + increment
+
+    assert self.v_cruise_helper.v_cruise_kph == expected_speed
+
+  @pytest.mark.parametrize("increment", (1, 5, 10))
+  def test_custom_long_press_increments(self, increment):
+    """Test custom long press increments (1, 5, 10)"""
+    self.set_custom_increments(enabled=True, short_inc=1, long_inc=increment)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_long(ButtonType.accelCruise)
+
+    if increment in (5, 10):
+      # Should round to nearest increment
+      expected_speed = ((initial_speed // increment) + 1) * increment
+    else:
+      expected_speed = initial_speed + increment
+
+    assert self.v_cruise_helper.v_cruise_kph == expected_speed
+
+  @pytest.mark.parametrize("button_type", [ButtonType.accelCruise, ButtonType.decelCruise])
+  def test_accel_decel_symmetry(self, button_type):
+    """Test that acceleration and deceleration work symmetrically"""
+    self.set_custom_increments(enabled=True, short_inc=3, long_inc=5)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_short(button_type)
+
+    expected_change = 3 if button_type == ButtonType.accelCruise else -3
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + expected_change
+
+  def test_rounding_behavior(self):
+    """Test rounding behavior for 5 and 10 increments"""
+    test_cases = [
+      (47, 5, 50),   # 47 -> 50 (round up to next 5)
+      (45, 5, 50),   # 45 -> 50 (already at 5, increment by 5)
+      (43, 10, 50),  # 43 -> 50 (round up to next 10)
+      (40, 10, 50),  # 40 -> 50 (already at 10, increment by 10)
+    ]
+
+    for initial, increment, expected in test_cases:
+      self.set_custom_increments(enabled=True, short_inc=increment, long_inc=increment)
+      self.reset_cruise_speed_state()
+      self.enable(initial * CV.KPH_TO_MS, False, False)
+
+      self.press_button_short(ButtonType.accelCruise)
+      assert self.v_cruise_helper.v_cruise_kph == expected
+
+  def test_invalid_values_fallback(self):
+    """Test that invalid values fallback to safe defaults"""
+    # Test invalid short increment
+    self.set_custom_increments(enabled=True, short_inc=-1, long_inc=5)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_short(ButtonType.accelCruise)
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + 1  # Should fallback to 1
+
+    # Test invalid long increment
+    self.reset_cruise_speed_state()
+    self.set_custom_increments(enabled=True, short_inc=1, long_inc=99)
+    self.enable(50 * CV.KPH_TO_MS, False, False)
+
+    initial_speed = self.v_cruise_helper.v_cruise_kph
+    self.press_button_long(ButtonType.accelCruise)
+    assert self.v_cruise_helper.v_cruise_kph == initial_speed + 10  # Should fallback to 10
diff --git a/sunnypilot/selfdrive/controls/controlsd_ext.py b/sunnypilot/selfdrive/controls/controlsd_ext.py
new file mode 100644
index 0000000000..9a7f0cb5fc
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/controlsd_ext.py
@@ -0,0 +1,67 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import cereal.messaging as messaging
+from cereal import custom
+
+from opendbc.car import structs
+from openpilot.common.params import Params
+from openpilot.common.swaglog import cloudlog
+from openpilot.sunnypilot.selfdrive.controls.lib.param_store import ParamStore
+from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
+
+
+class ControlsExt:
+  def __init__(self, CP: structs.CarParams, params: Params):
+    self.CP = CP
+    self.params = params
+    self.blinker_pause_lateral = BlinkerPauseLateral()
+    self.param_store = ParamStore(self.CP)
+    self.get_params_sp()
+
+    cloudlog.info("controlsd_ext is waiting for CarParamsSP")
+    self.CP_SP = messaging.log_from_bytes(params.get("CarParamsSP", block=True), custom.CarParamsSP)
+    cloudlog.info("controlsd_ext got CarParamsSP")
+
+    self.sm_services_ext = ['selfdriveStateSP']
+    self.pm_services_ext = ['carControlSP']
+
+  def get_params_sp(self) -> None:
+    self.param_store.update(self.params)
+    self.blinker_pause_lateral.get_params()
+
+  def get_lat_active(self, sm: messaging.SubMaster) -> bool:
+    if self.blinker_pause_lateral.update(sm['carState']):
+      return False
+
+    ss_sp = sm['selfdriveStateSP']
+    if ss_sp.mads.available:
+      return bool(ss_sp.mads.active)
+
+    # MADS not available, use stock state to engage
+    return bool(sm['selfdriveState'].active)
+
+  def state_control_ext(self, sm: messaging.SubMaster) -> custom.CarControlSP:
+    CC_SP = custom.CarControlSP.new_message()
+
+    # MADS state
+    CC_SP.mads = sm['selfdriveStateSP'].mads
+
+    CC_SP.params = self.param_store.publish()
+
+    return CC_SP
+
+  @staticmethod
+  def publish_ext(CC_SP: custom.CarControlSP, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
+    cc_sp_send = messaging.new_message('carControlSP')
+    cc_sp_send.valid = sm['carState'].canValid
+    cc_sp_send.carControlSP = CC_SP
+
+    pm.send('carControlSP', cc_sp_send)
+
+  def run_ext(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
+    CC_SP = self.state_control_ext(sm)
+    self.publish_ext(CC_SP, sm, pm)
diff --git a/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py b/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
new file mode 100644
index 0000000000..fb86280358
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/blinker_pause_lateral.py
@@ -0,0 +1,34 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import car
+
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params
+
+
+class BlinkerPauseLateral:
+  def __init__(self):
+    self.params = Params()
+
+    self.enabled = self.params.get_bool("BlinkerPauseLateralControl")
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.min_speed = 0
+
+  def get_params(self) -> None:
+    self.enabled = self.params.get_bool("BlinkerPauseLateralControl")
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.min_speed = int(self.params.get("BlinkerMinLateralControlSpeed", encoding='utf8'))
+
+  def update(self, CS: car.CarState) -> bool:
+    if not self.enabled:
+      return False
+
+    one_blinker = CS.leftBlinker != CS.rightBlinker
+    speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+    min_speed_ms = self.min_speed * speed_factor
+
+    return bool(one_blinker and CS.vEgo < min_speed_ms)
diff --git a/sunnypilot/selfdrive/controls/lib/dec/constants.py b/sunnypilot/selfdrive/controls/lib/dec/constants.py
index c1e3726606..48f4203e93 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/constants.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/constants.py
@@ -2,12 +2,11 @@ class WMACConstants:
   LEAD_WINDOW_SIZE = 5
   LEAD_PROB = 0.5
 
-  SLOW_DOWN_WINDOW_SIZE = 4
+  SLOW_DOWN_WINDOW_SIZE = 5
   SLOW_DOWN_PROB = 0.6
 
   SLOW_DOWN_BP = [0., 10., 20., 30., 40., 50., 55., 60.]
-  #SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
-  SLOW_DOWN_DIST = [30., 45., 60., 80., 100., 120., 135., 150.]
+  SLOW_DOWN_DIST = [25., 38., 55., 75., 95., 115., 130., 150.]
 
   SLOWNESS_WINDOW_SIZE = 12
   SLOWNESS_PROB = 0.5
diff --git a/sunnypilot/selfdrive/controls/lib/dec/dec.py b/sunnypilot/selfdrive/controls/lib/dec/dec.py
index 0c33da500a..812e5cc15f 100644
--- a/sunnypilot/selfdrive/controls/lib/dec/dec.py
+++ b/sunnypilot/selfdrive/controls/lib/dec/dec.py
@@ -164,7 +164,7 @@ class DynamicExperimentalController:
     """
     Adapts the slow-down threshold based on vehicle speed and recent behavior.
     """
-    slowdown_scaling_factor: float = (1.0 + 0.05 * np.log(1 + len(self._slow_down_gmac.data)))
+    slowdown_scaling_factor: float = (1.0 + 0.03 * np.log(1 + len(self._slow_down_gmac.data)))
     adaptive_threshold: float = float(
       interp(self._v_ego_kph, WMACConstants.SLOW_DOWN_BP, WMACConstants.SLOW_DOWN_DIST) * slowdown_scaling_factor
     )
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
index ee8d64dcd0..fe54f46ca7 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext.py
@@ -13,7 +13,8 @@ class LatControlTorqueExt(NeuralNetworkLateralControl):
     super().__init__(lac_torque, CP, CP_SP)
 
   def update(self, CS, VM, params, ff, pid_log, setpoint, measurement, calibrated_pose, roll_compensation,
-             desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel):
+             desired_lateral_accel, actual_lateral_accel, lateral_accel_deadzone, gravity_adjusted_lateral_accel,
+             desired_curvature, actual_curvature):
     self._ff = ff
     self._pid_log = pid_log
     self._setpoint = setpoint
@@ -21,6 +22,8 @@ class LatControlTorqueExt(NeuralNetworkLateralControl):
     self._lateral_accel_deadzone = lateral_accel_deadzone
     self._desired_lateral_accel = desired_lateral_accel
     self._actual_lateral_accel = actual_lateral_accel
+    self._desired_curvature = desired_curvature
+    self._actual_curvature = actual_curvature
 
     self.update_calculations(CS, VM, desired_lateral_accel)
     self.update_neural_network_feedforward(CS, params, calibrated_pose)
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 48d98501b2..8ccd81d8ff 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -11,7 +11,7 @@ from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
 LAT_PLAN_MIN_IDX = 5
-
+LATERAL_LAG_MOD = 0.0 # seconds, modifies how far in the future we look ahead for the lateral plan
 
 def get_predicted_lateral_jerk(lat_accels, t_diffs):
   # compute finite difference between subsequent model_v2.acceleration.y values
@@ -62,6 +62,8 @@ class LatControlTorqueExtBase:
     self._lateral_accel_deadzone = 0.0
     self._desired_lateral_accel = 0.0
     self._actual_lateral_accel = 0.0
+    self._desired_curvature = 0.0
+    self._actual_curvature = 0.0
 
     # twilsonco's Lateral Neural Network Feedforward
     # Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
@@ -83,12 +85,15 @@ class LatControlTorqueExtBase:
 
     # precompute time differences between ModelConstants.T_IDXS
     self.t_diffs = np.diff(ModelConstants.T_IDXS)
-    self.desired_lat_jerk_time = CP.steerActuatorDelay + 0.3
+    self.desired_lat_jerk_time = CP.steerActuatorDelay + LATERAL_LAG_MOD
 
   def update_model_v2(self, model_v2):
     self.model_v2 = model_v2
     self.model_valid = self.model_v2 is not None and len(self.model_v2.orientation.x) >= CONTROL_N
 
+  def update_lateral_lag(self, lag):
+    self.desired_lat_jerk_time = max(0.01, lag) + LATERAL_LAG_MOD
+
   def update_friction_input(self, val_1, val_2):
     _error = val_1 - val_2
     _value = self.lat_accel_friction_factor * _error + self.lat_jerk_friction_factor * self.lookahead_lateral_jerk
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/model.py b/sunnypilot/selfdrive/controls/lib/nnlc/model.py
index 1e527c7370..ab6706bf36 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/model.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/model.py
@@ -7,6 +7,8 @@ See the LICENSE.md file in the root directory for more details.
 from json import load
 import numpy as np
 
+from openpilot.selfdrive.modeld.parse_model_outputs import safe_exp
+
 # dict used to rename activation functions whose names aren't valid python identifiers
 ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'}
 
@@ -40,7 +42,7 @@ class NNTorqueModel:
   # These are called by name using the keys in the model json file
   @staticmethod
   def sigmoid(x):
-    return 1 / (1 + np.exp(-x))
+    return 1 / (1 + safe_exp(-x))
 
   @staticmethod
   def identity(x):
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
index aee359574b..2f89594c8f 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/nnlc.py
@@ -12,10 +12,13 @@ from opendbc.car.interfaces import LatControlInputs
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.params import Params
 from openpilot.selfdrive.modeld.constants import ModelConstants
-from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase
+from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext_base import LatControlTorqueExtBase, sign
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.helpers import MOCK_MODEL_PATH
 from openpilot.sunnypilot.selfdrive.controls.lib.nnlc.model import NNTorqueModel
 
+LOW_SPEED_X = [0, 10, 20, 30]
+LOW_SPEED_Y = [12, 3, 1, 0]
+
 
 # At a given roll, if pitch magnitude increases, the
 # gravitational acceleration component starts pointing
@@ -42,9 +45,8 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     self.pitch_last = 0.0
 
     # setup future time offsets
-    self.nn_time_offset = CP.steerActuatorDelay + 0.2
-    future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
-    self.nn_future_times = [i + self.nn_time_offset for i in future_times]
+    self.future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
+    self.nn_future_times = [i + self.desired_lat_jerk_time for i in self.future_times]
 
     # setup past time offsets
     self.past_times = [-0.3, -0.2, -0.1]
@@ -55,10 +57,18 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     self.error_deque = deque(maxlen=history_check_frames[0])
     self.past_future_len = len(self.past_times) + len(self.nn_future_times)
 
+  def update_lateral_lag(self, lag):
+    super().update_lateral_lag(lag)
+    self.nn_future_times = [t + self.desired_lat_jerk_time for t in self.future_times]
+
   def update_neural_network_feedforward(self, CS, params, calibrated_pose) -> None:
     if not self.enabled or not self.model_valid or not self.has_nn_model:
       return
 
+    low_speed_factor = float(np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)) ** 2
+    self._setpoint = self._desired_lateral_accel + low_speed_factor * self._desired_curvature
+    self._measurement = self._actual_lateral_accel + low_speed_factor * self._actual_curvature
+
     # update past data
     roll = params.roll
     if calibrated_pose is not None:
@@ -92,6 +102,22 @@ class NeuralNetworkLateralControl(LatControlTorqueExtBase):
     torque_from_measurement = self.model.evaluate(nnff_measurement_input)
     self._pid_log.error = torque_from_setpoint - torque_from_measurement
 
+    # The "pure" NNLC error response can be too weak for cars whose models were trained
+    # with a lack of high-magnitude lateral acceleration data, for which the NNLC model
+    # torque response flattens out at high lateral accelerations.
+    # This workaround blends in a guaranteed stronger error response only when the
+    # desired lateral acceleration is high enough to warrant it, by using the lateral acceleration
+    # error as the input to the NNLC model. This is not ideal, and potentially degrades the NNLC
+    # accuracy for cars that don't have this issue, but it's necessary until a better NNLC model
+    # structure is used that doesn't create this issue when high-magnitude data is missing.
+    error_blend_factor = float(np.interp(abs(self._desired_lateral_accel), [1.0, 2.0], [0.0, 1.0]))
+    if error_blend_factor > 0.0:  # blend in stronger error response when in high lat accel
+      # NNFF inputs 5+ are optional, and if left out are replaced with 0.0 inside the NNFF class
+      nnff_error_input = [CS.vEgo, self._setpoint - self._measurement, self.lateral_jerk_setpoint - self.lateral_jerk_measurement, 0.0]
+      torque_from_error = self.model.evaluate(nnff_error_input)
+      if sign(self._pid_log.error) == sign(torque_from_error) and abs(self._pid_log.error) < abs(torque_from_error):
+        self._pid_log.error = self._pid_log.error * (1.0 - error_blend_factor) + torque_from_error * error_blend_factor
+
     # compute feedforward (same as nn setpoint output)
     friction_input = self.update_friction_input(self._setpoint, self._measurement)
     nn_input = [CS.vEgo, self._desired_lateral_accel, friction_input, roll] \
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
index 97f927502a..0f016ccaf0 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_fingerprint.py
@@ -24,7 +24,7 @@ class TestNNLCFingerprintBase:
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
 
-    sunnypilot_interfaces.setup_interfaces(CP, CP_SP, Params())
+    sunnypilot_interfaces.setup_interfaces(CI, Params())
 
     return CI
 
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
index 38fd994831..af7077d1c6 100644
--- a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_load_model.py
@@ -22,7 +22,7 @@ class TestNNTorqueModel:
     CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
     CI = CarInterface(CP, CP_SP)
 
-    sunnypilot_interfaces.setup_interfaces(CP, CP_SP, params)
+    sunnypilot_interfaces.setup_interfaces(CI, params)
 
     CP_SP = convert_to_capnp(CP_SP)
 
diff --git a/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
new file mode 100644
index 0000000000..01ddec68ab
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/nnlc/tests/test_nnlc.py
@@ -0,0 +1,93 @@
+import numpy as np
+from parameterized import parameterized
+
+from cereal import car, log, messaging
+from opendbc.car.car_helpers import interfaces
+from opendbc.car.honda.values import CAR as HONDA
+from opendbc.car.hyundai.values import CAR as HYUNDAI
+from opendbc.car.toyota.values import CAR as TOYOTA
+from opendbc.car.vehicle_model import VehicleModel
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.helpers import convert_to_capnp
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.locationd.helpers import Pose
+from openpilot.common.mock.generators import generate_livePose
+from openpilot.sunnypilot.selfdrive.car import interfaces as sunnypilot_interfaces
+from openpilot.selfdrive.modeld.constants import ModelConstants
+
+
+def generate_modelV2():
+  model = messaging.new_message('modelV2')
+  position = log.XYZTData.new_message()
+  speed = 30
+  position.x = [float(x) for x in (speed + 0.5) * np.array(ModelConstants.T_IDXS)]
+  model.modelV2.position = position
+  orientation = log.XYZTData.new_message()
+  curvature = 0.05
+  orientation.x = [float(curvature) for _ in ModelConstants.T_IDXS]
+  orientation.y = [0.0 for _ in ModelConstants.T_IDXS]
+  model.modelV2.orientation = orientation
+  velocity = log.XYZTData.new_message()
+  velocity.x = [float(x) for x in (speed + 0.5) * np.ones_like(ModelConstants.T_IDXS)]
+  velocity.x[0] = float(speed)  # always start at current speed
+  model.modelV2.velocity = velocity
+  acceleration = log.XYZTData.new_message()
+  acceleration.x = [float(x) for x in np.zeros_like(ModelConstants.T_IDXS)]
+  acceleration.y = [float(y) for y in np.zeros_like(ModelConstants.T_IDXS)]
+  model.modelV2.acceleration = acceleration
+
+  return model
+
+
+class TestNeuralNetworkLateralControl:
+
+  @parameterized.expand([HONDA.HONDA_CIVIC, TOYOTA.TOYOTA_RAV4, HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN])
+  def test_saturation(self, car_name):
+    params = Params()
+    params.put_bool("NeuralNetworkLateralControl", True)
+
+    CarInterface = interfaces[car_name]
+    CP = CarInterface.get_non_essential_params(car_name)
+    CP_SP = CarInterface.get_non_essential_params_sp(CP, car_name)
+    CI = CarInterface(CP, CP_SP)
+
+    sunnypilot_interfaces.setup_interfaces(CI, params)
+
+    CP_SP = convert_to_capnp(CP_SP)
+    VM = VehicleModel(CP)
+
+    controller = LatControlTorque(CP.as_reader(), CP_SP.as_reader(), CI)
+
+    CS = car.CarState.new_message()
+    CS.vEgo = 30
+    CS.steeringPressed = False
+
+    params = log.LiveParametersData.new_message()
+
+    lp = generate_livePose()
+    pose = Pose.from_live_pose(lp.livePose)
+
+    mdl = generate_modelV2()
+    sm = {'modelV2': mdl.modelV2}
+    model_v2 = sm['modelV2']
+    controller.extension.model_v2 = model_v2
+
+    # Saturate for curvature limited and controller limited
+    test_lag = 0.3
+    for _ in range(1000):
+      controller.extension.update_model_v2(model_v2)
+      controller.extension.update_lateral_lag(test_lag)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, True)
+    assert lac_log.saturated
+
+    for _ in range(1000):
+      controller.extension.update_model_v2(model_v2)
+      controller.extension.update_lateral_lag(test_lag)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 0, pose, False)
+    assert not lac_log.saturated
+
+    for _ in range(1000):
+      controller.extension.update_model_v2(model_v2)
+      controller.extension.update_lateral_lag(test_lag)
+      _, _, lac_log = controller.update(True, CS, VM, params, False, 1, pose, False)
+    assert lac_log.saturated
diff --git a/sunnypilot/selfdrive/controls/lib/param_store.py b/sunnypilot/selfdrive/controls/lib/param_store.py
new file mode 100644
index 0000000000..b2701bc010
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/param_store.py
@@ -0,0 +1,35 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import capnp
+
+from cereal import custom
+
+from opendbc.car import structs
+from openpilot.common.params import Params
+
+
+class ParamStore:
+  keys: list[str]
+  values: dict[str, str]
+
+  def __init__(self, CP: structs.CarParams):
+    universal_params: list[str] = []
+    brand_params: list[str] = []
+
+    self.keys = universal_params + brand_params
+    self.values = {}
+
+  def update(self, params: Params) -> None:
+    self.values = {k: params.get(k, encoding='utf8') or "0" for k in self.keys}
+
+  def publish(self) -> list[capnp.lib.capnp._DynamicStructBuilder]:
+    params_list: list[capnp.lib.capnp._DynamicStructBuilder] = []
+
+    for k in self.keys:
+      params_list.append(custom.CarControlSP.Param(key=k, value=self.values[k]))
+
+    return params_list
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
index c1b3053207..5d1fa360ed 100644
--- a/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_auto_lane_change.py
@@ -51,6 +51,7 @@ class TestAutoLaneChangeController:
     assert not self.alc.prev_brake_pressed
 
   @parameterized.expand([(AutoLaneChangeMode.OFF, ), (AutoLaneChangeMode.NUDGE, )])
+
   def test_off_and_nudge_mode(self, timer_state):
     """Test the default OFF and NUDGE mode behavior."""
     self._reset_states()
@@ -196,3 +197,17 @@ class TestAutoLaneChangeController:
         self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
 
       assert not self.alc.auto_lane_change_allowed
+
+  def test_auto_lane_change_mode_off_disallows_lane_change(self):
+    """Test that OFF mode never allows auto lane change."""
+    self._reset_states()
+    self.alc.lane_change_bsm_delay = False
+    self.alc.lane_change_set_timer = AutoLaneChangeMode.OFF
+
+    # Simulate updates for a long period of time (e.g., 10 seconds)
+    num_updates = int(10.0 / DT_MDL)
+    for _ in range(num_updates):
+      self.alc.update_lane_change(blindspot_detected=False, brake_pressed=False)
+
+    # Lane change should never be allowed
+    assert not self.alc.auto_lane_change_allowed
diff --git a/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py b/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
new file mode 100644
index 0000000000..6ba1dcef41
--- /dev/null
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_blinker_pause_lateral.py
@@ -0,0 +1,130 @@
+"""
+Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+from cereal import car
+
+from openpilot.common.conversions import Conversions as CV
+from openpilot.sunnypilot.selfdrive.controls.lib.blinker_pause_lateral import BlinkerPauseLateral
+
+
+class TestBlinkerPauseLateral:
+
+  def setup_method(self):
+    self.blinker_pause_lateral = BlinkerPauseLateral()
+    self._reset_states()
+
+  def _reset_states(self):
+    self.blinker_pause_lateral.enabled = True
+    self.blinker_pause_lateral.is_metric = False
+    self.blinker_pause_lateral.min_speed = 20  # MPH
+
+    self.CS = car.CarState.new_message()
+    self.CS.vEgo = 0
+    self.CS.leftBlinker = False
+    self.CS.rightBlinker = False
+
+  def _test_should_blinker_pause_lateral(self, expected_results) -> None:
+    for left in (True, False):
+      for right in (True, False):
+        self.CS.leftBlinker = left
+        self.CS.rightBlinker = right
+
+        result = self.blinker_pause_lateral.update(self.CS)
+        assert result == expected_results[(left, right)]
+
+  def test_below_min_speed_blinker(self):
+    self.CS.vEgo = 4.5  # ~10 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_above_min_speed_blinker(self):
+    self.CS.vEgo = 13.4  # ~30 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): False,
+      (False, True): False,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_just_below_min_speed(self):
+    self.CS.vEgo = (20 * CV.MPH_TO_MS) - 0.01
+
+    expected_results = {
+      (False, False): False,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_disabled(self):
+    self.blinker_pause_lateral.enabled = False
+    self.CS.vEgo = 4.5  # ~10 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): False,
+      (False, True): False,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_metric_units_below_min_speed(self):
+    self.blinker_pause_lateral.is_metric = True
+    self.CS.vEgo = 5.0  # ~18 km/h
+
+    expected_results = {
+      (False, False): False,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_metric_units_above_threshold(self):
+    self.blinker_pause_lateral.is_metric = True
+    self.CS.vEgo = 6.0  # ~21.6 km/h
+
+    expected_results = {
+      (False, False): False,
+      (True, False): False,
+      (False, True): False,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+  def test_change_min_speed_threshold(self):
+    self.blinker_pause_lateral.min_speed = 30  # MPH
+
+    # below min speed
+    self.CS.vEgo = 11.2  # ~25 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): True,
+      (False, True): True,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
+
+    # above min speed
+    self.CS.vEgo = 15.6  # ~35 MPH
+
+    expected_results = {
+      (False, False): False,
+      (True, False): False,
+      (False, True): False,
+      (True, True): False
+    }
+    self._test_should_blinker_pause_lateral(expected_results)
diff --git a/sunnypilot/selfdrive/selfdrived/events.py b/sunnypilot/selfdrive/selfdrived/events.py
index 6813542c0e..d81345a14e 100644
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -64,7 +64,7 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
   },
 
   EventNameSP.silentBrakeHold: {
-    ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
+    ET.WARNING: EngagementAlert(AudibleAlert.none),
     ET.NO_ENTRY: NoEntryAlert("Brake Hold Active"),
   },
 
@@ -122,10 +122,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch: Lateral"),
   },
 
-  EventNameSP.hyundaiRadarTracksConfirmed: {
-    ET.PERMANENT: NormalPermanentAlert("Radar tracks available. Restart the car to initialize")
-  },
-
   EventNameSP.experimentalModeSwitched: {
     ET.WARNING: NormalPermanentAlert("Experimental Mode Switched", duration=1.5)
   },
@@ -134,4 +130,8 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
     ET.WARNING: wrong_car_mode_alert,
   },
 
+  EventNameSP.pedalPressedAlertOnly: {
+    ET.WARNING: NoEntryAlert("Pedal Pressed")
+  }
+
 }
diff --git a/sunnypilot/sunnylink/athena/sunnylinkd.py b/sunnypilot/sunnylink/athena/sunnylinkd.py
index 2c4b95fa46..a675820628 100755
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -10,11 +10,12 @@ import threading
 import time
 
 from jsonrpc import dispatcher
+from functools import partial
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.athena.athenad import ws_send, jsonrpc_handler, \
-  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler
+  recv_queue, UploadQueueCache, upload_queue, cur_upload_items, backoff, ws_manage, log_handler, start_local_proxy_shim
 from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
 
@@ -50,7 +51,7 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
               # threading.Thread(target=sunny_log_handler, args=(end_event, comma_prime_cellular_end_event), name='log_handler'),
               # threading.Thread(target=stat_handler, args=(end_event,), name='stat_handler'),
             ] + [
-              threading.Thread(target=jsonrpc_handler, args=(end_event,), name=f'worker_{x}')
+              threading.Thread(target=jsonrpc_handler, args=(end_event, partial(startLocalProxy, end_event),), name=f'worker_{x}')
               for x in range(HANDLER_THREADS)
             ]
 
@@ -201,6 +202,18 @@ def saveParams(params_to_update: dict[str, str], compression: bool = False) -> N
       cloudlog.error(f"sunnylinkd.saveParams.exception {e}")
 
 
+def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
+  cloudlog.debug("athena.startLocalProxy.starting")
+  ws = create_connection(
+    remote_ws_uri,
+    header={"Authorization": f"Bearer {sunnylink_api.get_token()}"},
+    enable_multithread=True,
+    sslopt={"cert_reqs": ssl.CERT_NONE}
+  )
+
+  return start_local_proxy_shim(global_end_event, local_port, ws)
+
+
 def main(exit_event: threading.Event = None):
   try:
     set_core_affinity([0, 1, 2, 3])
diff --git a/sunnypilot/sunnylink/utils.py b/sunnypilot/sunnylink/utils.py
index 57523d7394..55b1f6f285 100644
--- a/sunnypilot/sunnylink/utils.py
+++ b/sunnypilot/sunnylink/utils.py
@@ -46,3 +46,12 @@ def register_sunnylink():
 
   sunnylink_id = SunnylinkApi(None).register_device(None, **extra_args)
   print(f"SunnyLinkId: {sunnylink_id}")
+
+
+def get_api_token():
+  """Get the API token for the device."""
+  params = Params()
+  sunnylink_dongle_id = params.get("SunnylinkDongleId", encoding='utf-8')
+  sunnylink_api = SunnylinkApi(sunnylink_dongle_id)
+  token = sunnylink_api.get_token()
+  print(f"API Token: {token}")
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 4bcdc9b83c..018fa0a0b5 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -184,8 +184,8 @@ def handle_long_poll(ws: WebSocket, exit_event: threading.Event | None) -> None:
       thread.join()
 
 
-def jsonrpc_handler(end_event: threading.Event) -> None:
-  dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
+def jsonrpc_handler(end_event: threading.Event, localProxyHandler = None) -> None:
+  dispatcher["startLocalProxy"] = localProxyHandler or partial(startLocalProxy, end_event)
   while not end_event.is_set():
     try:
       data = recv_queue.get(timeout=1)
@@ -480,7 +480,19 @@ def setRouteViewed(route: str) -> dict[str, int | str]:
 
 
 def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> dict[str, int]:
+  cloudlog.debug("athena.startLocalProxy.starting")
+  dongle_id = Params().get("DongleId").decode('utf8')
+  identity_token = Api(dongle_id).get_token()
+  ws = create_connection(remote_ws_uri, cookie="jwt=" + identity_token, enable_multithread=True)
+
+  return start_local_proxy_shim(global_end_event, local_port, ws)
+
+
+def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, ws: WebSocket) -> dict[str, int]:
   try:
+    if ws.sock is None:
+      raise Exception("WebSocket is not connected")
+
     # migration, can be removed once 0.9.8 is out for a while
     if local_port == 8022:
       local_port = 22
@@ -488,14 +500,6 @@ def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local
     if local_port not in LOCAL_PORT_WHITELIST:
       raise Exception("Requested local port not whitelisted")
 
-    cloudlog.debug("athena.startLocalProxy.starting")
-
-    dongle_id = Params().get("DongleId").decode('utf8')
-    identity_token = Api(dongle_id).get_token()
-    ws = create_connection(remote_ws_uri,
-                           cookie="jwt=" + identity_token,
-                           enable_multithread=True)
-
     # Set TOS to keep connection responsive while under load.
     # DSCP of 36/HDD_LINUX_AC_VI with the minimum delay flag
     ws.sock.setsockopt(socket.IPPROTO_IP, socket.IP_TOS, 0x90)
@@ -561,7 +565,7 @@ def getNetworks():
 
 @dispatcher.add_method
 def takeSnapshot() -> str | dict[str, str] | None:
-  from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot
+  from openpilot.system.camerad.snapshot import jpeg_write, snapshot
   ret = snapshot()
   if ret is not None:
     def b64jpeg(x):
@@ -841,15 +845,15 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
       onroad_prev = onroad
 
       if sock is not None:
-        if sys.platform == 'darwin':  # macOS
-          sock.setsockopt(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)
-          sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPALIVE, 7 if onroad else 30)
-        else:
-          # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s
-          #                         offroad, we can expect to time out in 30 + (10 * 3) = 60s
-          # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused
+        # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s
+        #                         offroad, we can expect to time out in 30 + (10 * 3) = 60s
+        # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused
+        if sys.platform == 'linux':
           sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
           sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
+        elif sys.platform == 'darwin':
+          sock.setsockopt(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1)
+          sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPALIVE, 7 if onroad else 30)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
 
diff --git a/system/athena/registration.py b/system/athena/registration.py
index fce984c03a..d1e54181b8 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -7,7 +7,6 @@ from pathlib import Path
 from datetime import datetime, timedelta, UTC
 from openpilot.common.api import api_get
 from openpilot.common.params import Params
-from openpilot.common.spinner import Spinner
 from openpilot.selfdrive.selfdrived.alertmanager import set_offroad_alert
 from openpilot.system.hardware import HARDWARE, PC
 from openpilot.system.hardware.hw import Paths
@@ -45,6 +44,7 @@ def register(show_spinner=False) -> str | None:
     cloudlog.warning(f"missing public key: {pubkey}")
   elif dongle_id is None:
     if show_spinner:
+      from openpilot.system.ui.spinner import Spinner
       spinner = Spinner()
       spinner.update("registering device")
 
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index f6c2681dea..1f6ad9b4be 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -26,9 +26,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
     LOGD("allocated %d CL buffers", frame_buf_count);
   }
 
-  out_img_width = sensor->frame_width;
-  out_img_height = sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height;
-
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
   size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*cam->stride;
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index c0426678b6..c26859cbc4 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -32,7 +32,7 @@ public:
   VisionBuf *cur_yuv_buf;
   VisionBuf *cur_camera_buf;
   std::unique_ptr<VisionBuf[]> camera_bufs_raw;
-  int out_img_width, out_img_height;
+  uint32_t out_img_width, out_img_height;
 
   CameraBuf() = default;
   ~CameraBuf();
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 18a42f05d8..8c4602bb31 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -73,7 +73,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct
 
   if (!camera.enabled) return;
 
-  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
+  fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm / camera.sensor->out_scale;
   set_exposure_rect();
 
   dc_gain_weight = camera.sensor->dc_gain_min_weight;
@@ -107,10 +107,10 @@ void CameraState::set_exposure_rect() {
   float fl_ref = ae_target.second;
 
   ae_xywh = (Rect){
-    std::max(0, camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::max(0, camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.w), camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
-    std::min((int)(fl_pix / fl_ref * xywh_ref.h), camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
+    std::max(0, (int)camera.buf.out_img_width / 2 - (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::max(0, (int)camera.buf.out_img_height / 2 - (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y))),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.w), (int)camera.buf.out_img_width / 2 + (int)(fl_pix / fl_ref * xywh_ref.w / 2)),
+    std::min((int)(fl_pix / fl_ref * xywh_ref.h), (int)camera.buf.out_img_height / 2 + (int)(fl_pix / fl_ref * (h_ref / 2 - xywh_ref.y)))
   };
 }
 
diff --git a/system/camerad/cameras/ife.h b/system/camerad/cameras/ife.h
index 49737f2db7..fd87d2baa4 100644
--- a/system/camerad/cameras/ife.h
+++ b/system/camerad/cameras/ife.h
@@ -105,7 +105,7 @@ int build_update(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std:
 }
 
 
-int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches) {
+int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo *s, std::vector<uint32_t> &patches, uint32_t out_width, uint32_t out_height) {
   uint8_t *start = dst;
 
   // start with the every frame config
@@ -185,12 +185,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
   // output size/scaling
   dst += write_cont(dst, 0xa3c, {
     0x00000003,
-    ((s->frame_width - 1) << 16) | (s->frame_width - 1),
+    ((out_width - 1) << 16) | (s->frame_width - 1),
     0x30036666,
     0x00000000,
     0x00000000,
     s->frame_width - 1,
-    ((s->frame_height - 1) << 16) | (s->frame_height - 1),
+    ((out_height - 1) << 16) | (s->frame_height - 1),
     0x30036666,
     0x00000000,
     0x00000000,
@@ -198,12 +198,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
   });
   dst += write_cont(dst, 0xa68, {
     0x00000003,
-    ((s->frame_width/2 - 1) << 16) | (s->frame_width - 1),
+    ((out_width / 2 - 1) << 16) | (s->frame_width - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
     s->frame_width - 1,
-    ((s->frame_height/2 - 1) << 16) | (s->frame_height - 1),
+    ((out_height / 2 - 1) << 16) | (s->frame_height - 1),
     0x3006cccc,
     0x00000000,
     0x00000000,
@@ -212,12 +212,12 @@ int build_initial_config(uint8_t *dst, const CameraConfig cam, const SensorInfo
 
   // cropping
   dst += write_cont(dst, 0xe10, {
-    s->frame_height - 1,
-    s->frame_width - 1,
+    out_height - 1,
+    out_width - 1,
   });
   dst += write_cont(dst, 0xe30, {
-    s->frame_height/2 - 1,
-    s->frame_width - 1,
+    out_height / 2 - 1,
+    out_width - 1,
   });
   dst += write_cont(dst, 0xe18, {
     0x0ff00000,
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index 4535078771..47ae9061f4 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -281,18 +281,21 @@ void SpectraCamera::camera_open(VisionIpcServer *v, cl_device_id device_id, cl_c
 
   if (!enabled) return;
 
+  buf.out_img_width = sensor->frame_width / sensor->out_scale;
+  buf.out_img_height = (sensor->hdr_offset > 0 ? (sensor->frame_height - sensor->hdr_offset) / 2 : sensor->frame_height) / sensor->out_scale;
+
   // size is driven by all the HW that handles frames,
   // the video encoder has certain alignment requirements in this case
-  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, sensor->frame_width);
-  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
-  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, sensor->frame_height);
+  stride = VENUS_Y_STRIDE(COLOR_FMT_NV12, buf.out_img_width);
+  y_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
+  uv_height = VENUS_UV_SCANLINES(COLOR_FMT_NV12, buf.out_img_height);
   uv_offset = stride*y_height;
   yuv_size = uv_offset + stride*uv_height;
   if (cc.output_type != ISP_RAW_OUTPUT) {
     uv_offset = ALIGNED_SIZE(uv_offset, 0x1000);
     yuv_size = uv_offset + ALIGNED_SIZE(stride*uv_height, 0x1000);
   }
-  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, sensor->frame_width));
+  assert(stride == VENUS_UV_STRIDE(COLOR_FMT_NV12, buf.out_img_width));
   assert(y_height/2 == uv_height);
 
   open = true;
@@ -645,14 +648,14 @@ void SpectraCamera::config_bps(int idx, int request_id) {
     io_cfg[1].mem_handle[0] = buf_handle_yuv[idx];
     io_cfg[1].mem_handle[1] = buf_handle_yuv[idx];
     io_cfg[1].planes[0] = (struct cam_plane_cfg){
-      .width = sensor->frame_width,
-      .height = sensor->frame_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height,
       .plane_stride = stride,
       .slice_height = y_height,
     };
     io_cfg[1].planes[1] = (struct cam_plane_cfg){
-      .width = sensor->frame_width,
-      .height = sensor->frame_height/2,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height / 2,
       .plane_stride = stride,
       .slice_height = uv_height,
     };
@@ -737,7 +740,7 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
     bool is_raw = cc.output_type != ISP_IFE_PROCESSED;
     if (!is_raw) {
       if (init) {
-        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
+        buf_desc[0].length = build_initial_config((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches, buf.out_img_width, buf.out_img_height);
       } else {
         buf_desc[0].length = build_update((unsigned char*)ife_cmd.ptr + buf_desc[0].offset, cc, sensor.get(), patches);
       }
@@ -844,14 +847,14 @@ void SpectraCamera::config_ife(int idx, int request_id, bool init) {
       io_cfg[0].mem_handle[0] = buf_handle_yuv[idx];
       io_cfg[0].mem_handle[1] = buf_handle_yuv[idx];
       io_cfg[0].planes[0] = (struct cam_plane_cfg){
-        .width = sensor->frame_width,
-        .height = sensor->frame_height,
+        .width = buf.out_img_width,
+        .height = buf.out_img_height,
         .plane_stride = stride,
         .slice_height = y_height,
       };
       io_cfg[0].planes[1] = (struct cam_plane_cfg){
-        .width = sensor->frame_width,
-        .height = sensor->frame_height/2,
+        .width = buf.out_img_width,
+        .height = buf.out_img_height / 2,
         .plane_stride = stride,
         .slice_height = uv_height,
       };
@@ -993,6 +996,9 @@ bool SpectraCamera::openSensor() {
   LOGD("-- Probing sensor %d", cc.camera_num);
 
   auto init_sensor_lambda = [this](SensorInfo *s) {
+    if (s->image_sensor == cereal::FrameData::ImageSensor::OS04C10 && cc.output_type == ISP_IFE_PROCESSED) {
+      ((OS04C10*)s)->ife_downscale_configure();
+    }
     sensor.reset(s);
     return (sensors_init() == 0);
   };
@@ -1065,8 +1071,8 @@ void SpectraCamera::configISP() {
     .data[0] = (struct cam_isp_out_port_info){
       .res_type = CAM_ISP_IFE_OUT_RES_FULL,
       .format = CAM_FORMAT_NV12,
-      .width = sensor->frame_width,
-      .height = sensor->frame_height + sensor->extra_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height + sensor->extra_height,
       .comp_grp_id = 0x0, .split_point = 0x0, .secure_mode = 0x0,
     },
   };
@@ -1141,8 +1147,8 @@ void SpectraCamera::configICP() {
     },
     .out_res[0] = (struct cam_icp_res_info){
       .format = 0x3,  // YUV420NV12
-      .width = sensor->frame_width,
-      .height = sensor->frame_height,
+      .width = buf.out_img_width,
+      .height = buf.out_img_height,
       .fps = 20,
     },
   };
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index d008e1d07b..38be4ecca4 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -20,6 +20,17 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 }  // namespace
 
+void OS04C10::ife_downscale_configure() {
+  out_scale = 2;
+
+  pixel_size_mm = 0.002;
+  frame_width = 2688;
+  frame_height = 1520;
+  exposure_time_max = 2352;
+
+  init_reg_array.insert(init_reg_array.end(), std::begin(ife_downscale_override_array_os04c10), std::end(ife_downscale_override_array_os04c10));
+}
+
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
   bayer_pattern = CAM_ISP_PATTERN_BAYER_BGBGBG;
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 8b1c78c69d..7cd9e97be5 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -88,8 +88,6 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37c7, 0xa8},
   {0x37da, 0x11},
   {0x381f, 0x08},
-  // {0x3829, 0x03},
-  // {0x3832, 0x00},
   {0x3881, 0x00},
   {0x3888, 0x04},
   {0x388b, 0x00},
@@ -332,3 +330,23 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x5104, 0x08}, {0x5105, 0xd6},
   {0x5144, 0x08}, {0x5145, 0xd6},
 };
+
+const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
+  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+  {0x3c8c, 0x40},
+  {0x3714, 0x24},
+  {0x37c2, 0x04},
+  {0x3662, 0x10},
+  {0x37d9, 0x08},
+  {0x4041, 0x07},
+  {0x4008, 0x02},
+  {0x4009, 0x0d},
+  {0x3808, 0x0a}, {0x3809, 0x80},
+  {0x380a, 0x05}, {0x380b, 0xf0},
+  {0x3814, 0x01},
+  {0x3816, 0x01},
+  {0x380c, 0x08}, {0x380d, 0x5c}, // HTS
+  {0x380e, 0x09}, {0x380f, 0x38}, // VTS
+  {0x3820, 0xb0},
+  {0x3821, 0x00},
+};
diff --git a/system/camerad/sensors/sensor.h b/system/camerad/sensors/sensor.h
index c1131aafdf..d4be3cf036 100644
--- a/system/camerad/sensors/sensor.h
+++ b/system/camerad/sensors/sensor.h
@@ -29,6 +29,7 @@ public:
   uint32_t frame_stride;
   uint32_t frame_offset = 0;
   uint32_t extra_height = 0;
+  int out_scale = 1;
   int registers_offset = -1;
   int stats_offset = -1;
   int hdr_offset = -1;
@@ -109,6 +110,7 @@ public:
 class OS04C10 : public SensorInfo {
 public:
   OS04C10();
+  void ife_downscale_configure();
   std::vector<i2c_random_wr_payload> getExposureRegisters(int exposure_time, int new_exp_g, bool dc_gain_enabled) const override;
   float getExposureScore(float desired_ev, int exp_t, int exp_g_idx, float exp_gain, int gain_idx) const override;
   int getSlaveAddress(int port) const override;
diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot.py
similarity index 100%
rename from system/camerad/snapshot/snapshot.py
rename to system/camerad/snapshot.py
diff --git a/system/camerad/test/check_skips.py b/system/camerad/test/check_skips.py
deleted file mode 100755
index 0814ce44ff..0000000000
--- a/system/camerad/test/check_skips.py
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/usr/bin/env python3
-# type: ignore
-import cereal.messaging as messaging
-
-all_sockets = ['roadCameraState', 'driverCameraState', 'wideRoadCameraState']
-prev_id = [None,None,None]
-this_id = [None,None,None]
-dt = [None,None,None]
-num_skipped = [0,0,0]
-
-if __name__ == "__main__":
-  sm = messaging.SubMaster(all_sockets)
-  while True:
-    sm.update()
-
-    for i in range(len(all_sockets)):
-      if not sm.updated[all_sockets[i]]:
-        continue
-      this_id[i] = sm[all_sockets[i]].frameId
-      if prev_id[i] is None:
-        prev_id[i] = this_id[i]
-        continue
-      dt[i] = this_id[i] - prev_id[i]
-      if dt[i] != 1:
-        num_skipped[i] += dt[i] - 1
-        print(all_sockets[i] ,dt[i] - 1, num_skipped[i])
-      prev_id[i] = this_id[i]
diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py
deleted file mode 100755
index 21409f398d..0000000000
--- a/system/camerad/test/get_thumbnails_for_segment.py
+++ /dev/null
@@ -1,24 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-from tqdm import tqdm
-
-from openpilot.tools.lib.logreader import LogReader
-
-if __name__ == "__main__":
-  parser = argparse.ArgumentParser()
-  parser.add_argument("route", help="The route name")
-  args = parser.parse_args()
-
-  out_path = os.path.join("jpegs", f"{args.route.replace('|', '_').replace('/', '_')}")
-  os.makedirs(out_path, exist_ok=True)
-
-  lr = LogReader(args.route)
-
-  for msg in tqdm(lr):
-    if msg.which() == 'thumbnail':
-      with open(os.path.join(out_path, f"{msg.thumbnail.frameId}.jpg"), 'wb') as f:
-        f.write(msg.thumbnail.thumbnail)
-    elif msg.which() == 'navThumbnail':
-      with open(os.path.join(out_path, f"nav_{msg.navThumbnail.frameId}.jpg"), 'wb') as f:
-        f.write(msg.navThumbnail.thumbnail)
diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py
index 97f03ed182..f431c03410 100644
--- a/system/camerad/test/test_exposure.py
+++ b/system/camerad/test/test_exposure.py
@@ -3,7 +3,7 @@ import numpy as np
 import pytest
 
 from openpilot.selfdrive.test.helpers import with_processes
-from openpilot.system.camerad.snapshot.snapshot import get_snapshots
+from openpilot.system.camerad.snapshot import get_snapshots
 
 TEST_TIME = 45
 REPEAT = 5
diff --git a/system/hardware/base.py b/system/hardware/base.py
index c7c765f20a..3506be5145 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -6,6 +6,19 @@ from cereal import log
 
 NetworkType = log.DeviceState.NetworkType
 
+class LPAError(RuntimeError):
+  pass
+
+class LPAProfileNotFoundError(LPAError):
+  pass
+
+@dataclass
+class Profile:
+  iccid: str
+  nickname: str
+  enabled: bool
+  provider: str
+
 @dataclass
 class ThermalZone:
   # a zone from /sys/class/thermal/thermal_zone*
@@ -33,6 +46,7 @@ class ThermalZone:
 class ThermalConfig:
   cpu: list[ThermalZone] | None = None
   gpu: list[ThermalZone] | None = None
+  dsp: ThermalZone | None = None
   pmic: list[ThermalZone] | None = None
   memory: ThermalZone | None = None
   intake: ThermalZone | None = None
@@ -50,6 +64,31 @@ class ThermalConfig:
           ret[f.name + "TempC"] = v.read()
     return ret
 
+class LPABase(ABC):
+  @abstractmethod
+  def list_profiles(self) -> list[Profile]:
+    pass
+
+  @abstractmethod
+  def get_active_profile(self) -> Profile | None:
+    pass
+
+  @abstractmethod
+  def delete_profile(self, iccid: str) -> None:
+    pass
+
+  @abstractmethod
+  def download_profile(self, qr: str, nickname: str | None = None) -> None:
+    pass
+
+  @abstractmethod
+  def nickname_profile(self, iccid: str, nickname: str) -> None:
+    pass
+
+  @abstractmethod
+  def switch_profile(self, iccid: str) -> None:
+    pass
+
 class HardwareBase(ABC):
   @staticmethod
   def get_cmdline() -> dict[str, str]:
@@ -104,6 +143,10 @@ class HardwareBase(ABC):
   def get_sim_info(self):
     pass
 
+  @abstractmethod
+  def get_sim_lpa(self) -> LPABase:
+    pass
+
   @abstractmethod
   def get_network_strength(self, network_type):
     pass
@@ -130,6 +173,9 @@ class HardwareBase(ABC):
   def get_thermal_config(self):
     return ThermalConfig()
 
+  def set_display_power(self, on: bool):
+    pass
+
   @abstractmethod
   def set_screen_brightness(self, percentage):
     pass
@@ -164,6 +210,9 @@ class HardwareBase(ABC):
   def configure_modem(self):
     pass
 
+  def reboot_modem(self):
+    pass
+
   @abstractmethod
   def get_networks(self):
     pass
diff --git a/system/hardware/esim.py b/system/hardware/esim.py
new file mode 100755
index 0000000000..58ead6593f
--- /dev/null
+++ b/system/hardware/esim.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+
+import argparse
+import time
+from openpilot.system.hardware import HARDWARE
+
+
+if __name__ == '__main__':
+  parser = argparse.ArgumentParser(prog='esim.py', description='manage eSIM profiles on your comma device', epilog='comma.ai')
+  parser.add_argument('--backend', choices=['qmi', 'at'], default='qmi', help='use the specified backend, defaults to qmi')
+  parser.add_argument('--switch', metavar='iccid', help='switch to profile')
+  parser.add_argument('--delete', metavar='iccid', help='delete profile (warning: this cannot be undone)')
+  parser.add_argument('--download', nargs=2, metavar=('qr', 'name'), help='download a profile using QR code (format: LPA:1$rsp.truphone.com$QRF-SPEEDTEST)')
+  parser.add_argument('--nickname', nargs=2, metavar=('iccid', 'name'), help='update the nickname for a profile')
+  args = parser.parse_args()
+
+  mutated = False
+  lpa = HARDWARE.get_sim_lpa()
+  if args.switch:
+    lpa.switch_profile(args.switch)
+    mutated = True
+  elif args.delete:
+    confirm = input('are you sure you want to delete this profile? (y/N) ')
+    if confirm == 'y':
+      lpa.delete_profile(args.delete)
+      mutated = True
+    else:
+      print('cancelled')
+      exit(0)
+  elif args.download:
+    lpa.download_profile(args.download[0], args.download[1])
+  elif args.nickname:
+    lpa.nickname_profile(args.nickname[0], args.nickname[1])
+  else:
+    parser.print_help()
+
+  if mutated:
+    HARDWARE.reboot_modem()
+    # eUICC needs a small delay post-reboot before querying profiles
+    time.sleep(.5)
+
+  profiles = lpa.list_profiles()
+  print(f'\n{len(profiles)} profile{"s" if len(profiles) > 1 else ""}:')
+  for p in profiles:
+    print(f'- {p.iccid} (nickname: {p.nickname or "<none provided>"}) (provider: {p.provider}) - {"enabled" if p.enabled else "disabled"}')
diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index be93d5922a..7d5bec0509 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -27,7 +27,7 @@ class TiciFanController(BaseFanController):
     if ignition != self.last_ignition:
       self.controller.reset()
 
-    error = 70 - cur_temp
+    error = 75 - cur_temp
     fan_pwr_out = -int(self.controller.update(
                       error=error,
                       feedforward=np.interp(cur_temp, [60.0, 100.0], [0, -100])
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index bb90c12ba2..223faeaafd 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -34,6 +34,7 @@ CURRENT_TAU = 15.   # 15s time constant
 TEMP_TAU = 5.   # 5s time constant
 DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect so you get an alert
 PANDA_STATES_TIMEOUT = round(1000 / SERVICE_LIST['pandaStates'].frequency * 1.5)  # 1.5x the expected pandaState frequency
+ONROAD_CYCLE_TIME = 1  # seconds to wait offroad after requesting an onroad cycle
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
 HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
@@ -170,6 +171,7 @@ def hardware_thread(end_event, hw_queue) -> None:
 
   onroad_conditions: dict[str, bool] = {
     "ignition": False,
+    "not_onroad_cycle": True,
   }
   startup_conditions: dict[str, bool] = {}
   startup_conditions_prev: dict[str, bool] = {}
@@ -195,6 +197,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   should_start_prev = False
   in_car = False
   engaged_prev = False
+  offroad_cycle_count = 0
 
   params = Params()
   power_monitor = PowerMonitoring()
@@ -211,6 +214,12 @@ def hardware_thread(end_event, hw_queue) -> None:
     peripheralState = sm['peripheralState']
     peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
 
+    # handle requests to cycle system started state
+    if params.get_bool("OnroadCycleRequested"):
+      params.put_bool("OnroadCycleRequested", False)
+      offroad_cycle_count = sm.frame
+    onroad_conditions["not_onroad_cycle"] = (sm.frame - offroad_cycle_count) >= ONROAD_CYCLE_TIME * SERVICE_LIST['pandaStates'].frequency
+
     if sm.updated['pandaStates'] and len(pandaStates) > 0:
 
       # Set ignition based on any panda connected
@@ -231,7 +240,7 @@ def hardware_thread(end_event, hw_queue) -> None:
         cloudlog.error("panda timed out onroad")
 
     # Run at 2Hz, plus either edge of ignition
-    ign_edge = (started_ts is not None) != onroad_conditions["ignition"]
+    ign_edge = (started_ts is not None) != all(onroad_conditions.values())
     if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
       continue
 
@@ -314,7 +323,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     offroad_mode = params.get_bool("OffroadMode")
     startup_conditions["not_always_offroad"] = not offroad_mode
     onroad_conditions["not_always_offroad"] = not offroad_mode
-    set_offroad_alert("OffroadMode_Status", offroad_mode)
 
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
diff --git a/system/hardware/hw.py b/system/hardware/hw.py
index 9722e35e30..5e40fff136 100644
--- a/system/hardware/hw.py
+++ b/system/hardware/hw.py
@@ -77,3 +77,10 @@ class Paths:
       return str(Path(Paths.comma_home()) / "community" / "crashes")
     else:
       return "/data/community/crashes"
+
+  @staticmethod
+  def mapd_root() -> str:
+    if PC:
+      return str(Path(Paths.comma_home()) / "media" / "0" / "osm")
+    else:
+      return "/data/media/0/osm"
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index 017a449c90..9a80f10bed 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -1,12 +1,11 @@
 import random
 
 from cereal import log
-from openpilot.system.hardware.base import HardwareBase
+from openpilot.system.hardware.base import HardwareBase, LPABase
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
 
-
 class Pc(HardwareBase):
   def get_os_version(self):
     return None
@@ -41,6 +40,9 @@ class Pc(HardwareBase):
       'data_connected': False
     }
 
+  def get_sim_lpa(self) -> LPABase:
+    raise NotImplementedError("SIM LPA not implemented for PC")
+
   def get_network_strength(self, network_type):
     return NetworkStrength.unknown
 
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 1a3cd382a9..7e5b9f187d 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,25 +1,25 @@
 [
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c.img.xz",
-    "hash": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
-    "hash_raw": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1.img.xz",
+    "hash": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1",
+    "hash_raw": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d35a86e7b8ddd9279b513a6f27da1521aa0f89fb93987ea74d57d0f0bbbbd247"
+    "ondevice_hash": "003a17ab1be68a696f7efe4c9938e8be511d4aacfc2f3211fc896bdc1681d089"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b.img.xz",
-    "hash": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
-    "hash_raw": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535.img.xz",
+    "hash": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535",
+    "hash_raw": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "623f1568072ee2d687ba8449a3d894c1c83dc4131b2e79eff35696885f70a419"
+    "ondevice_hash": "2a855dd636cc94718b64bea83a44d0a31741ecaa8f72a63613ff348ec7404091"
   },
   {
     "name": "abl",
@@ -34,51 +34,51 @@
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5.img.xz",
-    "hash": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
-    "hash_raw": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
+    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
     "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "bf74feca486f650589f6b7c90eab73274e35a68b5e00bfc1de0ed5f5484d4b3d"
+    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180.img.xz",
-    "hash": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
-    "hash_raw": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
+    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
     "size": 40336,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "70f682b59ca0fe2f197d1486bd8be7b9b7e560798ad40ddef83b9f0a2f497938"
+    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz",
-    "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892",
-    "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42.img.xz",
+    "hash": "4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42",
+    "hash_raw": "4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42",
     "size": 18479104,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf"
+    "ondevice_hash": "6b7b3371100ad36d8a5a9ff19a1663b9b9e2d5e99cbe3cf9255e9c3017291ce3"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz",
-    "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824",
-    "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde",
-    "size": 4404019200,
+    "url": "https://commadist.azureedge.net/agnosupdate/system-c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa.img.xz",
+    "hash": "993d6a1cd2b684e2b1cf6ff840f8996f02a529011372d9c1471e4c80719e7da9",
+    "hash_raw": "c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa",
+    "size": 5368709120,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533",
+    "ondevice_hash": "59db25651da977eeb16a1af741fd01fc3d6b50d21544b1a7428b7c86b2cdef2d",
     "alt": {
-      "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img",
-      "size": 4404019200
+      "hash": "c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa.img",
+      "size": 5368709120
     }
   }
 ]
\ No newline at end of file
diff --git a/system/hardware/tici/all-partitions.json b/system/hardware/tici/all-partitions.json
index 4e24b229d4..bc1141f763 100644
--- a/system/hardware/tici/all-partitions.json
+++ b/system/hardware/tici/all-partitions.json
@@ -130,25 +130,25 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c.img.xz",
-    "hash": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
-    "hash_raw": "468f1ad6ab55e198647ff9191f91bd2918db9c0a3e27bae5673b4c5575c1254c",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1.img.xz",
+    "hash": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1",
+    "hash_raw": "6710967ca9701f205d7ab19c3a9b0dd2f547e65b3d96048b7c2b03755aafa0f1",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "d35a86e7b8ddd9279b513a6f27da1521aa0f89fb93987ea74d57d0f0bbbbd247"
+    "ondevice_hash": "003a17ab1be68a696f7efe4c9938e8be511d4aacfc2f3211fc896bdc1681d089"
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b.img.xz",
-    "hash": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
-    "hash_raw": "92b675dc2862ed15c732d91d9eb307d7e852e349217db8bee8f8829db543686b",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535.img.xz",
+    "hash": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535",
+    "hash_raw": "63922cfbfdf4ab87986c4ba8f3a4df5bf28414b3f71a29ec5947336722215535",
     "size": 98124,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "623f1568072ee2d687ba8449a3d894c1c83dc4131b2e79eff35696885f70a419"
+    "ondevice_hash": "2a855dd636cc94718b64bea83a44d0a31741ecaa8f72a63613ff348ec7404091"
   },
   {
     "name": "abl",
@@ -163,14 +163,14 @@
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5.img.xz",
-    "hash": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
-    "hash_raw": "f0fcf7611d0890a72984f15a516dd37fa532dfcb70d428a8406838cf74ce23d5",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9.img.xz",
+    "hash": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
+    "hash_raw": "21370172e590bd4ea907a558bcd6df20dc7a6c7d38b8e62fdde18f4a512ba9e9",
     "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "bf74feca486f650589f6b7c90eab73274e35a68b5e00bfc1de0ed5f5484d4b3d"
+    "ondevice_hash": "c1be2f4aac5b3af49b904b027faec418d05efd7bd5144eb4fdfcba602bcf2180"
   },
   {
     "name": "bluetooth",
@@ -207,14 +207,14 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180.img.xz",
-    "hash": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
-    "hash_raw": "225b24ea7b1d2fee7f7d2da21386920ddacac2e33e9e938168436292f4eae180",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620.img.xz",
+    "hash": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
+    "hash_raw": "d7d7e52963bbedbbf8a7e66847579ca106a0a729ce2cf60f4b8d8ea4b535d620",
     "size": 40336,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "70f682b59ca0fe2f197d1486bd8be7b9b7e560798ad40ddef83b9f0a2f497938"
+    "ondevice_hash": "17b229668b20305ff8fa3cd5f94716a3aaa1e5bf9d1c24117eff7f2f81ae719f"
   },
   {
     "name": "devinfo",
@@ -339,62 +339,62 @@
   },
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892.img.xz",
-    "hash": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892",
-    "hash_raw": "9b07cc366919890cc88bdd45c8c7e643bf66557caf9ad6a1373accc6dcacd892",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42.img.xz",
+    "hash": "4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42",
+    "hash_raw": "4143170bad94968fd9be870b1498b4100bf273ed0aec2a2601c9017991d4bd42",
     "size": 18479104,
     "sparse": false,
     "full_check": true,
     "has_ab": true,
-    "ondevice_hash": "41d31b862fec1b87879b508c405adb9d7b5c0a3324f7350bd904f451605b06cf"
+    "ondevice_hash": "6b7b3371100ad36d8a5a9ff19a1663b9b9e2d5e99cbe3cf9255e9c3017291ce3"
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img.xz",
-    "hash": "c56256a64e6d7e16886e39a4263ffb686ed0f03d3a665c3552f54a39723f8824",
-    "hash_raw": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde",
-    "size": 4404019200,
+    "url": "https://commadist.azureedge.net/agnosupdate/system-c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa.img.xz",
+    "hash": "993d6a1cd2b684e2b1cf6ff840f8996f02a529011372d9c1471e4c80719e7da9",
+    "hash_raw": "c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa",
+    "size": 5368709120,
     "sparse": true,
     "full_check": false,
     "has_ab": true,
-    "ondevice_hash": "ed2e11f52beb8559223bf9fb989fd4ef5d2ce66eeb11ae0053fff8e41903a533",
+    "ondevice_hash": "59db25651da977eeb16a1af741fd01fc3d6b50d21544b1a7428b7c86b2cdef2d",
     "alt": {
-      "hash": "02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde",
-      "url": "https://commadist.azureedge.net/agnosupdate/system-02a6f40cc305faf703ab8f993a49d720043e4df1c0787d60dcf87eedb9f2ffde.img",
-      "size": 4404019200
+      "hash": "c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-c51bb5841011728f7cf108a9138ba68228ffb4232dfd91d6e082a6d8a6a8deaa.img",
+      "size": 5368709120
     }
   },
   {
     "name": "userdata_90",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-175a5d3353daa5e7b7d9939cb51a2f1d7e6312b4708ad654c351da2f1ef4f108.img.xz",
-    "hash": "ff01a0ca5a2ea6661f836248043a211cd8d71c3269c139cb574b56855fabc3f4",
-    "hash_raw": "175a5d3353daa5e7b7d9939cb51a2f1d7e6312b4708ad654c351da2f1ef4f108",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_90-89a161f17b86637413fe10a641550110b626b699382f5138c02267b7866a8494.img.xz",
+    "hash": "99d9e6cf6755581c6879bbf442bd62212beb8a04116e965ab987135b8842188b",
+    "hash_raw": "89a161f17b86637413fe10a641550110b626b699382f5138c02267b7866a8494",
     "size": 96636764160,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "2f3d69e5015a45a18c3553f2edc5706aacd6d84a4b3d5010a3d76a1a3aa910b0"
+    "ondevice_hash": "24ea29ab9c4ecec0568a4aa83e38790fedfce694060e90f4bde725931386ff41"
   },
   {
     "name": "userdata_89",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b.img.xz",
-    "hash": "714970777e02bb53a71640735bdb84b3071ecbc0346b978ce12eb667d75634ec",
-    "hash_raw": "61bdaf82d3036af6e45e86adbaab02918b41debd5b58b6708d7987084d514d1b",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_89-cdd3401168819987c4840765bba1aa2217641b1a6a4165c412f44cac14ccfcbf.img.xz",
+    "hash": "5fbfa008a7f6b58ab01d4d171f3185924d4c9db69b54f4bfc0f214c6f17c2435",
+    "hash_raw": "cdd3401168819987c4840765bba1aa2217641b1a6a4165c412f44cac14ccfcbf",
     "size": 95563022336,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "95e6889a808b8d266660990e67e917cf3b63179f23588565af7f2fa54f70ac76"
+    "ondevice_hash": "c07dc2e883a23d4a24d976cdf53a767a2fd699c8eeb476d60cdf18e84b417a52"
   },
   {
     "name": "userdata_30",
-    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997.img.xz",
-    "hash": "33e5ab398620f147b885a9627b2608591bd9e1c9aa481eb705dc86707d706ea2",
-    "hash_raw": "a40553d3fd339cb0107f1cc55fd532820f192a7a9a90d05243ad00fcbf804997",
+    "url": "https://commadist.azureedge.net/agnosupdate/userdata_30-2a8e8278b3bb545e6d7292c2417ccebdca9b47507eb5924f7c1e068737a7edfd.img.xz",
+    "hash": "b3bc293c9c5e0480ef663e980c8ccb2fb83ffd230c85f8797830fb61b8f59360",
+    "hash_raw": "2a8e8278b3bb545e6d7292c2417ccebdca9b47507eb5924f7c1e068737a7edfd",
     "size": 32212254720,
     "sparse": true,
     "full_check": true,
     "has_ab": false,
-    "ondevice_hash": "cd6291dea40968123f7af0b831cbfbbd6e515b676f2e427ae47ff358f6ac148e"
+    "ondevice_hash": "8dae1cda089828c750d1d646337774ccd9432f567ecefde19a06dc7feeda9cd3"
   }
-]
+]
\ No newline at end of file
diff --git a/system/hardware/tici/esim.nmconnection b/system/hardware/tici/esim.nmconnection
deleted file mode 100644
index 74f6f8e82c..0000000000
--- a/system/hardware/tici/esim.nmconnection
+++ /dev/null
@@ -1,30 +0,0 @@
-[connection]
-id=esim
-uuid=fff6553c-3284-4707-a6b1-acc021caaafb
-type=gsm
-permissions=
-autoconnect=true
-autoconnect-retries=100
-autoconnect-priority=2
-metered=1
-
-[gsm]
-apn=
-home-only=false
-auto-config=true
-sim-id=
-
-[ipv4]
-route-metric=1000
-dns-priority=1000
-dns-search=
-method=auto
-
-[ipv6]
-ddr-gen-mode=stable-privacy
-dns-search=
-route-metric=1000
-dns-priority=1000
-method=auto
-
-[proxy]
diff --git a/system/hardware/tici/esim.py b/system/hardware/tici/esim.py
old mode 100755
new mode 100644
index df76c1a5fd..b489286f50
--- a/system/hardware/tici/esim.py
+++ b/system/hardware/tici/esim.py
@@ -1,115 +1,106 @@
-#!/usr/bin/env python3
+import json
 import os
-import math
-import time
-import binascii
-import requests
-import serial
+import shutil
 import subprocess
+from typing import Literal
 
+from openpilot.system.hardware.base import LPABase, LPAError, LPAProfileNotFoundError, Profile
 
-def post(url, payload):
-  print()
-  print("POST to", url)
-  r = requests.post(
-    url,
-    data=payload,
-    verify=False,
-    headers={
-      "Content-Type": "application/json",
-      "X-Admin-Protocol": "gsma/rsp/v2.2.0",
-      "charset": "utf-8",
-      "User-Agent": "gsma-rsp-lpad",
-    },
-  )
-  print("resp", r)
-  print("resp text", repr(r.text))
-  print()
-  r.raise_for_status()
+class TiciLPA(LPABase):
+  def __init__(self, interface: Literal['qmi', 'at'] = 'qmi'):
+    self.env = os.environ.copy()
+    self.env['LPAC_APDU'] = interface
+    self.env['QMI_DEVICE'] = '/dev/cdc-wdm0'
+    self.env['AT_DEVICE'] = '/dev/ttyUSB2'
 
-  ret = f"HTTP/1.1 {r.status_code}"
-  ret += ''.join(f"{k}: {v}" for k, v in r.headers.items() if k != 'Connection')
-  return ret.encode() + r.content
+    self.timeout_sec = 45
 
+    if shutil.which('lpac') is None:
+      raise LPAError('lpac not found, must be installed!')
 
-class LPA:
-  def __init__(self):
-    self.dev = serial.Serial('/dev/ttyUSB2', baudrate=57600, timeout=1, bytesize=8)
-    self.dev.reset_input_buffer()
-    self.dev.reset_output_buffer()
-    assert "OK" in self.at("AT")
+  def list_profiles(self) -> list[Profile]:
+    msgs = self._invoke('profile', 'list')
+    self._validate_successful(msgs)
+    return [Profile(
+      iccid=p['iccid'],
+      nickname=p['profileNickname'],
+      enabled=p['profileState'] == 'enabled',
+      provider=p['serviceProviderName']
+    ) for p in msgs[-1]['payload']['data']]
 
-  def at(self, cmd):
-    print(f"==> {cmd}")
-    self.dev.write(cmd.encode() + b'\r\n')
+  def get_active_profile(self) -> Profile | None:
+    return next((p for p in self.list_profiles() if p.enabled), None)
 
-    r = b""
-    cnt = 0
-    while b"OK" not in r and b"ERROR" not in r and cnt < 20:
-      r += self.dev.read(8192).strip()
-      cnt += 1
-    r = r.decode()
-    print(f"<== {repr(r)}")
-    return r
+  def delete_profile(self, iccid: str) -> None:
+    self._validate_profile_exists(iccid)
+    latest = self.get_active_profile()
+    if latest is not None and latest.iccid == iccid:
+      raise LPAError('cannot delete active profile, switch to another profile first')
+    self._validate_successful(self._invoke('profile', 'delete', iccid))
+    self._process_notifications()
 
-  def download_ota(self, qr):
-    return self.at(f'AT+QESIM="ota","{qr}"')
+  def download_profile(self, qr: str, nickname: str | None = None) -> None:
+    msgs = self._invoke('profile', 'download', '-a', qr)
+    self._validate_successful(msgs)
+    new_profile = next((m for m in msgs if m['payload']['message'] == 'es8p_meatadata_parse'), None)
+    if new_profile is None:
+      raise LPAError('no new profile found')
+    if nickname:
+      self.nickname_profile(new_profile['payload']['data']['iccid'], nickname)
+    self._process_notifications()
 
-  def download(self, qr):
-    smdp = qr.split('$')[1]
-    out = self.at(f'AT+QESIM="download","{qr}"')
-    for _ in range(5):
-      line = out.split("+QESIM: ")[1].split("\r\n\r\nOK")[0]
+  def nickname_profile(self, iccid: str, nickname: str) -> None:
+    self._validate_profile_exists(iccid)
+    self._validate_successful(self._invoke('profile', 'nickname', iccid, nickname))
 
-      parts = [x.strip().strip('"') for x in line.split(',', maxsplit=4)]
-      print(repr(parts))
-      trans, ret, url, payloadlen, payload = parts
-      assert trans == "trans" and ret == "0"
-      assert len(payload) == int(payloadlen)
+  def switch_profile(self, iccid: str) -> None:
+    self._validate_profile_exists(iccid)
+    latest = self.get_active_profile()
+    if latest and latest.iccid == iccid:
+      return
+    self._validate_successful(self._invoke('profile', 'enable', iccid))
+    self._process_notifications()
 
-      r = post(f"https://{smdp}/{url}", payload)
-      to_send = binascii.hexlify(r).decode()
+  def _invoke(self, *cmd: str):
+    proc = subprocess.Popen(['sudo', '-E', 'lpac'] + list(cmd), stdout=subprocess.PIPE, stderr=subprocess.PIPE, env=self.env)
+    try:
+      out, err = proc.communicate(timeout=self.timeout_sec)
+    except subprocess.TimeoutExpired as e:
+      proc.kill()
+      raise LPAError(f"lpac {cmd} timed out after {self.timeout_sec} seconds") from e
 
-      chunk_len = 1400
-      for i in range(math.ceil(len(to_send) / chunk_len)):
-        state = 1 if (i+1)*chunk_len < len(to_send) else 0
-        data = to_send[i * chunk_len : (i+1)*chunk_len]
-        out = self.at(f'AT+QESIM="trans",{len(to_send)},{state},{i},{len(data)},"{data}"')
-        assert "OK" in out
+    messages = []
+    for line in out.decode().strip().splitlines():
+      if line.startswith('{'):
+        message = json.loads(line)
 
-      if '+QESIM:"download",1' in out:
-        raise Exception("profile install failed")
-      elif '+QESIM:"download",0' in out:
-        print("done, successfully loaded")
-        break
+        # lpac response format validations
+        assert 'type' in message, 'expected type in message'
+        assert message['type'] == 'lpa' or message['type'] == 'progress', 'expected lpa or progress message type'
+        assert 'payload' in message, 'expected payload in message'
+        assert 'code' in message['payload'], 'expected code in message payload'
+        assert 'data' in message['payload'], 'expected data in message payload'
 
-  def enable(self, iccid):
-    self.at(f'AT+QESIM="enable","{iccid}"')
+        msg_ret_code = message['payload']['code']
+        if msg_ret_code != 0:
+          raise LPAError(f"lpac {' '.join(cmd)} failed with code {msg_ret_code}: <{message['payload']['message']}> {message['payload']['data']}")
 
-  def disable(self, iccid):
-    self.at(f'AT+QESIM="disable","{iccid}"')
+        messages.append(message)
 
-  def delete(self, iccid):
-    self.at(f'AT+QESIM="delete","{iccid}"')
+    if len(messages) == 0:
+      raise LPAError(f"lpac {cmd} returned no messages")
 
-  def list_profiles(self):
-    out = self.at('AT+QESIM="list"')
-    return out.strip().splitlines()[1:]
+    return messages
 
+  def _process_notifications(self) -> None:
+    """
+    Process notifications stored on the eUICC, typically to activate/deactivate the profile with the carrier.
+    """
+    self._validate_successful(self._invoke('notification', 'process', '-a', '-r'))
 
-if __name__ == "__main__":
-  import sys
+  def _validate_profile_exists(self, iccid: str) -> None:
+    if not any(p.iccid == iccid for p in self.list_profiles()):
+      raise LPAProfileNotFoundError(f'profile {iccid} does not exist')
 
-  if "RESTART" in os.environ:
-    subprocess.check_call("sudo systemctl stop ModemManager", shell=True)
-    subprocess.check_call("/usr/comma/lte/lte.sh stop_blocking", shell=True)
-    subprocess.check_call("/usr/comma/lte/lte.sh start", shell=True)
-    while not os.path.exists('/dev/ttyUSB2'):
-      time.sleep(1)
-    time.sleep(3)
-
-  lpa = LPA()
-  print(lpa.list_profiles())
-  if len(sys.argv) > 1:
-    lpa.download(sys.argv[1])
-    print(lpa.list_profiles())
+  def _validate_successful(self, msgs: list[dict]) -> None:
+    assert msgs[-1]['payload']['message'] == 'success', 'expected success notification'
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 15480bab50..f46c94c4f0 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -3,15 +3,16 @@ import math
 import os
 import subprocess
 import time
-import tempfile
 from enum import IntEnum
 from functools import cached_property, lru_cache
 from pathlib import Path
 
 from cereal import log
+from openpilot.common.util import sudo_read, sudo_write
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone
+from openpilot.system.hardware.base import HardwareBase, LPABase, ThermalConfig, ThermalZone
 from openpilot.system.hardware.tici import iwlist
+from openpilot.system.hardware.tici.esim import TiciLPA
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
 
@@ -61,25 +62,6 @@ MM_MODEM_ACCESS_TECHNOLOGY_UMTS = 1 << 5
 MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
 
 
-def sudo_write(val, path):
-  try:
-    with open(path, 'w') as f:
-      f.write(str(val))
-  except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
-    try:
-      with open(path, 'w') as f:
-        f.write(str(val))
-    except PermissionError:
-      # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
-
-def sudo_read(path: str) -> str:
-  try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
-  except Exception:
-    return ""
-
 def affine_irq(val, action):
   irqs = get_irqs_for_action(action)
   if len(irqs) == 0:
@@ -198,6 +180,9 @@ class Tici(HardwareBase):
         'data_connected': modem.Get(MM_MODEM, 'State', dbus_interface=DBUS_PROPS, timeout=TIMEOUT) == MM_MODEM_STATE.CONNECTED,
       }
 
+  def get_sim_lpa(self) -> LPABase:
+    return TiciLPA()
+
   def get_imei(self, slot):
     if slot != 0:
       return ""
@@ -297,13 +282,11 @@ class Tici(HardwareBase):
       return None
 
   def get_modem_temperatures(self):
-    if self.get_device_type() == "mici":
-      return []
     timeout = 0.2  # Default timeout is too short
     try:
       modem = self.get_modem()
       temps = modem.Command("AT+QTEMP", math.ceil(timeout), dbus_interface=MM_MODEM, timeout=timeout)
-      return list(map(int, temps.split(' ')[1].split(',')))
+      return list(filter(lambda t: t != 255, map(int, temps.split(' ')[1].split(','))))
     except Exception:
       return []
 
@@ -335,12 +318,20 @@ class Tici(HardwareBase):
     return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
                              [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
                          gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
+                         dsp=ThermalZone("compute-hvx-usr"),
                          memory=ThermalZone("ddr-usr"),
                          pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
                          intake=intake,
                          exhaust=exhaust,
                          case=case)
 
+  def set_display_power(self, on):
+    try:
+      with open("/sys/class/backlight/panel0-backlight/bl_power", "w") as f:
+        f.write("0" if on else "4")
+    except Exception:
+      pass
+
   def set_screen_brightness(self, percentage):
     try:
       with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
@@ -508,18 +499,19 @@ class Tici(HardwareBase):
       except Exception:
         pass
 
-    # eSIM prime
+    # we use the lte connection built into AGNOS. cleanup esim connection if it exists
     dest = "/etc/NetworkManager/system-connections/esim.nmconnection"
-    if sim_id.startswith('8985235') and not os.path.exists(dest):
-      with open(Path(__file__).parent/'esim.nmconnection') as f, tempfile.NamedTemporaryFile(mode='w') as tf:
-        dat = f.read()
-        dat = dat.replace("sim-id=", f"sim-id={sim_id}")
-        tf.write(dat)
-        tf.flush()
+    if os.path.exists(dest):
+      os.system(f"sudo nmcli con delete {dest}")
+      self.reboot_modem()
 
-        # needs to be root
-        os.system(f"sudo cp {tf.name} {dest}")
-      os.system(f"sudo nmcli con load {dest}")
+  def reboot_modem(self):
+    modem = self.get_modem()
+    for state in (0, 1):
+      try:
+        modem.Command(f'AT+CFUN={state}', math.ceil(TIMEOUT), dbus_interface=MM_MODEM, timeout=TIMEOUT)
+      except Exception:
+        pass
 
   def get_networks(self):
     r = {}
diff --git a/system/hardware/tici/tests/test_esim.py b/system/hardware/tici/tests/test_esim.py
new file mode 100644
index 0000000000..6fab931cce
--- /dev/null
+++ b/system/hardware/tici/tests/test_esim.py
@@ -0,0 +1,51 @@
+import pytest
+
+from openpilot.system.hardware import HARDWARE, TICI
+from openpilot.system.hardware.base import LPAProfileNotFoundError
+
+# https://euicc-manual.osmocom.org/docs/rsp/known-test-profile
+# iccid is always the same for the given activation code
+TEST_ACTIVATION_CODE = 'LPA:1$rsp.truphone.com$QRF-BETTERROAMING-PMRDGIR2EARDEIT5'
+TEST_ICCID = '8944476500001944011'
+
+TEST_NICKNAME = 'test_profile'
+
+def cleanup():
+  lpa = HARDWARE.get_sim_lpa()
+  try:
+    lpa.delete_profile(TEST_ICCID)
+  except LPAProfileNotFoundError:
+    pass
+  lpa.process_notifications()
+
+class TestEsim:
+
+  @classmethod
+  def setup_class(cls):
+    if not TICI:
+      pytest.skip()
+    cleanup()
+
+  @classmethod
+  def teardown_class(cls):
+    cleanup()
+
+  def test_provision_enable_disable(self):
+    lpa = HARDWARE.get_sim_lpa()
+    current_active = lpa.get_active_profile()
+
+    lpa.download_profile(TEST_ACTIVATION_CODE, TEST_NICKNAME)
+    assert any(p.iccid == TEST_ICCID and p.nickname == TEST_NICKNAME for p in lpa.list_profiles())
+
+    lpa.enable_profile(TEST_ICCID)
+    new_active = lpa.get_active_profile()
+    assert new_active is not None
+    assert new_active.iccid == TEST_ICCID
+    assert new_active.nickname == TEST_NICKNAME
+
+    lpa.disable_profile(TEST_ICCID)
+    new_active = lpa.get_active_profile()
+    assert new_active is None
+
+    if current_active:
+      lpa.enable_profile(current_active.iccid)
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
index 669889a2ae..db0fab884c 100644
--- a/system/hardware/tici/tests/test_power_draw.py
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -33,7 +33,7 @@ class Proc:
 PROCS = [
   Proc(['camerad'], 1.75, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
   Proc(['modeld'], 1.12, atol=0.2, msgs=['modelV2']),
-  Proc(['dmonitoringmodeld'], 1.4, msgs=['driverStateV2']),
+  Proc(['dmonitoringmodeld'], 0.6, msgs=['driverStateV2']),
   Proc(['encoderd'], 0.23, msgs=[]),
 ]
 
@@ -56,10 +56,10 @@ class TestPowerDraw:
   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)
+    return np.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)
+    return np.isclose(used, proc.power, rtol=proc.rtol, atol=proc.atol)
 
   def tabulate_msg_counts(self, msgs_and_power):
     msg_counts = defaultdict(int)
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index 953ae1df32..2d2d4640ed 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -203,7 +203,7 @@ void handle_user_flag(LoggerdState *s) {
 
   // mark route for uploading
   Params params;
-  std::string routes = Params().get("AthenadRecentlyViewedRoutes");
+  std::string routes = params.get("AthenadRecentlyViewedRoutes");
   params.put("AthenadRecentlyViewedRoutes", routes + "," + s->logger.routeName());
 
   prev_segment = s->logger.segment();
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index c1bf804880..6e6df6114e 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -89,7 +89,7 @@ class Uploader:
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
     r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
-    requested_routes = [] if r is None else r.split(",")
+    requested_routes = [] if r is None else [route for route in r.split(",") if route]
 
     for logdir in listdir_by_creation(self.root):
       path = os.path.join(self.root, logdir)
diff --git a/system/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py
index d3220118ac..39bb172059 100644
--- a/system/loggerd/xattr_cache.py
+++ b/system/loggerd/xattr_cache.py
@@ -1,16 +1,17 @@
-import os
 import errno
 
+import xattr
+
 _cached_attributes: dict[tuple, bytes | None] = {}
 
 def getxattr(path: str, attr_name: str) -> bytes | None:
   key = (path, attr_name)
   if key not in _cached_attributes:
     try:
-      response = os.getxattr(path, attr_name)
+      response = xattr.getxattr(path, attr_name)
     except OSError as e:
-      # ENODATA means attribute hasn't been set
-      if e.errno == errno.ENODATA:
+      # ENODATA (Linux) or ENOATTR (macOS) means attribute hasn't been set
+      if e.errno == errno.ENODATA or (hasattr(errno, 'ENOATTR') and e.errno == errno.ENOATTR):
         response = None
       else:
         raise
@@ -19,4 +20,4 @@ def getxattr(path: str, attr_name: str) -> bytes | None:
 
 def setxattr(path: str, attr_name: str, attr_value: bytes) -> None:
   _cached_attributes.pop((path, attr_name), None)
-  return os.setxattr(path, attr_name, attr_value)
+  xattr.setxattr(path, attr_name, attr_value)
diff --git a/system/manager/build.py b/system/manager/build.py
index 93c0546c85..49c8128660 100755
--- a/system/manager/build.py
+++ b/system/manager/build.py
@@ -5,16 +5,16 @@ from pathlib import Path
 
 # NOTE: Do NOT import anything here that needs be built (e.g. params)
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.spinner import Spinner
-from openpilot.common.text_window import TextWindow
-from openpilot.system.hardware import HARDWARE, AGNOS
 from openpilot.common.swaglog import cloudlog, add_file_handler
+from openpilot.system.hardware import HARDWARE, AGNOS
+from openpilot.system.ui.spinner import Spinner
+from openpilot.system.ui.text import TextWindow
 from openpilot.system.version import get_build_metadata
 
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
-TOTAL_SCONS_NODES = 3130
+TOTAL_SCONS_NODES = 3765
 MAX_BUILD_PROGRESS = 100
 
 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
@@ -88,7 +88,7 @@ def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
 
 
 if __name__ == "__main__":
-  spinner = Spinner()
-  spinner.update_progress(0, 100)
-  build_metadata = get_build_metadata()
-  build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
+  with Spinner() as spinner:
+    spinner.update_progress(0, 100)
+    build_metadata = get_build_metadata()
+    build(spinner, build_metadata.openpilot.is_dirty, minimal = AGNOS)
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 1feab03a1f..1778c4e0dc 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -9,7 +9,6 @@ from cereal import log
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.common.params import Params, ParamKeyType
-from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.system.manager.process import ensure_running
@@ -19,6 +18,8 @@ from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata, terms_version, training_version
 from openpilot.system.hardware.hw import Paths
 
+from openpilot.sunnypilot.mapd.mapd_installer import VERSION
+
 
 def manager_init() -> None:
   save_bootlog()
@@ -45,18 +46,33 @@ def manager_init() -> None:
   sunnypilot_default_params: list[tuple[str, str | bytes]] = [
     ("AutoLaneChangeTimer", "0"),
     ("AutoLaneChangeBsmDelay", "0"),
+    ("BlindSpot", "0"),
+    ("BlinkerMinLateralControlSpeed", "20"),  # MPH or km/h
+    ("BlinkerPauseLateralControl", "0"),
+    ("CustomAccIncrementsEnabled", "0"),
+    ("CustomAccLongPressIncrement", "5"),
+    ("CustomAccShortPressIncrement", "1"),
+    ("DeviceBootMode", "0"),
     ("DynamicExperimentalControl", "0"),
+    ("HyundaiLongitudinalTuning", "0"),
+    ("LagdToggle", "1"),
     ("Mads", "1"),
     ("MadsMainCruiseAllowed", "1"),
-    ("MadsPauseLateralOnBrake", "0"),
+    ("MadsSteeringMode", "0"),
     ("MadsUnifiedEngagementMode", "1"),
+    ("MapdVersion", f"{VERSION}"),
     ("MaxTimeOffroad", "1800"),
+    ("Brightness", "0"),
     ("ModelManager_LastSyncTime", "0"),
     ("ModelManager_ModelsCache", ""),
     ("NeuralNetworkLateralControl", "0"),
     ("QuietMode", "0"),
   ]
 
+  # device boot mode
+  if params.get("DeviceBootMode") == b"1": # start in always offroad mode
+    params.put_bool("OffroadMode", True)
+
   if params.get_bool("RecordFrontLock"):
     params.put_bool("RecordFront", True)
 
@@ -218,6 +234,8 @@ def main() -> None:
 
 
 if __name__ == "__main__":
+  from openpilot.system.ui.text import TextWindow
+
   unblock_stdout()
 
   try:
diff --git a/system/manager/process.py b/system/manager/process.py
index 6c233c21ab..0ebddae049 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -16,9 +16,8 @@ import openpilot.system.sentry as sentry
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware.hw import Paths
+from openpilot.common.watchdog import WATCHDOG_FN
 
-WATCHDOG_FN = f"{Paths.shm_path()}/wd_"
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
 
 
@@ -96,7 +95,6 @@ class ManagerProcess(ABC):
     try:
       fn = WATCHDOG_FN + str(self.proc.pid)
       with open(fn, "rb") as f:
-        # TODO: why can't pylint find struct.unpack?
         self.last_watchdog_time = struct.unpack('Q', f.read())[0]
     except Exception:
       pass
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index dde7728e66..d5c5a4e3c8 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -1,10 +1,14 @@
 import os
 import operator
+import platform
 
 from cereal import car, custom
 from openpilot.common.params import Params
 from openpilot.system.hardware import PC, TICI
 from openpilot.system.manager.process import PythonProcess, NativeProcess, DaemonProcess
+from openpilot.system.hardware.hw import Paths
+
+from openpilot.sunnypilot.mapd.mapd_manager import MAPD_PATH
 
 from sunnypilot.models.helpers import get_active_model_runner
 from sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, use_sunnylink_uploader
@@ -100,15 +104,15 @@ procs = [
 
   NativeProcess("camerad", "system/camerad", ["./camerad"], driverview, enabled=not WEBCAM),
   PythonProcess("webcamerad", "tools.webcam.camerad", driverview, enabled=WEBCAM),
-  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
-  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
+  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad, platform.system() != "Darwin"),
+  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad, platform.system() != "Darwin"),
   PythonProcess("micd", "system.micd", iscar),
   PythonProcess("timed", "system.timed", always_run, enabled=not PC),
 
   PythonProcess("modeld", "selfdrive.modeld.modeld", and_(only_onroad, is_stock_model)),
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
-  NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
+  PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
   NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
   PythonProcess("soundd", "selfdrive.ui.soundd", and_(only_onroad, not_joystick)),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
@@ -124,6 +128,7 @@ procs = [
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
+  PythonProcess("lagd", "selfdrive.locationd.lagd", only_onroad),
   NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
   PythonProcess("pigeond", "system.ubloxd.pigeond", ublox, enabled=TICI),
   PythonProcess("plannerd", "selfdrive.controls.plannerd", not_long_maneuver),
@@ -155,6 +160,10 @@ procs += [
 
   # Backup
   PythonProcess("backup_manager", "sunnypilot.sunnylink.backups.manager", and_(only_offroad, sunnylink_ready_shim)),
+
+  # mapd
+  NativeProcess("mapd", Paths.mapd_root(), [MAPD_PATH], always_run),
+  PythonProcess("mapd_manager", "sunnypilot.mapd.mapd_manager", always_run),
 ]
 
 if os.path.exists("./github_runner.sh"):
diff --git a/system/micd.py b/system/micd.py
index af1aa31360..38f3225f55 100755
--- a/system/micd.py
+++ b/system/micd.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import numpy as np
 from functools import cache
+import threading
 
 from cereal import messaging
 from openpilot.common.realtime import Ratekeeper
@@ -52,12 +53,18 @@ class Mic:
     self.sound_pressure_weighted = 0
     self.sound_pressure_level_weighted = 0
 
-  def update(self):
-    msg = messaging.new_message('microphone', valid=True)
-    msg.microphone.soundPressure = float(self.sound_pressure)
-    msg.microphone.soundPressureWeighted = float(self.sound_pressure_weighted)
+    self.lock = threading.Lock()
 
-    msg.microphone.soundPressureWeightedDb = float(self.sound_pressure_level_weighted)
+  def update(self):
+    with self.lock:
+      sound_pressure = self.sound_pressure
+      sound_pressure_weighted = self.sound_pressure_weighted
+      sound_pressure_level_weighted = self.sound_pressure_level_weighted
+
+    msg = messaging.new_message('microphone', valid=True)
+    msg.microphone.soundPressure = float(sound_pressure)
+    msg.microphone.soundPressureWeighted = float(sound_pressure_weighted)
+    msg.microphone.soundPressureWeightedDb = float(sound_pressure_level_weighted)
 
     self.pm.send('microphone', msg)
     self.rk.keep_time()
@@ -69,17 +76,17 @@ class Mic:
 
     Logged A-weighted equivalents are rough approximations of the human-perceived loudness.
     """
+    with self.lock:
+      self.measurements = np.concatenate((self.measurements, indata[:, 0]))
 
-    self.measurements = np.concatenate((self.measurements, indata[:, 0]))
+      while self.measurements.size >= FFT_SAMPLES:
+        measurements = self.measurements[:FFT_SAMPLES]
 
-    while self.measurements.size >= FFT_SAMPLES:
-      measurements = self.measurements[:FFT_SAMPLES]
+        self.sound_pressure, _ = calculate_spl(measurements)
+        measurements_weighted = apply_a_weighting(measurements)
+        self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted)
 
-      self.sound_pressure, _ = calculate_spl(measurements)
-      measurements_weighted = apply_a_weighting(measurements)
-      self.sound_pressure_weighted, self.sound_pressure_level_weighted = calculate_spl(measurements_weighted)
-
-      self.measurements = self.measurements[FFT_SAMPLES:]
+        self.measurements = self.measurements[FFT_SAMPLES:]
 
   @retry(attempts=7, delay=3)
   def get_stream(self, sd):
diff --git a/system/sensord/.gitignore b/system/sensord/.gitignore
deleted file mode 100644
index e17675e254..0000000000
--- a/system/sensord/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-sensord
diff --git a/system/sensord/SConscript b/system/sensord/SConscript
deleted file mode 100644
index e2dfb522c6..0000000000
--- a/system/sensord/SConscript
+++ /dev/null
@@ -1,17 +0,0 @@
-Import('env', 'arch', 'common', 'messaging')
-
-sensors = [
-  'sensors/i2c_sensor.cc',
-  'sensors/bmx055_accel.cc',
-  'sensors/bmx055_gyro.cc',
-  'sensors/bmx055_magn.cc',
-  'sensors/bmx055_temp.cc',
-  'sensors/lsm6ds3_accel.cc',
-  'sensors/lsm6ds3_gyro.cc',
-  'sensors/lsm6ds3_temp.cc',
-  'sensors/mmc5603nj_magn.cc',
-]
-libs = [common, messaging, 'pthread']
-if arch == "larch64":
-  libs.append('i2c')
-env.Program('sensord', ['sensors_qcom2.cc'] + sensors, LIBS=libs)
diff --git a/system/sensord/sensord.py b/system/sensord/sensord.py
new file mode 100755
index 0000000000..ed9d0ed415
--- /dev/null
+++ b/system/sensord/sensord.py
@@ -0,0 +1,139 @@
+#!/usr/bin/env python3
+import os
+import time
+import ctypes
+import select
+import threading
+
+import cereal.messaging as messaging
+from cereal.services import SERVICE_LIST
+from openpilot.common.util import sudo_write
+from openpilot.common.realtime import config_realtime_process, Ratekeeper
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.gpio import gpiochip_get_ro_value_fd, gpioevent_data
+
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+from openpilot.system.sensord.sensors.lsm6ds3_accel import LSM6DS3_Accel
+from openpilot.system.sensord.sensors.lsm6ds3_gyro import LSM6DS3_Gyro
+from openpilot.system.sensord.sensors.lsm6ds3_temp import LSM6DS3_Temp
+from openpilot.system.sensord.sensors.mmc5603nj_magn import MMC5603NJ_Magn
+
+I2C_BUS_IMU = 1
+
+def interrupt_loop(sensors: list[tuple[Sensor, str, bool]], event) -> None:
+  pm = messaging.PubMaster([service for sensor, service, interrupt in sensors if interrupt])
+
+  # Requesting both edges as the data ready pulse from the lsm6ds sensor is
+  # very short (75us) and is mostly detected as falling edge instead of rising.
+  # So if it is detected as rising the following falling edge is skipped.
+  fd = gpiochip_get_ro_value_fd("sensord", 0, 84)
+
+  # Configure IRQ affinity
+  irq_path = "/proc/irq/336/smp_affinity_list"
+  if not os.path.exists(irq_path):
+    irq_path = "/proc/irq/335/smp_affinity_list"
+  if os.path.exists(irq_path):
+    sudo_write('1\n', irq_path)
+
+  offset = time.time_ns() - time.monotonic_ns()
+
+  poller = select.poll()
+  poller.register(fd, select.POLLIN | select.POLLPRI)
+  while not event.is_set():
+    events = poller.poll(100)
+    if not events:
+      cloudlog.error("poll timed out")
+      continue
+    if not (events[0][1] & (select.POLLIN | select.POLLPRI)):
+      cloudlog.error("no poll events set")
+      continue
+
+    dat = os.read(fd, ctypes.sizeof(gpioevent_data)*16)
+    evd = gpioevent_data.from_buffer_copy(dat)
+
+    cur_offset = time.time_ns() - time.monotonic_ns()
+    if abs(cur_offset - offset) > 10 * 1e6:  # ms
+      cloudlog.warning(f"time jumped: {cur_offset} {offset}")
+      offset = cur_offset
+      continue
+
+    ts = evd.timestamp - cur_offset
+    for sensor, service, interrupt in sensors:
+      if interrupt:
+        try:
+          evt = sensor.get_event(ts)
+          if not sensor.is_data_valid():
+            continue
+          msg = messaging.new_message(service, valid=True)
+          setattr(msg, service, evt)
+          pm.send(service, msg)
+        except Sensor.DataNotReady:
+          pass
+        except Exception:
+          cloudlog.exception(f"Error processing {service}")
+
+
+def polling_loop(sensor: Sensor, service: str, event: threading.Event) -> None:
+  pm = messaging.PubMaster([service])
+  rk = Ratekeeper(SERVICE_LIST[service].frequency, print_delay_threshold=None)
+  while not event.is_set():
+    try:
+      evt = sensor.get_event()
+      if not sensor.is_data_valid():
+        continue
+      msg = messaging.new_message(service, valid=True)
+      setattr(msg, service, evt)
+      pm.send(service, msg)
+    except Exception:
+      cloudlog.exception(f"Error in {service} polling loop")
+    rk.keep_time()
+
+def main() -> None:
+  config_realtime_process([1, ], 1)
+
+  sensors_cfg = [
+    (LSM6DS3_Accel(I2C_BUS_IMU), "accelerometer", True),
+    (LSM6DS3_Gyro(I2C_BUS_IMU), "gyroscope", True),
+    (LSM6DS3_Temp(I2C_BUS_IMU), "temperatureSensor", False),
+    (MMC5603NJ_Magn(I2C_BUS_IMU), "magnetometer", False),
+  ]
+
+  # Initialize sensors
+  exit_event = threading.Event()
+  threads = [
+    threading.Thread(target=interrupt_loop, args=(sensors_cfg, exit_event), daemon=True)
+  ]
+  for sensor, service, interrupt in sensors_cfg:
+    try:
+      sensor.init()
+      if not interrupt:
+        # Start polling thread for sensors without interrupts
+        threads.append(threading.Thread(
+          target=polling_loop,
+          args=(sensor, service, exit_event),
+          daemon=True
+        ))
+    except Exception:
+      cloudlog.exception(f"Error initializing {service} sensor")
+
+  try:
+    for t in threads:
+      t.start()
+    while any(t.is_alive() for t in threads):
+      time.sleep(1)
+  except KeyboardInterrupt:
+    pass
+  finally:
+    exit_event.set()
+    for t in threads:
+      if t.is_alive():
+        t.join()
+
+    for sensor, _, _ in sensors_cfg:
+      try:
+        sensor.shutdown()
+      except Exception:
+        cloudlog.exception("Error shutting down sensor")
+
+if __name__ == "__main__":
+  main()
diff --git a/system/sensord/sensors/__init__.py b/system/sensord/sensors/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/system/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc
deleted file mode 100644
index bcc31e1d6c..0000000000
--- a/system/sensord/sensors/bmx055_accel.cc
+++ /dev/null
@@ -1,85 +0,0 @@
-#include "system/sensord/sensors/bmx055_accel.h"
-
-#include <cassert>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {}
-
-int BMX055_Accel::init() {
-  int ret = verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID});
-  if (ret == -1) {
-    goto fail;
-  }
-
-  ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // bmx055 accel has a 1.3ms wakeup time from deep suspend mode
-  util::sleep_for(10);
-
-  // High bandwidth
-  // ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_ENABLE);
-  // if (ret < 0) {
-  //   goto fail;
-  // }
-
-  // Low bandwidth
-  ret = set_register(BMX055_ACCEL_I2C_REG_HBW, BMX055_ACCEL_HBW_DISABLE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  ret = set_register(BMX055_ACCEL_I2C_REG_BW, BMX055_ACCEL_BW_125HZ);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  enabled = true;
-
-fail:
-  return ret;
-}
-
-int BMX055_Accel::shutdown()  {
-  if (!enabled) return 0;
-
-  // enter deep suspend mode (lowest power mode)
-  int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND);
-  if (ret < 0) {
-    LOGE("Could not move BMX055 ACCEL in deep suspend mode!");
-  }
-
-  return ret;
-}
-
-bool BMX055_Accel::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[6];
-  int len = read_register(BMX055_ACCEL_I2C_REG_X_LSB, buffer, sizeof(buffer));
-  assert(len == 6);
-
-  // 12 bit = +-2g
-  float scale = 9.81 * 2.0f / (1 << 11);
-  float x = -read_12_bit(buffer[0], buffer[1]) * scale;
-  float y = -read_12_bit(buffer[2], buffer[3]) * scale;
-  float z = read_12_bit(buffer[4], buffer[5]) * scale;
-
-  auto event = msg.initEvent().initAccelerometer2();
-  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-  event.setVersion(1);
-  event.setSensor(SENSOR_ACCELEROMETER);
-  event.setType(SENSOR_TYPE_ACCELEROMETER);
-  event.setTimestamp(start_time);
-
-  float xyz[] = {x, y, z};
-  auto svec = event.initAcceleration();
-  svec.setV(xyz);
-  svec.setStatus(true);
-
-  return true;
-}
diff --git a/system/sensord/sensors/bmx055_accel.h b/system/sensord/sensors/bmx055_accel.h
deleted file mode 100644
index 2cc316e992..0000000000
--- a/system/sensord/sensors/bmx055_accel.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define BMX055_ACCEL_I2C_ADDR       0x18
-
-// Registers of the chip
-#define BMX055_ACCEL_I2C_REG_ID     0x00
-#define BMX055_ACCEL_I2C_REG_X_LSB  0x02
-#define BMX055_ACCEL_I2C_REG_TEMP   0x08
-#define BMX055_ACCEL_I2C_REG_BW     0x10
-#define BMX055_ACCEL_I2C_REG_PMU    0x11
-#define BMX055_ACCEL_I2C_REG_HBW    0x13
-#define BMX055_ACCEL_I2C_REG_FIFO   0x3F
-
-// Constants
-#define BMX055_ACCEL_CHIP_ID        0xFA
-
-#define BMX055_ACCEL_HBW_ENABLE       0b10000000
-#define BMX055_ACCEL_HBW_DISABLE      0b00000000
-#define BMX055_ACCEL_DEEP_SUSPEND     0b00100000
-#define BMX055_ACCEL_NORMAL_MODE      0b00000000
-
-#define BMX055_ACCEL_BW_7_81HZ  0b01000
-#define BMX055_ACCEL_BW_15_63HZ 0b01001
-#define BMX055_ACCEL_BW_31_25HZ 0b01010
-#define BMX055_ACCEL_BW_62_5HZ  0b01011
-#define BMX055_ACCEL_BW_125HZ   0b01100
-#define BMX055_ACCEL_BW_250HZ   0b01101
-#define BMX055_ACCEL_BW_500HZ   0b01110
-#define BMX055_ACCEL_BW_1000HZ  0b01111
-
-class BMX055_Accel : public I2CSensor {
-  uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
-public:
-  BMX055_Accel(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};
diff --git a/system/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc
deleted file mode 100644
index 0cc405f654..0000000000
--- a/system/sensord/sensors/bmx055_gyro.cc
+++ /dev/null
@@ -1,92 +0,0 @@
-#include "system/sensord/sensors/bmx055_gyro.h"
-
-#include <cassert>
-#include <cmath>
-
-#include "common/swaglog.h"
-#include "common/util.h"
-
-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-
-
-BMX055_Gyro::BMX055_Gyro(I2CBus *bus) : I2CSensor(bus) {}
-
-int BMX055_Gyro::init() {
-  int ret = verify_chip_id(BMX055_GYRO_I2C_REG_ID, {BMX055_GYRO_CHIP_ID});
-  if (ret == -1) return -1;
-
-  ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_NORMAL_MODE);
-  if (ret < 0) {
-    goto fail;
-  }
-  // bmx055 gyro has a 30ms wakeup time from deep suspend mode
-  util::sleep_for(50);
-
-  // High bandwidth
-  // ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_ENABLE);
-  // if (ret < 0) {
-  //   goto fail;
-  // }
-
-  // Low bandwidth
-  ret = set_register(BMX055_GYRO_I2C_REG_HBW, BMX055_GYRO_HBW_DISABLE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // 116 Hz filter
-  ret = set_register(BMX055_GYRO_I2C_REG_BW, BMX055_GYRO_BW_116HZ);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // +- 125 deg/s range
-  ret = set_register(BMX055_GYRO_I2C_REG_RANGE, BMX055_GYRO_RANGE_125);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  enabled = true;
-
-fail:
-  return ret;
-}
-
-int BMX055_Gyro::shutdown()  {
-  if (!enabled) return 0;
-
-  // enter deep suspend mode (lowest power mode)
-  int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND);
-  if (ret < 0) {
-    LOGE("Could not move BMX055 GYRO in deep suspend mode!");
-  }
-
-  return ret;
-}
-
-bool BMX055_Gyro::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[6];
-  int len = read_register(BMX055_GYRO_I2C_REG_RATE_X_LSB, buffer, sizeof(buffer));
-  assert(len == 6);
-
-  // 16 bit = +- 125 deg/s
-  float scale = 125.0f / (1 << 15);
-  float x = -DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale);
-  float y = -DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale);
-  float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale);
-
-  auto event = msg.initEvent().initGyroscope2();
-  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-  event.setVersion(1);
-  event.setSensor(SENSOR_GYRO_UNCALIBRATED);
-  event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
-  event.setTimestamp(start_time);
-
-  float xyz[] = {x, y, z};
-  auto svec = event.initGyroUncalibrated();
-  svec.setV(xyz);
-  svec.setStatus(true);
-
-  return true;
-}
diff --git a/system/sensord/sensors/bmx055_gyro.h b/system/sensord/sensors/bmx055_gyro.h
deleted file mode 100644
index 7be3e56563..0000000000
--- a/system/sensord/sensors/bmx055_gyro.h
+++ /dev/null
@@ -1,41 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define BMX055_GYRO_I2C_ADDR        0x68
-
-// Registers of the chip
-#define BMX055_GYRO_I2C_REG_ID         0x00
-#define BMX055_GYRO_I2C_REG_RATE_X_LSB 0x02
-#define BMX055_GYRO_I2C_REG_RANGE      0x0F
-#define BMX055_GYRO_I2C_REG_BW         0x10
-#define BMX055_GYRO_I2C_REG_LPM1       0x11
-#define BMX055_GYRO_I2C_REG_HBW        0x13
-#define BMX055_GYRO_I2C_REG_FIFO       0x3F
-
-// Constants
-#define BMX055_GYRO_CHIP_ID         0x0F
-
-#define BMX055_GYRO_HBW_ENABLE       0b10000000
-#define BMX055_GYRO_HBW_DISABLE      0b00000000
-#define BMX055_GYRO_DEEP_SUSPEND     0b00100000
-#define BMX055_GYRO_NORMAL_MODE      0b00000000
-
-#define BMX055_GYRO_RANGE_2000      0b000
-#define BMX055_GYRO_RANGE_1000      0b001
-#define BMX055_GYRO_RANGE_500       0b010
-#define BMX055_GYRO_RANGE_250       0b011
-#define BMX055_GYRO_RANGE_125       0b100
-
-#define BMX055_GYRO_BW_116HZ 0b0010
-
-
-class BMX055_Gyro : public I2CSensor {
-  uint8_t get_device_address() {return BMX055_GYRO_I2C_ADDR;}
-public:
-  BMX055_Gyro(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};
diff --git a/system/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc
deleted file mode 100644
index b498c5fe3d..0000000000
--- a/system/sensord/sensors/bmx055_magn.cc
+++ /dev/null
@@ -1,258 +0,0 @@
-#include "system/sensord/sensors/bmx055_magn.h"
-
-#include <unistd.h>
-
-#include <algorithm>
-#include <cassert>
-#include <cstdio>
-
-#include "common/swaglog.h"
-#include "common/util.h"
-
-static int16_t compensate_x(trim_data_t trim_data, int16_t mag_data_x, uint16_t data_rhall) {
-  uint16_t process_comp_x0 = data_rhall;
-  int32_t process_comp_x1 = ((int32_t)trim_data.dig_xyz1) * 16384;
-  uint16_t process_comp_x2 = ((uint16_t)(process_comp_x1 / process_comp_x0)) - ((uint16_t)0x4000);
-  int16_t retval = ((int16_t)process_comp_x2);
-  int32_t process_comp_x3 = (((int32_t)retval) * ((int32_t)retval));
-  int32_t process_comp_x4 = (((int32_t)trim_data.dig_xy2) * (process_comp_x3 / 128));
-  int32_t process_comp_x5 = (int32_t)(((int16_t)trim_data.dig_xy1) * 128);
-  int32_t process_comp_x6 = ((int32_t)retval) * process_comp_x5;
-  int32_t process_comp_x7 = (((process_comp_x4 + process_comp_x6) / 512) + ((int32_t)0x100000));
-  int32_t process_comp_x8 = ((int32_t)(((int16_t)trim_data.dig_x2) + ((int16_t)0xA0)));
-  int32_t process_comp_x9 = ((process_comp_x7 * process_comp_x8) / 4096);
-  int32_t process_comp_x10 = ((int32_t)mag_data_x) * process_comp_x9;
-  retval = ((int16_t)(process_comp_x10 / 8192));
-  retval = (retval + (((int16_t)trim_data.dig_x1) * 8)) / 16;
-
-  return retval;
-}
-
-static int16_t compensate_y(trim_data_t trim_data, int16_t mag_data_y, uint16_t data_rhall) {
-  uint16_t process_comp_y0 = trim_data.dig_xyz1;
-  int32_t process_comp_y1 = (((int32_t)trim_data.dig_xyz1) * 16384) / process_comp_y0;
-  uint16_t process_comp_y2 = ((uint16_t)process_comp_y1) - ((uint16_t)0x4000);
-  int16_t retval = ((int16_t)process_comp_y2);
-  int32_t process_comp_y3 = ((int32_t) retval) * ((int32_t)retval);
-  int32_t process_comp_y4 = ((int32_t)trim_data.dig_xy2) * (process_comp_y3 / 128);
-  int32_t process_comp_y5 = ((int32_t)(((int16_t)trim_data.dig_xy1) * 128));
-  int32_t process_comp_y6 = ((process_comp_y4 + (((int32_t)retval) * process_comp_y5)) / 512);
-  int32_t process_comp_y7 = ((int32_t)(((int16_t)trim_data.dig_y2) + ((int16_t)0xA0)));
-  int32_t process_comp_y8 = (((process_comp_y6 + ((int32_t)0x100000)) * process_comp_y7) / 4096);
-  int32_t process_comp_y9 = (((int32_t)mag_data_y) * process_comp_y8);
-  retval = (int16_t)(process_comp_y9 / 8192);
-  retval = (retval + (((int16_t)trim_data.dig_y1) * 8)) / 16;
-
-  return retval;
-}
-
-static int16_t compensate_z(trim_data_t trim_data, int16_t mag_data_z, uint16_t data_rhall) {
-  int16_t process_comp_z0 = ((int16_t)data_rhall) - ((int16_t) trim_data.dig_xyz1);
-  int32_t process_comp_z1 = (((int32_t)trim_data.dig_z3) * ((int32_t)(process_comp_z0))) / 4;
-  int32_t process_comp_z2 = (((int32_t)(mag_data_z - trim_data.dig_z4)) * 32768);
-  int32_t process_comp_z3 = ((int32_t)trim_data.dig_z1) * (((int16_t)data_rhall) * 2);
-  int16_t process_comp_z4 = (int16_t)((process_comp_z3 + (32768)) / 65536);
-  int32_t retval = ((process_comp_z2 - process_comp_z1) / (trim_data.dig_z2 + process_comp_z4));
-
-  /* saturate result to +/- 2 micro-tesla */
-  retval = std::clamp(retval, -32767, 32767);
-
-  /* Conversion of LSB to micro-tesla*/
-  retval = retval / 16;
-
-  return (int16_t)retval;
-}
-
-BMX055_Magn::BMX055_Magn(I2CBus *bus) : I2CSensor(bus) {}
-
-int BMX055_Magn::init() {
-  uint8_t trim_x1y1[2] = {0};
-  uint8_t trim_x2y2[2] = {0};
-  uint8_t trim_xy1xy2[2] = {0};
-  uint8_t trim_z1[2] = {0};
-  uint8_t trim_z2[2] = {0};
-  uint8_t trim_z3[2] = {0};
-  uint8_t trim_z4[2] = {0};
-  uint8_t trim_xyz1[2] = {0};
-
-  // suspend -> sleep
-  int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
-  if (ret < 0) {
-    LOGD("Enabling power failed: %d", ret);
-    goto fail;
-  }
-  util::sleep_for(5); // wait until the chip is powered on
-
-  ret = verify_chip_id(BMX055_MAGN_I2C_REG_ID, {BMX055_MAGN_CHIP_ID});
-  if (ret == -1) {
-    goto fail;
-  }
-
-  // Load magnetometer trim
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_X2, trim_x2y2, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_XY2, trim_xy1xy2, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z1_LSB, trim_z1, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2_LSB, trim_z2, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z3_LSB, trim_z3, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4_LSB, trim_z4, 2);
-  if (ret < 0) goto fail;
-  ret = read_register(BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB, trim_xyz1, 2);
-  if (ret < 0) goto fail;
-
-  // Read trim data
-  trim_data.dig_x1 = trim_x1y1[0];
-  trim_data.dig_y1 = trim_x1y1[1];
-
-  trim_data.dig_x2 = trim_x2y2[0];
-  trim_data.dig_y2 = trim_x2y2[1];
-
-  trim_data.dig_xy1 = trim_xy1xy2[1]; // NB: MSB/LSB swapped
-  trim_data.dig_xy2 = trim_xy1xy2[0];
-
-  trim_data.dig_z1 = read_16_bit(trim_z1[0], trim_z1[1]);
-  trim_data.dig_z2 = read_16_bit(trim_z2[0], trim_z2[1]);
-  trim_data.dig_z3 = read_16_bit(trim_z3[0], trim_z3[1]);
-  trim_data.dig_z4 = read_16_bit(trim_z4[0], trim_z4[1]);
-
-  trim_data.dig_xyz1 = read_16_bit(trim_xyz1[0], trim_xyz1[1] & 0x7f);
-  assert(trim_data.dig_xyz1 != 0);
-
-  perform_self_test();
-
-  // f_max = 1 / (145us * nXY + 500us * NZ + 980us)
-  // Chose NXY = 7, NZ = 12, which gives 125 Hz,
-  // and has the same ratio as the high accuracy preset
-  ret = set_register(BMX055_MAGN_I2C_REG_REPXY, (7 - 1) / 2);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  ret = set_register(BMX055_MAGN_I2C_REG_REPZ, 12 - 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  enabled = true;
-  return 0;
-
- fail:
-  return ret;
-}
-
-int BMX055_Magn::shutdown() {
-  if (!enabled) return 0;
-
-  // move to suspend mode
-  int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0);
-  if (ret < 0) {
-    LOGE("Could not move BMX055 MAGN in suspend mode!");
-  }
-
-  return ret;
-}
-
-bool BMX055_Magn::perform_self_test() {
-  uint8_t buffer[8];
-  int16_t x, y;
-  int16_t neg_z, pos_z;
-
-  // Increase z reps for less false positives (~30 Hz ODR)
-  set_register(BMX055_MAGN_I2C_REG_REPXY, 1);
-  set_register(BMX055_MAGN_I2C_REG_REPZ, 64 - 1);
-
-  // Clean existing measurement
-  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-
-  uint8_t forced = BMX055_MAGN_FORCED;
-
-  // Negative current
-  set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6));
-  util::sleep_for(100);
-
-  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-  parse_xyz(buffer, &x, &y, &neg_z);
-
-  // Positive current
-  set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6));
-  util::sleep_for(100);
-
-  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-  parse_xyz(buffer, &x, &y, &pos_z);
-
-  // Put back in normal mode
-  set_register(BMX055_MAGN_I2C_REG_MAG, 0);
-
-  int16_t diff = pos_z - neg_z;
-  bool passed = (diff > 180) && (diff < 240);
-
-  if (!passed) {
-    LOGE("self test failed: neg %d pos %d diff %d", neg_z, pos_z, diff);
-  }
-
-  return passed;
-}
-
-bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z) {
-  bool ready = buffer[6] & 0x1;
-  if (ready) {
-    int16_t mdata_x = (int16_t) (((int16_t)buffer[1] << 8) | buffer[0]) >> 3;
-    int16_t mdata_y = (int16_t) (((int16_t)buffer[3] << 8) | buffer[2]) >> 3;
-    int16_t mdata_z = (int16_t) (((int16_t)buffer[5] << 8) | buffer[4]) >> 1;
-    uint16_t data_r = (uint16_t) (((uint16_t)buffer[7] << 8) | buffer[6]) >> 2;
-    assert(data_r != 0);
-
-    *x = compensate_x(trim_data, mdata_x, data_r);
-    *y = compensate_y(trim_data, mdata_y, data_r);
-    *z = compensate_z(trim_data, mdata_z, data_r);
-  }
-  return ready;
-}
-
-
-bool BMX055_Magn::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[8];
-  int16_t _x, _y, x, y, z;
-
-  int len = read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  bool parsed = parse_xyz(buffer, &_x, &_y, &z);
-  if (parsed) {
-
-    auto event = msg.initEvent().initMagnetometer();
-    event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-    event.setVersion(2);
-    event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
-    event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
-    event.setTimestamp(start_time);
-
-    // Move magnetometer into same reference frame as accel/gryo
-    x = -_y;
-    y = _x;
-
-    // Axis convention
-    x = -x;
-    y = -y;
-
-    float xyz[] = {(float)x, (float)y, (float)z};
-    auto svec = event.initMagneticUncalibrated();
-    svec.setV(xyz);
-    svec.setStatus(true);
-  }
-
-  // The BMX055 Magnetometer has no FIFO mode. Self running mode only goes
-  // up to 30 Hz. Therefore we put in forced mode, and request measurements
-  // at a 100 Hz. When reading the registers we have to check the ready bit
-  // To verify the measurement was completed this cycle.
-  set_register(BMX055_MAGN_I2C_REG_MAG, BMX055_MAGN_FORCED);
-
-  return parsed;
-}
diff --git a/system/sensord/sensors/bmx055_magn.h b/system/sensord/sensors/bmx055_magn.h
deleted file mode 100644
index 15c4e734b9..0000000000
--- a/system/sensord/sensors/bmx055_magn.h
+++ /dev/null
@@ -1,64 +0,0 @@
-#pragma once
-#include <tuple>
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define BMX055_MAGN_I2C_ADDR        0x10
-
-// Registers of the chip
-#define BMX055_MAGN_I2C_REG_ID        0x40
-#define BMX055_MAGN_I2C_REG_PWR_0     0x4B
-#define BMX055_MAGN_I2C_REG_MAG       0x4C
-#define BMX055_MAGN_I2C_REG_DATAX_LSB 0x42
-#define BMX055_MAGN_I2C_REG_RHALL_LSB 0x48
-#define BMX055_MAGN_I2C_REG_REPXY     0x51
-#define BMX055_MAGN_I2C_REG_REPZ      0x52
-
-#define BMX055_MAGN_I2C_REG_DIG_X1       0x5D
-#define BMX055_MAGN_I2C_REG_DIG_Y1       0x5E
-#define BMX055_MAGN_I2C_REG_DIG_Z4_LSB   0x62
-#define BMX055_MAGN_I2C_REG_DIG_Z4_MSB   0x63
-#define BMX055_MAGN_I2C_REG_DIG_X2       0x64
-#define BMX055_MAGN_I2C_REG_DIG_Y2       0x65
-#define BMX055_MAGN_I2C_REG_DIG_Z2_LSB   0x68
-#define BMX055_MAGN_I2C_REG_DIG_Z2_MSB   0x69
-#define BMX055_MAGN_I2C_REG_DIG_Z1_LSB   0x6A
-#define BMX055_MAGN_I2C_REG_DIG_Z1_MSB   0x6B
-#define BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB 0x6C
-#define BMX055_MAGN_I2C_REG_DIG_XYZ1_MSB 0x6D
-#define BMX055_MAGN_I2C_REG_DIG_Z3_LSB   0x6E
-#define BMX055_MAGN_I2C_REG_DIG_Z3_MSB   0x6F
-#define BMX055_MAGN_I2C_REG_DIG_XY2      0x70
-#define BMX055_MAGN_I2C_REG_DIG_XY1      0x71
-
-// Constants
-#define BMX055_MAGN_CHIP_ID     0x32
-#define BMX055_MAGN_FORCED      (0b01 << 1)
-
-struct trim_data_t {
-    int8_t dig_x1;
-    int8_t dig_y1;
-    int8_t dig_x2;
-    int8_t dig_y2;
-    uint16_t dig_z1;
-    int16_t dig_z2;
-    int16_t dig_z3;
-    int16_t dig_z4;
-    uint8_t dig_xy1;
-    int8_t dig_xy2;
-    uint16_t dig_xyz1;
-};
-
-
-class BMX055_Magn : public I2CSensor{
-  uint8_t get_device_address() {return BMX055_MAGN_I2C_ADDR;}
-  trim_data_t trim_data = {0};
-  bool perform_self_test();
-  bool parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *z);
-public:
-  BMX055_Magn(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};
diff --git a/system/sensord/sensors/bmx055_temp.cc b/system/sensord/sensors/bmx055_temp.cc
deleted file mode 100644
index da7b86476c..0000000000
--- a/system/sensord/sensors/bmx055_temp.cc
+++ /dev/null
@@ -1,31 +0,0 @@
-#include "system/sensord/sensors/bmx055_temp.h"
-
-#include <cassert>
-
-#include "system/sensord/sensors/bmx055_accel.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-
-BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}
-
-int BMX055_Temp::init() {
-  return verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}) == -1 ? -1 : 0;
-}
-
-bool BMX055_Temp::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[1];
-  int len = read_register(BMX055_ACCEL_I2C_REG_TEMP, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  float temp = 23.0f + int8_t(buffer[0]) / 2.0f;
-
-  auto event = msg.initEvent().initTemperatureSensor();
-  event.setSource(cereal::SensorEventData::SensorSource::BMX055);
-  event.setVersion(1);
-  event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
-  event.setTimestamp(start_time);
-  event.setTemperature(temp);
-
-  return true;
-}
diff --git a/system/sensord/sensors/bmx055_temp.h b/system/sensord/sensors/bmx055_temp.h
deleted file mode 100644
index a2eabae395..0000000000
--- a/system/sensord/sensors/bmx055_temp.h
+++ /dev/null
@@ -1,13 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/bmx055_accel.h"
-#include "system/sensord/sensors/i2c_sensor.h"
-
-class BMX055_Temp : public I2CSensor {
-  uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
-public:
-  BMX055_Temp(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown() { return 0; }
-};
diff --git a/system/sensord/sensors/constants.h b/system/sensord/sensors/constants.h
deleted file mode 100644
index c216f838a5..0000000000
--- a/system/sensord/sensors/constants.h
+++ /dev/null
@@ -1,18 +0,0 @@
-#pragma once
-
-
-#define SENSOR_ACCELEROMETER 1
-#define SENSOR_MAGNETOMETER 2
-#define SENSOR_MAGNETOMETER_UNCALIBRATED 3
-#define SENSOR_GYRO 4
-#define SENSOR_GYRO_UNCALIBRATED 5
-#define SENSOR_LIGHT 7
-
-#define SENSOR_TYPE_ACCELEROMETER 1
-#define SENSOR_TYPE_GEOMAGNETIC_FIELD 2
-#define SENSOR_TYPE_GYROSCOPE 4
-#define SENSOR_TYPE_LIGHT 5
-#define SENSOR_TYPE_AMBIENT_TEMPERATURE 13
-#define SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED 14
-#define SENSOR_TYPE_MAGNETIC_FIELD  SENSOR_TYPE_GEOMAGNETIC_FIELD
-#define SENSOR_TYPE_GYROSCOPE_UNCALIBRATED 16
diff --git a/system/sensord/sensors/i2c_sensor.cc b/system/sensord/sensors/i2c_sensor.cc
deleted file mode 100644
index 90220f551d..0000000000
--- a/system/sensord/sensors/i2c_sensor.cc
+++ /dev/null
@@ -1,50 +0,0 @@
-#include "system/sensord/sensors/i2c_sensor.h"
-
-int16_t read_12_bit(uint8_t lsb, uint8_t msb) {
-  uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb & 0xF0);
-  return int16_t(combined) / (1 << 4);
-}
-
-int16_t read_16_bit(uint8_t lsb, uint8_t msb) {
-  uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb);
-  return int16_t(combined);
-}
-
-int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0) {
-  uint32_t combined = (uint32_t(b0) << 16) | (uint32_t(b1) << 8) | uint32_t(b2);
-  return int32_t(combined) / (1 << 4);
-}
-
-I2CSensor::I2CSensor(I2CBus *bus, int gpio_nr, bool shared_gpio) :
-  bus(bus), gpio_nr(gpio_nr), shared_gpio(shared_gpio) {}
-
-I2CSensor::~I2CSensor() {
-  if (gpio_fd != -1) {
-    close(gpio_fd);
-  }
-}
-
-int I2CSensor::read_register(uint register_address, uint8_t *buffer, uint8_t len) {
-  return bus->read_register(get_device_address(), register_address, buffer, len);
-}
-
-int I2CSensor::set_register(uint register_address, uint8_t data) {
-  return bus->set_register(get_device_address(), register_address, data);
-}
-
-int I2CSensor::init_gpio() {
-  if (shared_gpio || gpio_nr == 0) {
-    return 0;
-  }
-
-  gpio_fd = gpiochip_get_ro_value_fd("sensord", GPIOCHIP_INT, gpio_nr);
-  if (gpio_fd < 0) {
-    return -1;
-  }
-
-  return 0;
-}
-
-bool I2CSensor::has_interrupt_enabled() {
-  return gpio_nr != 0;
-}
diff --git a/system/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h
deleted file mode 100644
index e6d328ce72..0000000000
--- a/system/sensord/sensors/i2c_sensor.h
+++ /dev/null
@@ -1,51 +0,0 @@
-#pragma once
-
-#include <cstdint>
-#include <unistd.h>
-#include <vector>
-#include "cereal/gen/cpp/log.capnp.h"
-
-#include "common/i2c.h"
-#include "common/gpio.h"
-
-#include "common/swaglog.h"
-#include "system/sensord/sensors/constants.h"
-#include "system/sensord/sensors/sensor.h"
-
-int16_t read_12_bit(uint8_t lsb, uint8_t msb);
-int16_t read_16_bit(uint8_t lsb, uint8_t msb);
-int32_t read_20_bit(uint8_t b2, uint8_t b1, uint8_t b0);
-
-
-class I2CSensor : public Sensor {
-private:
-  I2CBus *bus;
-  int gpio_nr;
-  bool shared_gpio;
-  virtual uint8_t get_device_address() = 0;
-
-public:
-  I2CSensor(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
-  ~I2CSensor();
-  int read_register(uint register_address, uint8_t *buffer, uint8_t len);
-  int set_register(uint register_address, uint8_t data);
-  int init_gpio();
-  bool has_interrupt_enabled();
-  virtual int init() = 0;
-  virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
-  virtual int shutdown() = 0;
-
-  int verify_chip_id(uint8_t address, const std::vector<uint8_t> &expected_ids) {
-    uint8_t chip_id = 0;
-    int ret = read_register(address, &chip_id, 1);
-    if (ret < 0) {
-      LOGD("Reading chip ID failed: %d", ret);
-      return -1;
-    }
-    for (int i = 0; i < expected_ids.size(); ++i) {
-      if (chip_id == expected_ids[i]) return chip_id;
-    }
-    LOGE("Chip ID wrong. Got: %d, Expected %d", chip_id, expected_ids[0]);
-    return -1;
-  }
-};
diff --git a/system/sensord/sensors/i2c_sensor.py b/system/sensord/sensors/i2c_sensor.py
new file mode 100644
index 0000000000..0e15a6622b
--- /dev/null
+++ b/system/sensord/sensors/i2c_sensor.py
@@ -0,0 +1,72 @@
+import time
+import smbus2
+import ctypes
+from collections.abc import Iterable
+
+from cereal import log
+
+class Sensor:
+  class SensorException(Exception):
+    pass
+
+  class DataNotReady(SensorException):
+    pass
+
+  def __init__(self, bus: int) -> None:
+    self.bus = smbus2.SMBus(bus)
+    self.source = log.SensorEventData.SensorSource.velodyne  # unknown
+    self.start_ts = 0.
+
+  def __del__(self):
+    self.bus.close()
+
+  def read(self, addr: int, length: int) -> bytes:
+    return bytes(self.bus.read_i2c_block_data(self.device_address, addr, length))
+
+  def write(self, addr: int, data: int) -> None:
+    self.bus.write_byte_data(self.device_address, addr, data)
+
+  def writes(self, writes: Iterable[tuple[int, int]]) -> None:
+    for addr, data in writes:
+      self.write(addr, data)
+
+  def verify_chip_id(self, address: int, expected_ids: list[int]) -> int:
+    chip_id = self.read(address, 1)[0]
+    assert chip_id in expected_ids
+    return chip_id
+
+  # Abstract methods that must be implemented by subclasses
+  @property
+  def device_address(self) -> int:
+    raise NotImplementedError
+
+  def init(self) -> None:
+    raise NotImplementedError
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    raise NotImplementedError
+
+  def shutdown(self) -> None:
+    raise NotImplementedError
+
+  def is_data_valid(self) -> bool:
+    if self.start_ts == 0:
+      self.start_ts = time.monotonic()
+
+    # unclear whether we need this...
+    return (time.monotonic() - self.start_ts) > 0.5
+
+  # *** helpers ***
+  @staticmethod
+  def wait():
+    # a standard small sleep
+    time.sleep(0.005)
+
+  @staticmethod
+  def parse_16bit(lsb: int, msb: int) -> int:
+    return ctypes.c_int16((msb << 8) | lsb).value
+
+  @staticmethod
+  def parse_20bit(b2: int, b1: int, b0: int) -> int:
+    combined = ctypes.c_uint32((b0 << 16) | (b1 << 8) | b2).value
+    return ctypes.c_int32(combined).value // (1 << 4)
diff --git a/system/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc
deleted file mode 100644
index 03533e0657..0000000000
--- a/system/sensord/sensors/lsm6ds3_accel.cc
+++ /dev/null
@@ -1,250 +0,0 @@
-#include "system/sensord/sensors/lsm6ds3_accel.h"
-
-#include <cassert>
-#include <cmath>
-#include <cstring>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-LSM6DS3_Accel::LSM6DS3_Accel(I2CBus *bus, int gpio_nr, bool shared_gpio) :
-  I2CSensor(bus, gpio_nr, shared_gpio) {}
-
-void LSM6DS3_Accel::wait_for_data_ready() {
-  uint8_t drdy = 0;
-  uint8_t buffer[6];
-
-  do {
-    read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
-    drdy &= LSM6DS3_ACCEL_DRDY_XLDA;
-  } while (drdy == 0);
-
-  read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
-}
-
-void LSM6DS3_Accel::read_and_avg_data(float* out_buf) {
-  uint8_t drdy = 0;
-  uint8_t buffer[6];
-
-  float scaling = 0.061f;
-  if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) {
-    scaling = 0.122f;
-  }
-
-  for (int i = 0; i < 5; i++) {
-    do {
-      read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
-      drdy &= LSM6DS3_ACCEL_DRDY_XLDA;
-    } while (drdy == 0);
-
-    int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
-    assert(len == sizeof(buffer));
-
-    for (int j = 0; j < 3; j++) {
-      out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * scaling;
-    }
-  }
-
-  for (int i = 0; i < 3; i++) {
-    out_buf[i] /= 5.0f;
-  }
-}
-
-int LSM6DS3_Accel::self_test(int test_type) {
-  float val_st_off[3] = {0};
-  float val_st_on[3] = {0};
-  float test_val[3] = {0};
-  uint8_t ODR_FS_MO = LSM6DS3_ACCEL_ODR_52HZ; // full scale: +-2g, ODR: 52Hz
-
-  // prepare sensor for self-test
-
-  // enable block data update and automatic increment
-  int ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC_BDU);
-  if (ret < 0) {
-    return ret;
-  }
-
-  if (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) {
-    ODR_FS_MO = LSM6DS3_ACCEL_FS_4G | LSM6DS3_ACCEL_ODR_52HZ;
-  }
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, ODR_FS_MO);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // wait for stable output, and discard first values
-  util::sleep_for(100);
-  wait_for_data_ready();
-  read_and_avg_data(val_st_off);
-
-  // enable Self Test positive (or negative)
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, test_type);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // wait for stable output, and discard first values
-  util::sleep_for(100);
-  wait_for_data_ready();
-  read_and_avg_data(val_st_on);
-
-  // disable sensor
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 0);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // disable self test
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL5_C, 0);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // calculate the mg values for self test
-  for (int i = 0; i < 3; i++) {
-    test_val[i] = fabs(val_st_on[i] - val_st_off[i]);
-  }
-
-  // verify test result
-  for (int i = 0; i < 3; i++) {
-    if ((LSM6DS3_ACCEL_MIN_ST_LIMIT_mg > test_val[i]) ||
-        (test_val[i] > LSM6DS3_ACCEL_MAX_ST_LIMIT_mg)) {
-      return -1;
-    }
-  }
-
-  return ret;
-}
-
-int LSM6DS3_Accel::init() {
-  uint8_t value = 0;
-  bool do_self_test = false;
-
-  const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST");
-  if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) {
-    do_self_test = true;
-  }
-
-  int ret = verify_chip_id(LSM6DS3_ACCEL_I2C_REG_ID, {LSM6DS3_ACCEL_CHIP_ID, LSM6DS3TRC_ACCEL_CHIP_ID});
-  if (ret == -1) return -1;
-
-  if (ret == LSM6DS3TRC_ACCEL_CHIP_ID) {
-    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
-  }
-
-  ret = self_test(LSM6DS3_ACCEL_POSITIVE_TEST);
-  if (ret < 0) {
-    LOGE("LSM6DS3 accel positive self-test failed!");
-    if (do_self_test) goto fail;
-  }
-
-  ret = self_test(LSM6DS3_ACCEL_NEGATIVE_TEST);
-  if (ret < 0) {
-    LOGE("LSM6DS3 accel negative self-test failed!");
-    if (do_self_test) goto fail;
-  }
-
-  ret = init_gpio();
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // enable continuous update, and automatic increase
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL3_C, LSM6DS3_ACCEL_IF_INC);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // TODO: set scale and bandwidth. Default is +- 2G, 50 Hz
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, LSM6DS3_ACCEL_ODR_104HZ);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_DRDY_CFG, LSM6DS3_ACCEL_DRDY_PULSE_MODE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // enable data ready interrupt for accel on INT1
-  // (without resetting existing interrupts)
-  ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value |= LSM6DS3_ACCEL_INT1_DRDY_XL;
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value);
-
-fail:
-  return ret;
-}
-
-int LSM6DS3_Accel::shutdown() {
-  int ret = 0;
-
-  // disable data ready interrupt for accel on INT1
-  uint8_t value = 0;
-  ret = read_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL);
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value);
-  if (ret < 0) {
-    LOGE("Could not disable lsm6ds3 acceleration interrupt!");
-    goto fail;
-  }
-
-  // enable power-down mode
-  value = 0;
-  ret = read_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value &= 0x0F;
-  ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value);
-  if (ret < 0) {
-    LOGE("Could not power-down lsm6ds3 accelerometer!");
-    goto fail;
-  }
-
-fail:
-  return ret;
-}
-
-bool LSM6DS3_Accel::get_event(MessageBuilder &msg, uint64_t ts) {
-
-  // INT1 shared with gyro, check STATUS_REG who triggered
-  uint8_t status_reg = 0;
-  read_register(LSM6DS3_ACCEL_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg));
-  if ((status_reg & LSM6DS3_ACCEL_DRDY_XLDA) == 0) {
-    return false;
-  }
-
-  uint8_t buffer[6];
-  int len = read_register(LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  float scale = 9.81 * 2.0f / (1 << 15);
-  float x = read_16_bit(buffer[0], buffer[1]) * scale;
-  float y = read_16_bit(buffer[2], buffer[3]) * scale;
-  float z = read_16_bit(buffer[4], buffer[5]) * scale;
-
-  auto event = msg.initEvent().initAccelerometer();
-  event.setSource(source);
-  event.setVersion(1);
-  event.setSensor(SENSOR_ACCELEROMETER);
-  event.setType(SENSOR_TYPE_ACCELEROMETER);
-  event.setTimestamp(ts);
-
-  float xyz[] = {y, -x, z};
-  auto svec = event.initAcceleration();
-  svec.setV(xyz);
-  svec.setStatus(true);
-
-  return true;
-}
diff --git a/system/sensord/sensors/lsm6ds3_accel.h b/system/sensord/sensors/lsm6ds3_accel.h
deleted file mode 100644
index 69667cb759..0000000000
--- a/system/sensord/sensors/lsm6ds3_accel.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define LSM6DS3_ACCEL_I2C_ADDR       0x6A
-
-// Registers of the chip
-#define LSM6DS3_ACCEL_I2C_REG_DRDY_CFG  0x0B
-#define LSM6DS3_ACCEL_I2C_REG_ID        0x0F
-#define LSM6DS3_ACCEL_I2C_REG_INT1_CTRL 0x0D
-#define LSM6DS3_ACCEL_I2C_REG_CTRL1_XL  0x10
-#define LSM6DS3_ACCEL_I2C_REG_CTRL3_C   0x12
-#define LSM6DS3_ACCEL_I2C_REG_CTRL5_C   0x14
-#define LSM6DS3_ACCEL_I2C_REG_CTR9_XL   0x18
-#define LSM6DS3_ACCEL_I2C_REG_STAT_REG  0x1E
-#define LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL 0x28
-
-// Constants
-#define LSM6DS3_ACCEL_CHIP_ID         0x69
-#define LSM6DS3TRC_ACCEL_CHIP_ID      0x6A
-#define LSM6DS3_ACCEL_FS_4G           (0b10 << 2)
-#define LSM6DS3_ACCEL_ODR_52HZ        (0b0011 << 4)
-#define LSM6DS3_ACCEL_ODR_104HZ       (0b0100 << 4)
-#define LSM6DS3_ACCEL_INT1_DRDY_XL    0b1
-#define LSM6DS3_ACCEL_DRDY_XLDA       0b1
-#define LSM6DS3_ACCEL_DRDY_PULSE_MODE (1 << 7)
-#define LSM6DS3_ACCEL_IF_INC          0b00000100
-#define LSM6DS3_ACCEL_IF_INC_BDU      0b01000100
-#define LSM6DS3_ACCEL_XYZ_DEN         0b11100000
-#define LSM6DS3_ACCEL_POSITIVE_TEST   0b01
-#define LSM6DS3_ACCEL_NEGATIVE_TEST   0b10
-#define LSM6DS3_ACCEL_MIN_ST_LIMIT_mg 90.0f
-#define LSM6DS3_ACCEL_MAX_ST_LIMIT_mg 1700.0f
-
-class LSM6DS3_Accel : public I2CSensor {
-  uint8_t get_device_address() {return LSM6DS3_ACCEL_I2C_ADDR;}
-  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
-
-  // self test functions
-  int self_test(int test_type);
-  void wait_for_data_ready();
-  void read_and_avg_data(float* val_st_off);
-public:
-  LSM6DS3_Accel(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};
diff --git a/system/sensord/sensors/lsm6ds3_accel.py b/system/sensord/sensors/lsm6ds3_accel.py
new file mode 100644
index 0000000000..2d788fcbe2
--- /dev/null
+++ b/system/sensord/sensors/lsm6ds3_accel.py
@@ -0,0 +1,157 @@
+import os
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+class LSM6DS3_Accel(Sensor):
+  LSM6DS3_ACCEL_I2C_REG_DRDY_CFG  = 0x0B
+  LSM6DS3_ACCEL_I2C_REG_INT1_CTRL = 0x0D
+  LSM6DS3_ACCEL_I2C_REG_CTRL1_XL  = 0x10
+  LSM6DS3_ACCEL_I2C_REG_CTRL3_C   = 0x12
+  LSM6DS3_ACCEL_I2C_REG_CTRL5_C   = 0x14
+  LSM6DS3_ACCEL_I2C_REG_STAT_REG  = 0x1E
+  LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL = 0x28
+
+  LSM6DS3_ACCEL_ODR_104HZ       = (0b0100 << 4)
+  LSM6DS3_ACCEL_INT1_DRDY_XL    = 0b1
+  LSM6DS3_ACCEL_DRDY_XLDA       = 0b1
+  LSM6DS3_ACCEL_DRDY_PULSE_MODE = (1 << 7)
+  LSM6DS3_ACCEL_IF_INC          = 0b00000100
+
+  LSM6DS3_ACCEL_ODR_52HZ        = (0b0011 << 4)
+  LSM6DS3_ACCEL_FS_4G           = (0b10 << 2)
+  LSM6DS3_ACCEL_IF_INC_BDU      = 0b01000100
+  LSM6DS3_ACCEL_POSITIVE_TEST   = 0b01
+  LSM6DS3_ACCEL_NEGATIVE_TEST   = 0b10
+  LSM6DS3_ACCEL_MIN_ST_LIMIT_mg = 90.0
+  LSM6DS3_ACCEL_MAX_ST_LIMIT_mg = 1700.0
+
+  @property
+  def device_address(self) -> int:
+    return 0x6A
+
+  def init(self):
+    chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
+    if chip_id == 0x6A:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3trc
+    else:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3
+
+    # self-test
+    if os.getenv("LSM_SELF_TEST") == "1":
+      self.self_test(self.LSM6DS3_ACCEL_POSITIVE_TEST)
+      self.self_test(self.LSM6DS3_ACCEL_NEGATIVE_TEST)
+
+    # actual init
+    int1 = self.read(self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, 1)[0]
+    int1 |= self.LSM6DS3_ACCEL_INT1_DRDY_XL
+    self.writes((
+      # Enable continuous update and automatic address increment
+      (self.LSM6DS3_ACCEL_I2C_REG_CTRL3_C, self.LSM6DS3_ACCEL_IF_INC),
+      # Set ODR to 104 Hz, FS to ±2g (default)
+      (self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, self.LSM6DS3_ACCEL_ODR_104HZ),
+      # Configure data ready signal to pulse mode
+      (self.LSM6DS3_ACCEL_I2C_REG_DRDY_CFG, self.LSM6DS3_ACCEL_DRDY_PULSE_MODE),
+      # Enable data ready interrupt on INT1 without resetting existing interrupts
+      (self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, int1),
+    ))
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    assert ts is not None  # must come from the IRQ event
+
+    # Check if data is ready since IRQ is shared with gyro
+    status_reg = self.read(self.LSM6DS3_ACCEL_I2C_REG_STAT_REG, 1)[0]
+    if (status_reg & self.LSM6DS3_ACCEL_DRDY_XLDA) == 0:
+      raise self.DataNotReady
+
+    scale = 9.81 * 2.0 / (1 << 15)
+    b = self.read(self.LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, 6)
+    x = self.parse_16bit(b[0], b[1]) * scale
+    y = self.parse_16bit(b[2], b[3]) * scale
+    z = self.parse_16bit(b[4], b[5]) * scale
+
+    event = log.SensorEventData.new_message()
+    event.timestamp = ts
+    event.version = 1
+    event.sensor = 1  # SENSOR_ACCELEROMETER
+    event.type = 1    # SENSOR_TYPE_ACCELEROMETER
+    event.source = self.source
+    a = event.init('acceleration')
+    a.v = [y, -x, z]
+    a.status = 1
+    return event
+
+  def shutdown(self) -> None:
+    # Disable data ready interrupt on INT1
+    value = self.read(self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, 1)[0]
+    value &= ~self.LSM6DS3_ACCEL_INT1_DRDY_XL
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value)
+
+    # Power down by clearing ODR bits
+    value = self.read(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 1)[0]
+    value &= 0x0F
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value)
+
+  # *** self-test stuff ***
+  def _wait_for_data_ready(self):
+    while True:
+      drdy = self.read(self.LSM6DS3_ACCEL_I2C_REG_STAT_REG, 1)[0]
+      if drdy & self.LSM6DS3_ACCEL_DRDY_XLDA:
+        break
+
+  def _read_and_avg_data(self, scaling: float) -> list[float]:
+    out_buf = [0.0, 0.0, 0.0]
+    for _ in range(5):
+      self._wait_for_data_ready()
+      b = self.read(self.LSM6DS3_ACCEL_I2C_REG_OUTX_L_XL, 6)
+      for j in range(3):
+        val = self.parse_16bit(b[j*2], b[j*2+1]) * scaling
+        out_buf[j] += val
+    return [x / 5.0 for x in out_buf]
+
+  def self_test(self, test_type: int) -> None:
+    # Prepare sensor for self-test
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL3_C, self.LSM6DS3_ACCEL_IF_INC_BDU)
+
+    # Configure ODR and full scale based on sensor type
+    if self.source == log.SensorEventData.SensorSource.lsm6ds3trc:
+      odr_fs = self.LSM6DS3_ACCEL_FS_4G | self.LSM6DS3_ACCEL_ODR_52HZ
+      scaling = 0.122  # mg/LSB for ±4g
+    else:
+      odr_fs = self.LSM6DS3_ACCEL_ODR_52HZ
+      scaling = 0.061  # mg/LSB for ±2g
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, odr_fs)
+
+    # Wait for stable output
+    time.sleep(0.1)
+    self._wait_for_data_ready()
+    val_st_off = self._read_and_avg_data(scaling)
+
+    # Enable self-test
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL5_C, test_type)
+
+    # Wait for stable output
+    time.sleep(0.1)
+    self._wait_for_data_ready()
+    val_st_on = self._read_and_avg_data(scaling)
+
+    # Disable sensor and self-test
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, 0)
+    self.write(self.LSM6DS3_ACCEL_I2C_REG_CTRL5_C, 0)
+
+    # Calculate differences and check limits
+    test_val = [abs(on - off) for on, off in zip(val_st_on, val_st_off, strict=False)]
+    for val in test_val:
+      if val < self.LSM6DS3_ACCEL_MIN_ST_LIMIT_mg or val > self.LSM6DS3_ACCEL_MAX_ST_LIMIT_mg:
+        raise self.SensorException(f"Accelerometer self-test failed for test type {test_type}")
+
+if __name__ == "__main__":
+  import numpy as np
+  s = LSM6DS3_Accel(1)
+  s.init()
+  time.sleep(0.2)
+  e = s.get_event(0)
+  print(e)
+  print(np.linalg.norm(e.acceleration.v))
+  s.shutdown()
diff --git a/system/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc
deleted file mode 100644
index bb560edeab..0000000000
--- a/system/sensord/sensors/lsm6ds3_gyro.cc
+++ /dev/null
@@ -1,233 +0,0 @@
-#include "system/sensord/sensors/lsm6ds3_gyro.h"
-
-#include <cassert>
-#include <cmath>
-#include <cstring>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-
-LSM6DS3_Gyro::LSM6DS3_Gyro(I2CBus *bus, int gpio_nr, bool shared_gpio) :
-  I2CSensor(bus, gpio_nr, shared_gpio) {}
-
-void LSM6DS3_Gyro::wait_for_data_ready() {
-  uint8_t drdy = 0;
-  uint8_t buffer[6];
-
-  do {
-    read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
-    drdy &= LSM6DS3_GYRO_DRDY_GDA;
-  } while (drdy == 0);
-
-  read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
-}
-
-void LSM6DS3_Gyro::read_and_avg_data(float* out_buf) {
-  uint8_t drdy = 0;
-  uint8_t buffer[6];
-
-  for (int i = 0; i < 5; i++) {
-    do {
-      read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &drdy, sizeof(drdy));
-      drdy &= LSM6DS3_GYRO_DRDY_GDA;
-    } while (drdy == 0);
-
-    int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
-    assert(len == sizeof(buffer));
-
-    for (int j = 0; j < 3; j++) {
-      out_buf[j] += (float)read_16_bit(buffer[j*2], buffer[j*2+1]) * 70.0f;
-    }
-  }
-
-  // calculate the mg average values
-  for (int i = 0; i < 3; i++) {
-    out_buf[i] /= 5.0f;
-  }
-}
-
-int LSM6DS3_Gyro::self_test(int test_type) {
-  float val_st_off[3] = {0};
-  float val_st_on[3] = {0};
-  float test_val[3] = {0};
-
-  // prepare sensor for self-test
-
-  // full scale: 2000dps, ODR: 208Hz
-  int ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_208HZ | LSM6DS3_GYRO_FS_2000dps);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // wait for stable output, and discard first values
-  util::sleep_for(150);
-  wait_for_data_ready();
-  read_and_avg_data(val_st_off);
-
-  // enable Self Test positive (or negative)
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, test_type);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // wait for stable output, and discard first values
-  util::sleep_for(50);
-  wait_for_data_ready();
-  read_and_avg_data(val_st_on);
-
-  // disable sensor
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, 0);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // disable self test
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL5_C, 0);
-  if (ret < 0) {
-    return ret;
-  }
-
-  // calculate the mg values for self test
-  for (int i = 0; i < 3; i++) {
-    test_val[i] = fabs(val_st_on[i] - val_st_off[i]);
-  }
-
-  // verify test result
-  for (int i = 0; i < 3; i++) {
-    if ((LSM6DS3_GYRO_MIN_ST_LIMIT_mdps > test_val[i]) ||
-        (test_val[i] > LSM6DS3_GYRO_MAX_ST_LIMIT_mdps)) {
-      return -1;
-    }
-  }
-
-  return ret;
-}
-
-int LSM6DS3_Gyro::init() {
-  uint8_t value = 0;
-  bool do_self_test = false;
-
-  const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST");
-  if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) {
-    do_self_test = true;
-  }
-
-  int ret = verify_chip_id(LSM6DS3_GYRO_I2C_REG_ID, {LSM6DS3_GYRO_CHIP_ID, LSM6DS3TRC_GYRO_CHIP_ID});
-  if (ret == -1) return -1;
-
-  if (ret == LSM6DS3TRC_GYRO_CHIP_ID) {
-    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
-  }
-
-  ret = init_gpio();
-  if (ret < 0) {
-    goto fail;
-  }
-
-  ret = self_test(LSM6DS3_GYRO_POSITIVE_TEST);
-  if (ret < 0) {
-    LOGE("LSM6DS3 gyro positive self-test failed!");
-    if (do_self_test) goto fail;
-  }
-
-  ret = self_test(LSM6DS3_GYRO_NEGATIVE_TEST);
-  if (ret < 0) {
-    LOGE("LSM6DS3 gyro negative self-test failed!");
-    if (do_self_test) goto fail;
-  }
-
-  // TODO: set scale. Default is +- 250 deg/s
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, LSM6DS3_GYRO_ODR_104HZ);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_DRDY_CFG, LSM6DS3_GYRO_DRDY_PULSE_MODE);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // enable data ready interrupt for gyro on INT1
-  // (without resetting existing interrupts)
-  ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value |= LSM6DS3_GYRO_INT1_DRDY_G;
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value);
-
-fail:
-  return ret;
-}
-
-int LSM6DS3_Gyro::shutdown() {
-  int ret = 0;
-
-  // disable data ready interrupt for gyro on INT1
-  uint8_t value = 0;
-  ret = read_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value &= ~(LSM6DS3_GYRO_INT1_DRDY_G);
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value);
-  if (ret < 0) {
-    LOGE("Could not disable lsm6ds3 gyroscope interrupt!");
-    goto fail;
-  }
-
-  // enable power-down mode
-  value = 0;
-  ret = read_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value &= 0x0F;
-  ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, value);
-  if (ret < 0) {
-    LOGE("Could not power-down lsm6ds3 gyroscope!");
-    goto fail;
-  }
-
-fail:
-  return ret;
-}
-
-bool LSM6DS3_Gyro::get_event(MessageBuilder &msg, uint64_t ts) {
-
-  // INT1 shared with accel, check STATUS_REG who triggered
-  uint8_t status_reg = 0;
-  read_register(LSM6DS3_GYRO_I2C_REG_STAT_REG, &status_reg, sizeof(status_reg));
-  if ((status_reg & LSM6DS3_GYRO_DRDY_GDA) == 0) {
-    return false;
-  }
-
-  uint8_t buffer[6];
-  int len = read_register(LSM6DS3_GYRO_I2C_REG_OUTX_L_G, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  float scale = 8.75 / 1000.0;
-  float x = DEG2RAD(read_16_bit(buffer[0], buffer[1]) * scale);
-  float y = DEG2RAD(read_16_bit(buffer[2], buffer[3]) * scale);
-  float z = DEG2RAD(read_16_bit(buffer[4], buffer[5]) * scale);
-
-  auto event = msg.initEvent().initGyroscope();
-  event.setSource(source);
-  event.setVersion(2);
-  event.setSensor(SENSOR_GYRO_UNCALIBRATED);
-  event.setType(SENSOR_TYPE_GYROSCOPE_UNCALIBRATED);
-  event.setTimestamp(ts);
-
-  float xyz[] = {y, -x, z};
-  auto svec = event.initGyroUncalibrated();
-  svec.setV(xyz);
-  svec.setStatus(true);
-
-  return true;
-}
diff --git a/system/sensord/sensors/lsm6ds3_gyro.h b/system/sensord/sensors/lsm6ds3_gyro.h
deleted file mode 100644
index adaae62dd2..0000000000
--- a/system/sensord/sensors/lsm6ds3_gyro.h
+++ /dev/null
@@ -1,45 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define LSM6DS3_GYRO_I2C_ADDR       0x6A
-
-// Registers of the chip
-#define LSM6DS3_GYRO_I2C_REG_DRDY_CFG  0x0B
-#define LSM6DS3_GYRO_I2C_REG_ID        0x0F
-#define LSM6DS3_GYRO_I2C_REG_INT1_CTRL 0x0D
-#define LSM6DS3_GYRO_I2C_REG_CTRL2_G   0x11
-#define LSM6DS3_GYRO_I2C_REG_CTRL5_C   0x14
-#define LSM6DS3_GYRO_I2C_REG_STAT_REG  0x1E
-#define LSM6DS3_GYRO_I2C_REG_OUTX_L_G  0x22
-#define LSM6DS3_GYRO_POSITIVE_TEST   (0b01 << 2)
-#define LSM6DS3_GYRO_NEGATIVE_TEST   (0b11 << 2)
-
-// Constants
-#define LSM6DS3_GYRO_CHIP_ID         0x69
-#define LSM6DS3TRC_GYRO_CHIP_ID      0x6A
-#define LSM6DS3_GYRO_FS_2000dps      (0b11 << 2)
-#define LSM6DS3_GYRO_ODR_104HZ       (0b0100 << 4)
-#define LSM6DS3_GYRO_ODR_208HZ       (0b0101 << 4)
-#define LSM6DS3_GYRO_INT1_DRDY_G     0b10
-#define LSM6DS3_GYRO_DRDY_GDA        0b10
-#define LSM6DS3_GYRO_DRDY_PULSE_MODE (1 << 7)
-#define LSM6DS3_GYRO_MIN_ST_LIMIT_mdps 150000.0f
-#define LSM6DS3_GYRO_MAX_ST_LIMIT_mdps 700000.0f
-
-
-class LSM6DS3_Gyro : public I2CSensor {
-  uint8_t get_device_address() {return LSM6DS3_GYRO_I2C_ADDR;}
-  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
-
-  // self test functions
-  int self_test(int test_type);
-  void wait_for_data_ready();
-  void read_and_avg_data(float* val_st_off);
-public:
-  LSM6DS3_Gyro(I2CBus *bus, int gpio_nr = 0, bool shared_gpio = false);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};
diff --git a/system/sensord/sensors/lsm6ds3_gyro.py b/system/sensord/sensors/lsm6ds3_gyro.py
new file mode 100644
index 0000000000..68fd267df2
--- /dev/null
+++ b/system/sensord/sensors/lsm6ds3_gyro.py
@@ -0,0 +1,141 @@
+import os
+import math
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+class LSM6DS3_Gyro(Sensor):
+  LSM6DS3_GYRO_I2C_REG_DRDY_CFG  = 0x0B
+  LSM6DS3_GYRO_I2C_REG_INT1_CTRL = 0x0D
+  LSM6DS3_GYRO_I2C_REG_CTRL2_G   = 0x11
+  LSM6DS3_GYRO_I2C_REG_CTRL5_C   = 0x14
+  LSM6DS3_GYRO_I2C_REG_STAT_REG  = 0x1E
+  LSM6DS3_GYRO_I2C_REG_OUTX_L_G  = 0x22
+
+  LSM6DS3_GYRO_ODR_104HZ       = (0b0100 << 4)
+  LSM6DS3_GYRO_INT1_DRDY_G     = 0b10
+  LSM6DS3_GYRO_DRDY_GDA        = 0b10
+  LSM6DS3_GYRO_DRDY_PULSE_MODE = (1 << 7)
+
+  LSM6DS3_GYRO_ODR_208HZ       = (0b0101 << 4)
+  LSM6DS3_GYRO_FS_2000dps      = (0b11 << 2)
+  LSM6DS3_GYRO_POSITIVE_TEST   = (0b01 << 2)
+  LSM6DS3_GYRO_NEGATIVE_TEST   = (0b11 << 2)
+  LSM6DS3_GYRO_MIN_ST_LIMIT_mdps = 150000.0
+  LSM6DS3_GYRO_MAX_ST_LIMIT_mdps = 700000.0
+
+  @property
+  def device_address(self) -> int:
+    return 0x6A
+
+  def init(self):
+    chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
+    if chip_id == 0x6A:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3trc
+    else:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3
+
+    # self-test
+    if "LSM_SELF_TEST" in os.environ:
+      self.self_test(self.LSM6DS3_GYRO_POSITIVE_TEST)
+      self.self_test(self.LSM6DS3_GYRO_NEGATIVE_TEST)
+
+    # actual init
+    self.writes((
+      # TODO: set scale. Default is +- 250 deg/s
+      (self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, self.LSM6DS3_GYRO_ODR_104HZ),
+      # Configure data ready signal to pulse mode
+      (self.LSM6DS3_GYRO_I2C_REG_DRDY_CFG, self.LSM6DS3_GYRO_DRDY_PULSE_MODE),
+    ))
+    value = self.read(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, 1)[0]
+    value |= self.LSM6DS3_GYRO_INT1_DRDY_G
+    self.write(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value)
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    assert ts is not None  # must come from the IRQ event
+
+    # Check if gyroscope data is ready, since it's shared with accelerometer
+    status_reg = self.read(self.LSM6DS3_GYRO_I2C_REG_STAT_REG, 1)[0]
+    if not (status_reg & self.LSM6DS3_GYRO_DRDY_GDA):
+      raise self.DataNotReady
+
+    b = self.read(self.LSM6DS3_GYRO_I2C_REG_OUTX_L_G, 6)
+    x = self.parse_16bit(b[0], b[1])
+    y = self.parse_16bit(b[2], b[3])
+    z = self.parse_16bit(b[4], b[5])
+    scale = (8.75 / 1000.0) * (math.pi / 180.0)
+    xyz = [y * scale, -x * scale, z * scale]
+
+    event = log.SensorEventData.new_message()
+    event.timestamp = ts
+    event.version = 2
+    event.sensor = 5  # SENSOR_GYRO_UNCALIBRATED
+    event.type = 16   # SENSOR_TYPE_GYROSCOPE_UNCALIBRATED
+    event.source = self.source
+    g = event.init('gyroUncalibrated')
+    g.v = xyz
+    g.status = 1
+    return event
+
+  def shutdown(self) -> None:
+    # Disable data ready interrupt on INT1
+    value = self.read(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, 1)[0]
+    value &= ~self.LSM6DS3_GYRO_INT1_DRDY_G
+    self.write(self.LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value)
+
+    # Power down by clearing ODR bits
+    value = self.read(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, 1)[0]
+    value &= 0x0F
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, value)
+
+  # *** self-test stuff ***
+  def _wait_for_data_ready(self):
+    while True:
+      drdy = self.read(self.LSM6DS3_GYRO_I2C_REG_STAT_REG, 1)[0]
+      if drdy & self.LSM6DS3_GYRO_DRDY_GDA:
+        break
+
+  def _read_and_avg_data(self) -> list[float]:
+    out_buf = [0.0, 0.0, 0.0]
+    for _ in range(5):
+      self._wait_for_data_ready()
+      b = self.read(self.LSM6DS3_GYRO_I2C_REG_OUTX_L_G, 6)
+      for j in range(3):
+        val = self.parse_16bit(b[j*2], b[j*2+1]) * 70.0  # mdps/LSB for 2000 dps
+        out_buf[j] += val
+    return [x / 5.0 for x in out_buf]
+
+  def self_test(self, test_type: int):
+    # Set ODR to 208Hz, FS to 2000dps
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, self.LSM6DS3_GYRO_ODR_208HZ | self.LSM6DS3_GYRO_FS_2000dps)
+
+    # Wait for stable output
+    time.sleep(0.15)
+    self._wait_for_data_ready()
+    val_st_off = self._read_and_avg_data()
+
+    # Enable self-test
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL5_C, test_type)
+
+    # Wait for stable output
+    time.sleep(0.05)
+    self._wait_for_data_ready()
+    val_st_on = self._read_and_avg_data()
+
+    # Disable sensor and self-test
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL2_G, 0)
+    self.write(self.LSM6DS3_GYRO_I2C_REG_CTRL5_C, 0)
+
+    # Calculate differences and check limits
+    test_val = [abs(on - off) for on, off in zip(val_st_on, val_st_off, strict=False)]
+    for val in test_val:
+      if val < self.LSM6DS3_GYRO_MIN_ST_LIMIT_mdps or val > self.LSM6DS3_GYRO_MAX_ST_LIMIT_mdps:
+        raise Exception(f"Gyroscope self-test failed for test type {test_type}")
+
+if __name__ == "__main__":
+  s = LSM6DS3_Gyro(1)
+  s.init()
+  time.sleep(0.1)
+  print(s.get_event(0))
+  s.shutdown()
diff --git a/system/sensord/sensors/lsm6ds3_temp.cc b/system/sensord/sensors/lsm6ds3_temp.cc
deleted file mode 100644
index f481614154..0000000000
--- a/system/sensord/sensors/lsm6ds3_temp.cc
+++ /dev/null
@@ -1,37 +0,0 @@
-#include "system/sensord/sensors/lsm6ds3_temp.h"
-
-#include <cassert>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-
-LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {}
-
-int LSM6DS3_Temp::init() {
-  int ret = verify_chip_id(LSM6DS3_TEMP_I2C_REG_ID, {LSM6DS3_TEMP_CHIP_ID, LSM6DS3TRC_TEMP_CHIP_ID});
-  if (ret == -1) return -1;
-
-  if (ret == LSM6DS3TRC_TEMP_CHIP_ID) {
-    source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
-  }
-  return 0;
-}
-
-bool LSM6DS3_Temp::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[2];
-  int len = read_register(LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  float scale = (source == cereal::SensorEventData::SensorSource::LSM6DS3TRC) ? 256.0f : 16.0f;
-  float temp = 25.0f + read_16_bit(buffer[0], buffer[1]) / scale;
-
-  auto event = msg.initEvent().initTemperatureSensor();
-  event.setSource(source);
-  event.setVersion(1);
-  event.setType(SENSOR_TYPE_AMBIENT_TEMPERATURE);
-  event.setTimestamp(start_time);
-  event.setTemperature(temp);
-
-  return true;
-}
diff --git a/system/sensord/sensors/lsm6ds3_temp.h b/system/sensord/sensors/lsm6ds3_temp.h
deleted file mode 100644
index 1b5b621814..0000000000
--- a/system/sensord/sensors/lsm6ds3_temp.h
+++ /dev/null
@@ -1,26 +0,0 @@
-#pragma once
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define LSM6DS3_TEMP_I2C_ADDR       0x6A
-
-// Registers of the chip
-#define LSM6DS3_TEMP_I2C_REG_ID           0x0F
-#define LSM6DS3_TEMP_I2C_REG_OUT_TEMP_L   0x20
-
-// Constants
-#define LSM6DS3_TEMP_CHIP_ID        0x69
-#define LSM6DS3TRC_TEMP_CHIP_ID     0x6A
-
-
-class LSM6DS3_Temp : public I2CSensor {
-  uint8_t get_device_address() {return LSM6DS3_TEMP_I2C_ADDR;}
-  cereal::SensorEventData::SensorSource source = cereal::SensorEventData::SensorSource::LSM6DS3;
-
-public:
-  LSM6DS3_Temp(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown() { return 0; }
-};
diff --git a/system/sensord/sensors/lsm6ds3_temp.py b/system/sensord/sensors/lsm6ds3_temp.py
new file mode 100644
index 0000000000..7d7b1c2ce1
--- /dev/null
+++ b/system/sensord/sensors/lsm6ds3_temp.py
@@ -0,0 +1,33 @@
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+# https://content.arduino.cc/assets/st_imu_lsm6ds3_datasheet.pdf
+class LSM6DS3_Temp(Sensor):
+  @property
+  def device_address(self) -> int:
+    return 0x6A  # Default I2C address for LSM6DS3
+
+  def _read_temperature(self) -> float:
+    scale = 16.0 if log.SensorEventData.SensorSource.lsm6ds3 else 256.0
+    data = self.read(0x20, 2)
+    return 25 + (self.parse_16bit(data[0], data[1]) / scale)
+
+  def init(self):
+    chip_id = self.verify_chip_id(0x0F, [0x69, 0x6A])
+    if chip_id == 0x6A:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3trc
+    else:
+      self.source = log.SensorEventData.SensorSource.lsm6ds3
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    event = log.SensorEventData.new_message()
+    event.version = 1
+    event.timestamp = int(time.monotonic() * 1e9)
+    event.source = self.source
+    event.temperature = self._read_temperature()
+    return event
+
+  def shutdown(self) -> None:
+    pass
diff --git a/system/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc
deleted file mode 100644
index 0e8ba967e3..0000000000
--- a/system/sensord/sensors/mmc5603nj_magn.cc
+++ /dev/null
@@ -1,108 +0,0 @@
-#include "system/sensord/sensors/mmc5603nj_magn.h"
-
-#include <algorithm>
-#include <cassert>
-#include <vector>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-
-MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {}
-
-int MMC5603NJ_Magn::init() {
-  int ret = verify_chip_id(MMC5603NJ_I2C_REG_ID, {MMC5603NJ_CHIP_ID});
-  if (ret == -1) return -1;
-
-  // Set ODR to 0
-  ret = set_register(MMC5603NJ_I2C_REG_ODR, 0);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // Set BW to 0b01 for 1-150 Hz operation
-  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_1, 0b01);
-  if (ret < 0) {
-    goto fail;
-  }
-
-fail:
-  return ret;
-}
-
-int MMC5603NJ_Magn::shutdown() {
-  int ret = 0;
-
-  // disable auto reset of measurements
-  uint8_t value = 0;
-  ret = read_register(MMC5603NJ_I2C_REG_INTERNAL_0, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value &= ~(MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN);
-  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, value);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // set ODR to 0 to leave continuous mode
-  ret = set_register(MMC5603NJ_I2C_REG_ODR, 0);
-  if (ret < 0) {
-    goto fail;
-  }
-  return ret;
-
-fail:
-  LOGE("Could not disable mmc5603nj auto set reset");
-  return ret;
-}
-
-void MMC5603NJ_Magn::start_measurement() {
-  set_register(MMC5603NJ_I2C_REG_INTERNAL_0, 0b01);
-  util::sleep_for(5);
-}
-
-std::vector<float> MMC5603NJ_Magn::read_measurement() {
-  int len;
-  uint8_t buffer[9];
-  len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-  float scale = 1.0 / 16384.0;
-  float x = (read_20_bit(buffer[6], buffer[1], buffer[0]) * scale) - 32.0;
-  float y = (read_20_bit(buffer[7], buffer[3], buffer[2]) * scale) - 32.0;
-  float z = (read_20_bit(buffer[8], buffer[5], buffer[4]) * scale) - 32.0;
-  std::vector<float> xyz = {x, y, z};
-  return xyz;
-}
-
-bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  // SET - RESET cycle
-  set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_SET);
-  util::sleep_for(5);
-  MMC5603NJ_Magn::start_measurement();
-  std::vector<float> xyz = MMC5603NJ_Magn::read_measurement();
-
-  set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_RESET);
-  util::sleep_for(5);
-  MMC5603NJ_Magn::start_measurement();
-  std::vector<float> reset_xyz = MMC5603NJ_Magn::read_measurement();
-
-  auto event = msg.initEvent().initMagnetometer();
-  event.setSource(cereal::SensorEventData::SensorSource::MMC5603NJ);
-  event.setVersion(1);
-  event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
-  event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
-  event.setTimestamp(start_time);
-
-  float vals[] = {xyz[0], xyz[1], xyz[2], reset_xyz[0], reset_xyz[1], reset_xyz[2]};
-  bool valid = true;
-  if (std::any_of(std::begin(vals), std::end(vals), [](float val) { return val == -32.0; })) {
-    valid = false;
-  }
-  auto svec = event.initMagneticUncalibrated();
-  svec.setV(vals);
-  svec.setStatus(valid);
-  return true;
-}
diff --git a/system/sensord/sensors/mmc5603nj_magn.h b/system/sensord/sensors/mmc5603nj_magn.h
deleted file mode 100644
index 9c0fbd2521..0000000000
--- a/system/sensord/sensors/mmc5603nj_magn.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once
-
-#include <vector>
-
-#include "system/sensord/sensors/i2c_sensor.h"
-
-// Address of the chip on the bus
-#define MMC5603NJ_I2C_ADDR       0x30
-
-// Registers of the chip
-#define MMC5603NJ_I2C_REG_XOUT0       0x00
-#define MMC5603NJ_I2C_REG_ODR         0x1A
-#define MMC5603NJ_I2C_REG_INTERNAL_0  0x1B
-#define MMC5603NJ_I2C_REG_INTERNAL_1  0x1C
-#define MMC5603NJ_I2C_REG_INTERNAL_2  0x1D
-#define MMC5603NJ_I2C_REG_ID          0x39
-
-// Constants
-#define MMC5603NJ_CHIP_ID        0x10
-#define MMC5603NJ_CMM_FREQ_EN    (1 << 7)
-#define MMC5603NJ_AUTO_SR_EN     (1 << 5)
-#define MMC5603NJ_CMM_EN         (1 << 4)
-#define MMC5603NJ_EN_PRD_SET     (1 << 3)
-#define MMC5603NJ_SET            (1 << 3)
-#define MMC5603NJ_RESET          (1 << 4)
-
-class MMC5603NJ_Magn : public I2CSensor {
-private:
-  uint8_t get_device_address() {return MMC5603NJ_I2C_ADDR;}
-  void start_measurement();
-  std::vector<float> read_measurement();
-public:
-  MMC5603NJ_Magn(I2CBus *bus);
-  int init();
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown();
-};
diff --git a/system/sensord/sensors/mmc5603nj_magn.py b/system/sensord/sensors/mmc5603nj_magn.py
new file mode 100644
index 0000000000..255e99eb3e
--- /dev/null
+++ b/system/sensord/sensors/mmc5603nj_magn.py
@@ -0,0 +1,76 @@
+import time
+
+from cereal import log
+from openpilot.system.sensord.sensors.i2c_sensor import Sensor
+
+# https://www.mouser.com/datasheet/2/821/Memsic_09102019_Datasheet_Rev.B-1635324.pdf
+
+# Register addresses
+REG_ODR = 0x1A
+REG_INTERNAL_0 = 0x1B
+REG_INTERNAL_1 = 0x1C
+
+# Control register settings
+CMM_FREQ_EN = (1 << 7)
+AUTO_SR_EN  = (1 << 5)
+SET         = (1 << 3)
+RESET       = (1 << 4)
+
+class MMC5603NJ_Magn(Sensor):
+  @property
+  def device_address(self) -> int:
+    return 0x30
+
+  def init(self):
+    self.verify_chip_id(0x39, [0x10, ])
+    self.writes((
+      (REG_ODR, 0),
+
+      # Set BW to 0b01 for 1-150 Hz operation
+      (REG_INTERNAL_1, 0b01),
+    ))
+
+  def _read_data(self, cycle) -> list[float]:
+    # start measurement
+    self.write(REG_INTERNAL_0, cycle)
+    self.wait()
+
+    # read out XYZ
+    scale = 1.0 / 16384.0
+    b = self.read(0x00, 9)
+    return [
+      (self.parse_20bit(b[6], b[1], b[0]) * scale) - 32.0,
+      (self.parse_20bit(b[7], b[3], b[2]) * scale) - 32.0,
+      (self.parse_20bit(b[8], b[5], b[4]) * scale) - 32.0,
+    ]
+
+  def get_event(self, ts: int | None = None) -> log.SensorEventData:
+    ts = time.monotonic_ns()
+
+    # SET - RESET cycle
+    xyz = self._read_data(SET)
+    reset_xyz = self._read_data(RESET)
+    vals = [*xyz, *reset_xyz]
+
+    event = log.SensorEventData.new_message()
+    event.timestamp = ts
+    event.version = 1
+    event.sensor = 3 # SENSOR_MAGNETOMETER_UNCALIBRATED
+    event.type = 14  # SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED
+    event.source = log.SensorEventData.SensorSource.mmc5603nj
+
+    m = event.init('magneticUncalibrated')
+    m.v = vals
+    m.status = int(all(int(v) != -32 for v in vals))
+
+    return event
+
+  def shutdown(self) -> None:
+    v = self.read(REG_INTERNAL_0, 1)[0]
+    self.writes((
+      # disable auto-reset of measurements
+      (REG_INTERNAL_0, (v & (~(CMM_FREQ_EN | AUTO_SR_EN)))),
+
+      # disable continuous mode
+      (REG_ODR, 0),
+    ))
diff --git a/system/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h
deleted file mode 100644
index ccf998d161..0000000000
--- a/system/sensord/sensors/sensor.h
+++ /dev/null
@@ -1,24 +0,0 @@
-#pragma once
-
-#include "cereal/messaging/messaging.h"
-
-class Sensor {
-public:
-  int gpio_fd = -1;
-  bool enabled = false;
-  uint64_t start_ts = 0;
-  uint64_t init_delay = 500e6; // default dealy 500ms
-
-  virtual ~Sensor() {}
-  virtual int init() = 0;
-  virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
-  virtual bool has_interrupt_enabled() = 0;
-  virtual int shutdown() = 0;
-
-  virtual bool is_data_valid(uint64_t current_ts) {
-    if (start_ts == 0) {
-      start_ts = current_ts;
-    }
-    return (current_ts - start_ts) > init_delay;
-  }
-};
diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc
deleted file mode 100644
index f9f51539c9..0000000000
--- a/system/sensord/sensors_qcom2.cc
+++ /dev/null
@@ -1,179 +0,0 @@
-#include <sys/resource.h>
-
-#include <chrono>
-#include <thread>
-#include <vector>
-#include <map>
-#include <poll.h>
-#include <linux/gpio.h>
-
-#include "cereal/services.h"
-#include "cereal/messaging/messaging.h"
-#include "common/i2c.h"
-#include "common/ratekeeper.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-#include "system/sensord/sensors/bmx055_accel.h"
-#include "system/sensord/sensors/bmx055_gyro.h"
-#include "system/sensord/sensors/bmx055_magn.h"
-#include "system/sensord/sensors/bmx055_temp.h"
-#include "system/sensord/sensors/constants.h"
-#include "system/sensord/sensors/lsm6ds3_accel.h"
-#include "system/sensord/sensors/lsm6ds3_gyro.h"
-#include "system/sensord/sensors/lsm6ds3_temp.h"
-#include "system/sensord/sensors/mmc5603nj_magn.h"
-
-#define I2C_BUS_IMU 1
-
-ExitHandler do_exit;
-
-void interrupt_loop(std::vector<std::tuple<Sensor *, std::string>> sensors) {
-  PubMaster pm({"gyroscope", "accelerometer"});
-
-  int fd = -1;
-  for (auto &[sensor, msg_name] : sensors) {
-    if (sensor->has_interrupt_enabled()) {
-      fd = sensor->gpio_fd;
-      break;
-    }
-  }
-
-  uint64_t offset = nanos_since_epoch() - nanos_since_boot();
-  struct pollfd fd_list[1] = {0};
-  fd_list[0].fd = fd;
-  fd_list[0].events = POLLIN | POLLPRI;
-
-  while (!do_exit) {
-    int err = poll(fd_list, 1, 100);
-    if (err == -1) {
-      if (errno == EINTR) {
-        continue;
-      }
-      return;
-    } else if (err == 0) {
-      LOGE("poll timed out");
-      continue;
-    }
-
-    if ((fd_list[0].revents & (POLLIN | POLLPRI)) == 0) {
-      LOGE("no poll events set");
-      continue;
-    }
-
-    // Read all events
-    struct gpioevent_data evdata[16];
-    err = HANDLE_EINTR(read(fd, evdata, sizeof(evdata)));
-    if (err < 0 || err % sizeof(*evdata) != 0) {
-      LOGE("error reading event data %d", err);
-      continue;
-    }
-
-    uint64_t cur_offset = nanos_since_epoch() - nanos_since_boot();
-    uint64_t diff = cur_offset > offset ? cur_offset - offset : offset - cur_offset;
-    if (diff > 10*1e6) { // 10ms
-      LOGW("time jumped: %lu %lu", cur_offset, offset);
-      offset = cur_offset;
-
-      // we don't have a valid timestamp since the
-      // time jumped, so throw out this measurement.
-      continue;
-    }
-
-    int num_events = err / sizeof(*evdata);
-    uint64_t ts = evdata[num_events - 1].timestamp - cur_offset;
-
-    for (auto &[sensor, msg_name] : sensors) {
-      if (!sensor->has_interrupt_enabled()) {
-        continue;
-      }
-
-      MessageBuilder msg;
-      if (!sensor->get_event(msg, ts)) {
-        continue;
-      }
-
-      if (!sensor->is_data_valid(ts)) {
-        continue;
-      }
-
-      pm.send(msg_name.c_str(), msg);
-    }
-  }
-}
-
-void polling_loop(Sensor *sensor, std::string msg_name) {
-  PubMaster pm({msg_name.c_str()});
-  RateKeeper rk(msg_name, services.at(msg_name).frequency);
-  while (!do_exit) {
-    MessageBuilder msg;
-    if (sensor->get_event(msg) && sensor->is_data_valid(nanos_since_boot())) {
-      pm.send(msg_name.c_str(), msg);
-    }
-    rk.keepTime();
-  }
-}
-
-int sensor_loop(I2CBus *i2c_bus_imu) {
-  // Sensor init
-  std::vector<std::tuple<Sensor *, std::string>> sensors_init = {
-    {new BMX055_Accel(i2c_bus_imu), "accelerometer2"},
-    {new BMX055_Gyro(i2c_bus_imu), "gyroscope2"},
-    {new BMX055_Magn(i2c_bus_imu), "magnetometer"},
-    {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2"},
-
-    {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer"},
-    {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope"},
-    {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor"},
-
-    {new MMC5603NJ_Magn(i2c_bus_imu), "magnetometer"},
-  };
-
-  // Initialize sensors
-  std::vector<std::thread> threads;
-  for (auto &[sensor, msg_name] : sensors_init) {
-    int err = sensor->init();
-    if (err < 0) {
-      continue;
-    }
-
-    if (!sensor->has_interrupt_enabled()) {
-      threads.emplace_back(polling_loop, sensor, msg_name);
-    }
-  }
-
-  // increase interrupt quality by pinning interrupt and process to core 1
-  setpriority(PRIO_PROCESS, 0, -18);
-  util::set_core_affinity({1});
-
-  // 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));
-
-  // wait for all threads to finish
-  for (auto &t : threads) {
-    t.join();
-  }
-
-  for (auto &[sensor, msg_name] : sensors_init) {
-    sensor->shutdown();
-    delete sensor;
-  }
-  return 0;
-}
-
-int main(int argc, char *argv[]) {
-  try {
-    auto i2c_bus_imu = std::make_unique<I2CBus>(I2C_BUS_IMU);
-    return sensor_loop(i2c_bus_imu.get());
-  } catch (std::exception &e) {
-    LOGE("I2CBus init failed");
-    return -1;
-  }
-}
diff --git a/system/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
index 15f1f2dc35..1dab652386 100644
--- a/system/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -12,13 +12,6 @@ from openpilot.common.timeout import Timeout
 from openpilot.system.hardware import HARDWARE
 from openpilot.system.manager.process_config import managed_processes
 
-BMX = {
-  ('bmx055', 'acceleration'),
-  ('bmx055', 'gyroUncalibrated'),
-  ('bmx055', 'magneticUncalibrated'),
-  ('bmx055', 'temperature'),
-}
-
 LSM = {
   ('lsm6ds3', 'acceleration'),
   ('lsm6ds3', 'gyroUncalibrated'),
@@ -30,17 +23,11 @@ MMC = {
   ('mmc5603nj', 'magneticUncalibrated'),
 }
 
-SENSOR_CONFIGURATIONS: list[set] = [
-  BMX | LSM,
-  MMC | LSM,
-  BMX | LSM_C,
-  MMC| LSM_C,
-]
-if HARDWARE.get_device_type() == "mici":
-  SENSOR_CONFIGURATIONS = [
-    LSM,
-    LSM_C,
-  ]
+SENSOR_CONFIGURATIONS: list[set] = {
+  "mici": [LSM, LSM_C],
+  "tizi": [MMC | LSM, MMC | LSM_C],
+  "tici": [LSM, LSM_C, MMC | LSM, MMC | LSM_C],
+}.get(HARDWARE.get_device_type(), [])
 
 Sensor = log.SensorEventData.SensorSource
 SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
@@ -57,13 +44,6 @@ ALL_SENSORS = {
     SensorConfig("temperature", 0, 60),
   },
 
-  Sensor.bmx055: {
-    SensorConfig("acceleration", 5, 15),
-    SensorConfig("gyroUncalibrated", 0, .2),
-    SensorConfig("magneticUncalibrated", 0, 300),
-    SensorConfig("temperature", 0, 60),
-  },
-
   Sensor.mmc5603nj: {
     SensorConfig("magneticUncalibrated", 0, 300),
   }
diff --git a/system/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py
deleted file mode 100755
index a9cc16d707..0000000000
--- a/system/sensord/tests/ttff_test.py
+++ /dev/null
@@ -1,48 +0,0 @@
-#!/usr/bin/env python3
-
-import time
-import atexit
-
-from cereal import messaging
-from openpilot.system.manager.process_config import managed_processes
-
-TIMEOUT = 10*60
-
-def kill():
-  for proc in ['ubloxd', 'pigeond']:
-    managed_processes[proc].stop(retry=True, block=True)
-
-if __name__ == "__main__":
-  # start ubloxd
-  managed_processes['ubloxd'].start()
-  atexit.register(kill)
-
-  sm = messaging.SubMaster(['ubloxGnss'])
-
-  times = []
-  for i in range(20):
-    # start pigeond
-    st = time.monotonic()
-    managed_processes['pigeond'].start()
-
-    # wait for a >4 satellite fix
-    while True:
-      sm.update(0)
-      msg = sm['ubloxGnss']
-      if msg.which() == 'measurementReport' and sm.updated["ubloxGnss"]:
-        report = msg.measurementReport
-        if report.numMeas > 4:
-          times.append(time.monotonic() - st)
-          print(f"\033[94m{i}: Got a fix in {round(times[-1], 2)} seconds\033[0m")
-          break
-
-      if time.monotonic() - st > TIMEOUT:
-        raise TimeoutError("\033[91mFailed to get a fix in {TIMEOUT} seconds!\033[0m")
-
-      time.sleep(0.1)
-
-    # stop pigeond
-    managed_processes['pigeond'].stop(retry=True, block=True)
-    time.sleep(20)
-
-  print(f"\033[92mAverage TTFF: {round(sum(times) / len(times), 2)}s\033[0m")
diff --git a/system/ui/README.md b/system/ui/README.md
index 5f47961a51..85d32bfd6c 100644
--- a/system/ui/README.md
+++ b/system/ui/README.md
@@ -3,7 +3,8 @@
 The user interfaces here are built with [raylib](https://www.raylib.com/).
 
 Quick start:
-* set `DEBUG_FPS=1` to show the FPS
+* set `SHOW_FPS=1` to show the FPS
 * set `STRICT_MODE=1` to kill the app if it drops too much below 60fps
+* set `SCALE=1.5` to scale the entire UI by 1.5x
 * https://www.raylib.com/cheatsheet/cheatsheet.html
 * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index fd1ad52068..c2d6ac8e2c 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -3,31 +3,37 @@ import os
 import time
 import pyray as rl
 from enum import IntEnum
-from openpilot.common.basedir import BASEDIR
+from importlib.resources import as_file, files
 from openpilot.common.swaglog import cloudlog
+from openpilot.system.hardware import HARDWARE
 
 DEFAULT_FPS = 60
 FPS_LOG_INTERVAL = 5  # Seconds between logging FPS drops
 FPS_DROP_THRESHOLD = 0.9  # FPS drop threshold for triggering a warning
 FPS_CRITICAL_THRESHOLD = 0.5  # Critical threshold for triggering strict actions
 
-DEBUG_FPS = os.getenv("DEBUG_FPS") == '1'
+ENABLE_VSYNC = os.getenv("ENABLE_VSYNC") == "1"
+SHOW_FPS = os.getenv("SHOW_FPS") == '1'
 STRICT_MODE = os.getenv("STRICT_MODE") == '1'
+SCALE = float(os.getenv("SCALE", "1.0"))
 
 DEFAULT_TEXT_SIZE = 60
-DEFAULT_TEXT_COLOR = rl.Color(200, 200, 200, 255)
-FONT_DIR = os.path.join(BASEDIR, "selfdrive/assets/fonts")
+DEFAULT_TEXT_COLOR = rl.WHITE
+
+ASSETS_DIR = files("openpilot.selfdrive").joinpath("assets")
+FONT_DIR = ASSETS_DIR.joinpath("fonts")
 
 
 class FontWeight(IntEnum):
-  BLACK = 0
-  BOLD = 1
-  EXTRA_BOLD = 2
-  EXTRA_LIGHT = 3
+  THIN = 0
+  EXTRA_LIGHT = 1
+  LIGHT = 2
+  NORMAL = 3
   MEDIUM = 4
-  NORMAL = 5
-  SEMI_BOLD = 6
-  THIN = 7
+  SEMI_BOLD = 5
+  BOLD = 6
+  EXTRA_BOLD = 7
+  BLACK = 8
 
 
 class GuiApplication:
@@ -35,63 +41,133 @@ class GuiApplication:
     self._fonts: dict[FontWeight, rl.Font] = {}
     self._width = width
     self._height = height
-    self._textures: list[rl.Texture] = []
+    self._scale = SCALE
+    self._scaled_width = int(self._width * self._scale)
+    self._scaled_height = int(self._height * self._scale)
+    self._render_texture: rl.RenderTexture | None = None
+    self._textures: dict[str, rl.Texture] = {}
     self._target_fps: int = DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
+    self._window_close_requested = False
+    self._trace_log_callback = None
 
-  def init_window(self, title: str, fps: int=DEFAULT_FPS):
+  def request_close(self):
+    self._window_close_requested = True
+
+  def init_window(self, title: str, fps: int = DEFAULT_FPS):
     atexit.register(self.close)  # Automatically call close() on exit
 
-    rl.set_config_flags(rl.ConfigFlags.FLAG_MSAA_4X_HINT | rl.ConfigFlags.FLAG_VSYNC_HINT)
-    rl.init_window(self._width, self._height, title)
+    HARDWARE.set_display_power(True)
+    HARDWARE.set_screen_brightness(65)
+
+    self._set_log_callback()
+    rl.set_trace_log_level(rl.TraceLogLevel.LOG_ALL)
+
+    flags = rl.ConfigFlags.FLAG_MSAA_4X_HINT
+    if ENABLE_VSYNC:
+      flags |= rl.ConfigFlags.FLAG_VSYNC_HINT
+    rl.set_config_flags(flags)
+
+    rl.init_window(self._scaled_width, self._scaled_height, title)
+    if self._scale != 1.0:
+      rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
+      self._render_texture = rl.load_render_texture(self._width, self._height)
+      rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
     rl.set_target_fps(fps)
 
     self._target_fps = fps
     self._set_styles()
     self._load_fonts()
 
-  def load_texture_from_image(self, file_name: str, width: int, height: int):
+  def texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True):
+    cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}"
+    if cache_key in self._textures:
+      return self._textures[cache_key]
+
+    with as_file(ASSETS_DIR.joinpath(asset_path)) as fspath:
+      texture_obj = self._load_texture_from_image(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio)
+    self._textures[cache_key] = texture_obj
+    return texture_obj
+
+  def _load_texture_from_image(self, image_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True):
     """Load and resize a texture, storing it for later automatic unloading."""
-    image = rl.load_image(file_name)
-    rl.image_resize(image, width, height)
+    image = rl.load_image(image_path)
+
+    if alpha_premultiply:
+      rl.image_alpha_premultiply(image)
+
+    # Resize with aspect ratio preservation if requested
+    if keep_aspect_ratio:
+      orig_width = image.width
+      orig_height = image.height
+
+      scale_width = width / orig_width
+      scale_height = height / orig_height
+
+      # Calculate new dimensions
+      scale = min(scale_width, scale_height)
+      new_width = int(orig_width * scale)
+      new_height = int(orig_height * scale)
+
+      rl.image_resize(image, new_width, new_height)
+    else:
+      rl.image_resize(image, width, height)
+
     texture = rl.load_texture_from_image(image)
     # Set texture filtering to smooth the result
     rl.set_texture_filter(texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
 
     rl.unload_image(image)
-
-    self._textures.append(texture)
     return texture
 
   def close(self):
     if not rl.is_window_ready():
       return
 
-    for texture in self._textures:
+    for texture in self._textures.values():
       rl.unload_texture(texture)
-    self._textures = []
+    self._textures = {}
 
     for font in self._fonts.values():
       rl.unload_font(font)
-    self._fonts = []
+    self._fonts = {}
+
+    if self._render_texture is not None:
+      rl.unload_render_texture(self._render_texture)
+      self._render_texture = None
 
     rl.close_window()
 
   def render(self):
-    while not rl.window_should_close():
-      rl.begin_drawing()
-      rl.clear_background(rl.BLACK)
+    try:
+      while not (self._window_close_requested or rl.window_should_close()):
+        if self._render_texture:
+          rl.begin_texture_mode(self._render_texture)
+          rl.clear_background(rl.BLACK)
+        else:
+          rl.begin_drawing()
+          rl.clear_background(rl.BLACK)
 
-      yield
+        yield
 
-      if DEBUG_FPS:
-        rl.draw_fps(10, 10)
+        if self._render_texture:
+          rl.end_texture_mode()
+          rl.begin_drawing()
+          rl.clear_background(rl.BLACK)
+          src_rect = rl.Rectangle(0, 0, float(self._width), -float(self._height))
+          dst_rect = rl.Rectangle(0, 0, float(self._scaled_width), float(self._scaled_height))
+          rl.draw_texture_pro(self._render_texture.texture, src_rect, dst_rect, rl.Vector2(0, 0), 0.0, rl.WHITE)
 
-      rl.end_drawing()
-      self._monitor_fps()
+        if SHOW_FPS:
+          rl.draw_fps(10, 10)
 
-  def font(self, font_wight: FontWeight=FontWeight.NORMAL):
-    return self._fonts[font_wight]
+        rl.end_drawing()
+        self._monitor_fps()
+    except KeyboardInterrupt:
+      pass
+
+  def font(self, font_weight: FontWeight = FontWeight.NORMAL):
+    return self._fonts[font_weight]
 
   @property
   def width(self):
@@ -103,21 +179,36 @@ class GuiApplication:
 
   def _load_fonts(self):
     font_files = (
-      "Inter-Black.ttf",
+      "Inter-Thin.ttf",
+      "Inter-ExtraLight.ttf",
+      "Inter-Light.ttf",
+      "Inter-Regular.ttf",
+      "Inter-Medium.ttf",
+      "Inter-SemiBold.ttf",
       "Inter-Bold.ttf",
       "Inter-ExtraBold.ttf",
-      "Inter-ExtraLight.ttf",
-      "Inter-Medium.ttf",
-      "Inter-Regular.ttf",
-      "Inter-SemiBold.ttf",
-      "Inter-Thin.ttf"
-      )
+      "Inter-Black.ttf",
+    )
+
+    # Create a character set from our keyboard layouts
+    from openpilot.system.ui.widgets.keyboard import KEYBOARD_LAYOUTS
+    from openpilot.selfdrive.ui.onroad.hud_renderer import CRUISE_DISABLED_CHAR
+    all_chars = set()
+    for layout in KEYBOARD_LAYOUTS.values():
+      all_chars.update(key for row in layout for key in row)
+    all_chars = "".join(all_chars)
+    all_chars += CRUISE_DISABLED_CHAR
+
+    codepoint_count = rl.ffi.new("int *", 1)
+    codepoints = rl.load_codepoints(all_chars, codepoint_count)
 
     for index, font_file in enumerate(font_files):
-      font = rl.load_font_ex(os.path.join(FONT_DIR, font_file), 120, None, 0)
-      rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
-      self._fonts[index] = font
+      with as_file(FONT_DIR.joinpath(font_file)) as fspath:
+        font = rl.load_font_ex(fspath.as_posix(), 200, codepoints, codepoint_count[0])
+        rl.set_texture_filter(font.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
+        self._fonts[index] = font
 
+    rl.unload_codepoints(codepoints)
     rl.gui_set_font(self._fonts[FontWeight.NORMAL])
 
   def _set_styles(self):
@@ -127,6 +218,29 @@ class GuiApplication:
     rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(DEFAULT_TEXT_COLOR))
     rl.gui_set_style(rl.GuiControl.DEFAULT, rl.GuiControlProperty.BASE_COLOR_NORMAL, rl.color_to_int(rl.Color(50, 50, 50, 255)))
 
+  def _set_log_callback(self):
+    @rl.ffi.callback("void(int, char *, void *)")
+    def trace_log_callback(log_level, text, args):
+      try:
+        text_str = rl.ffi.string(text).decode('utf-8')
+      except (TypeError, UnicodeDecodeError):
+        text_str = str(text)
+
+      if log_level == rl.TraceLogLevel.LOG_ERROR:
+        cloudlog.error(f"raylib: {text_str}")
+      elif log_level == rl.TraceLogLevel.LOG_WARNING:
+        cloudlog.warning(f"raylib: {text_str}")
+      elif log_level == rl.TraceLogLevel.LOG_INFO:
+        cloudlog.info(f"raylib: {text_str}")
+      elif log_level == rl.TraceLogLevel.LOG_DEBUG:
+        cloudlog.debug(f"raylib: {text_str}")
+      else:
+        cloudlog.error(f"raylib: Unknown level {log_level}: {text_str}")
+
+    # Store callback reference
+    self._trace_log_callback = trace_log_callback
+    rl.set_trace_log_callback(self._trace_log_callback)
+
   def _monitor_fps(self):
     fps = rl.get_fps()
 
diff --git a/system/ui/lib/button.py b/system/ui/lib/button.py
index 034189275f..024e360448 100644
--- a/system/ui/lib/button.py
+++ b/system/ui/lib/button.py
@@ -1,6 +1,7 @@
 import pyray as rl
 from enum import IntEnum
 from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 
 
 class ButtonStyle(IntEnum):
@@ -8,11 +9,21 @@ class ButtonStyle(IntEnum):
   PRIMARY = 1  # For main actions
   DANGER = 2  # For critical actions, like reboot or delete
   TRANSPARENT = 3  # For buttons with transparent background and border
+  ACTION = 4
 
 
+class TextAlignment(IntEnum):
+  LEFT = 0
+  CENTER = 1
+  RIGHT = 2
+
+
+ICON_PADDING = 15
 DEFAULT_BUTTON_FONT_SIZE = 60
 BUTTON_ENABLED_TEXT_COLOR = rl.Color(228, 228, 228, 255)
 BUTTON_DISABLED_TEXT_COLOR = rl.Color(228, 228, 228, 51)
+ACTION_BUTTON_FONT_SIZE = 48
+ACTION_BUTTON_TEXT_COLOR = rl.Color(0, 0, 0, 255)
 
 
 BUTTON_BACKGROUND_COLORS = {
@@ -20,6 +31,7 @@ BUTTON_BACKGROUND_COLORS = {
   ButtonStyle.PRIMARY: rl.Color(70, 91, 234, 255),
   ButtonStyle.DANGER: rl.Color(255, 36, 36, 255),
   ButtonStyle.TRANSPARENT: rl.BLACK,
+  ButtonStyle.ACTION: rl.Color(189, 189, 189, 255),
 }
 
 BUTTON_PRESSED_BACKGROUND_COLORS = {
@@ -27,8 +39,11 @@ BUTTON_PRESSED_BACKGROUND_COLORS = {
   ButtonStyle.PRIMARY: rl.Color(48, 73, 244, 255),
   ButtonStyle.DANGER: rl.Color(255, 36, 36, 255),
   ButtonStyle.TRANSPARENT: rl.BLACK,
+  ButtonStyle.ACTION: rl.Color(130, 130, 130, 255),
 }
 
+_pressed_buttons: set[str] = set()  # Track mouse press state globally
+
 
 def gui_button(
   rect: rl.Rectangle,
@@ -38,16 +53,42 @@ def gui_button(
   button_style: ButtonStyle = ButtonStyle.NORMAL,
   is_enabled: bool = True,
   border_radius: int = 10,  # Corner rounding in pixels
+  text_alignment: TextAlignment = TextAlignment.CENTER,
+  text_padding: int = 20,  # Padding for left/right alignment
+  icon=None,
 ) -> int:
+  button_id = f"{rect.x}_{rect.y}_{rect.width}_{rect.height}"
   result = 0
 
+  if button_style in (ButtonStyle.PRIMARY, ButtonStyle.DANGER) and not is_enabled:
+    button_style = ButtonStyle.NORMAL
+
+  if button_style == ButtonStyle.ACTION and font_size == DEFAULT_BUTTON_FONT_SIZE:
+    font_size = ACTION_BUTTON_FONT_SIZE
+
   # Set background color based on button type
   bg_color = BUTTON_BACKGROUND_COLORS[button_style]
-  if is_enabled and rl.check_collision_point_rec(rl.get_mouse_position(), rect):
-    if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
+  mouse_over = is_enabled and rl.check_collision_point_rec(rl.get_mouse_position(), rect)
+  is_pressed = button_id in _pressed_buttons
+
+  if mouse_over:
+    if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      # Only this button enters pressed state
+      _pressed_buttons.add(button_id)
+      is_pressed = True
+
+    # Use pressed color when mouse is down over this button
+    if is_pressed and rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
       bg_color = BUTTON_PRESSED_BACKGROUND_COLORS[button_style]
-    elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
+
+    # Handle button click
+    if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and is_pressed:
       result = 1
+      _pressed_buttons.remove(button_id)
+
+  # Clean up pressed state if mouse is released anywhere
+  if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and button_id in _pressed_buttons:
+    _pressed_buttons.remove(button_id)
 
   # Draw the button with rounded corners
   roundness = border_radius / (min(rect.width, rect.height) / 2)
@@ -57,15 +98,42 @@ def gui_button(
     rl.draw_rectangle_rounded(rect, roundness, 20, rl.BLACK)
     rl.draw_rectangle_rounded_lines_ex(rect, roundness, 20, 2, rl.WHITE)
 
+  # Handle icon and text positioning
   font = gui_app.font(font_weight)
-  # Center text in the button
-  text_size = rl.measure_text_ex(font, text, font_size, 0)
-  text_pos = rl.Vector2(
-    rect.x + (rect.width - text_size.x) // 2, rect.y + (rect.height - text_size.y) // 2
-  )
+  text_size = measure_text_cached(font, text, font_size)
+  text_pos = rl.Vector2(0, rect.y + (rect.height - text_size.y) // 2)  # Vertical centering
 
-  # Draw the button text
-  text_color = BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR
-  rl.draw_text_ex(font, text, text_pos, font_size, 0, text_color)
+  # Draw icon if provided
+  if icon:
+    icon_y = rect.y + (rect.height - icon.height) / 2
+    if text:
+      if text_alignment == TextAlignment.LEFT:
+        icon_x = rect.x + text_padding
+        text_pos.x = icon_x + icon.width + ICON_PADDING
+      elif text_alignment == TextAlignment.CENTER:
+        total_width = icon.width + ICON_PADDING + text_size.x
+        icon_x = rect.x + (rect.width - total_width) / 2
+        text_pos.x = icon_x + icon.width + ICON_PADDING
+      else:  # RIGHT
+        text_pos.x = rect.x + rect.width - text_size.x - text_padding
+        icon_x = text_pos.x - ICON_PADDING - icon.width
+    else:
+      # Center icon when no text
+      icon_x = rect.x + (rect.width - icon.width) / 2
+
+    rl.draw_texture_v(icon, rl.Vector2(icon_x, icon_y), rl.WHITE if is_enabled else rl.Color(255, 255, 255, 100))
+  else:
+    # No icon, position text normally
+    if text_alignment == TextAlignment.LEFT:
+      text_pos.x = rect.x + text_padding
+    elif text_alignment == TextAlignment.CENTER:
+      text_pos.x = rect.x + (rect.width - text_size.x) // 2
+    elif text_alignment == TextAlignment.RIGHT:
+      text_pos.x = rect.x + rect.width - text_size.x - text_padding
+
+  # Draw the button text if any
+  if text:
+    text_color = ACTION_BUTTON_TEXT_COLOR if button_style == ButtonStyle.ACTION else BUTTON_ENABLED_TEXT_COLOR if is_enabled else BUTTON_DISABLED_TEXT_COLOR
+    rl.draw_text_ex(font, text, text_pos, font_size, 0, text_color)
 
   return result
diff --git a/system/ui/lib/egl.py b/system/ui/lib/egl.py
new file mode 100644
index 0000000000..d43be482b3
--- /dev/null
+++ b/system/ui/lib/egl.py
@@ -0,0 +1,177 @@
+import os
+import cffi
+from dataclasses import dataclass
+from typing import Any
+from openpilot.common.swaglog import cloudlog
+
+
+# EGL constants
+EGL_LINUX_DMA_BUF_EXT = 0x3270
+EGL_WIDTH = 0x3057
+EGL_HEIGHT = 0x3056
+EGL_LINUX_DRM_FOURCC_EXT = 0x3271
+EGL_DMA_BUF_PLANE0_FD_EXT = 0x3272
+EGL_DMA_BUF_PLANE0_OFFSET_EXT = 0x3273
+EGL_DMA_BUF_PLANE0_PITCH_EXT = 0x3274
+EGL_DMA_BUF_PLANE1_FD_EXT = 0x3275
+EGL_DMA_BUF_PLANE1_OFFSET_EXT = 0x3276
+EGL_DMA_BUF_PLANE1_PITCH_EXT = 0x3277
+EGL_NONE = 0x3038
+GL_TEXTURE0 = 0x84C0
+GL_TEXTURE_EXTERNAL_OES = 0x8D65
+
+# DRM Format for NV12
+DRM_FORMAT_NV12 = 842094158
+
+@dataclass
+class EGLImage:
+  """Container for EGL image and associated resources"""
+
+  egl_image: Any
+  fd: int
+
+
+@dataclass
+class EGLState:
+  """Container for all EGL-related state"""
+
+  initialized: bool = False
+  ffi: Any = None
+  egl_lib: Any = None
+  gles_lib: Any = None
+
+  # EGL display connection - shared across all users
+  display: Any = None
+
+  # Constants
+  NO_CONTEXT: Any = None
+  NO_DISPLAY: Any = None
+  NO_IMAGE_KHR: Any = None
+
+  # Function pointers
+  get_current_display: Any = None
+  create_image_khr: Any = None
+  destroy_image_khr: Any = None
+  image_target_texture: Any = None
+  get_error: Any = None
+  bind_texture: Any = None
+  active_texture: Any = None
+
+
+# Create a single instance of the state
+_egl = EGLState()
+
+
+def init_egl() -> bool:
+  """Initialize EGL and load necessary functions"""
+  global _egl
+
+  # Don't re-initialize if already done
+  if _egl.initialized:
+    return True
+
+  try:
+    _egl.ffi = cffi.FFI()
+    _egl.ffi.cdef("""
+      typedef int EGLint;
+      typedef unsigned int EGLBoolean;
+      typedef unsigned int EGLenum;
+      typedef unsigned int GLenum;
+      typedef void *EGLContext;
+      typedef void *EGLDisplay;
+      typedef void *EGLClientBuffer;
+      typedef void *EGLImageKHR;
+      typedef void *GLeglImageOES;
+
+      EGLDisplay eglGetCurrentDisplay(void);
+      EGLint eglGetError(void);
+      EGLImageKHR eglCreateImageKHR(EGLDisplay dpy, EGLContext ctx,
+                                  EGLenum target, EGLClientBuffer buffer,
+                                  const EGLint *attrib_list);
+      EGLBoolean eglDestroyImageKHR(EGLDisplay dpy, EGLImageKHR image);
+      void glEGLImageTargetTexture2DOES(GLenum target, GLeglImageOES image);
+      void glBindTexture(GLenum target, unsigned int texture);
+      void glActiveTexture(GLenum texture);
+    """)
+
+    # Load libraries
+    _egl.egl_lib = _egl.ffi.dlopen("libEGL.so")
+    _egl.gles_lib = _egl.ffi.dlopen("libGLESv2.so")
+
+    # Cast NULL pointers
+    _egl.NO_CONTEXT = _egl.ffi.cast("void *", 0)
+    _egl.NO_DISPLAY = _egl.ffi.cast("void *", 0)
+    _egl.NO_IMAGE_KHR = _egl.ffi.cast("void *", 0)
+
+    # Bind functions
+    _egl.get_current_display = _egl.egl_lib.eglGetCurrentDisplay
+    _egl.create_image_khr = _egl.egl_lib.eglCreateImageKHR
+    _egl.destroy_image_khr = _egl.egl_lib.eglDestroyImageKHR
+    _egl.image_target_texture = _egl.gles_lib.glEGLImageTargetTexture2DOES
+    _egl.get_error = _egl.egl_lib.eglGetError
+    _egl.bind_texture = _egl.gles_lib.glBindTexture
+    _egl.active_texture = _egl.gles_lib.glActiveTexture
+
+    # Initialize EGL display once here
+    _egl.display = _egl.get_current_display()
+    if _egl.display == _egl.NO_DISPLAY:
+      raise RuntimeError("Failed to get EGL display")
+
+    _egl.initialized = True
+    return True
+  except Exception as e:
+    cloudlog.exception(f"EGL initialization failed: {e}")
+    _egl.initialized = False
+    return False
+
+
+def create_egl_image(width: int, height: int, stride: int, fd: int, uv_offset: int) -> EGLImage | None:
+  assert _egl.initialized, "EGL not initialized"
+
+  # Duplicate fd since EGL needs it
+  dup_fd = os.dup(fd)
+
+  # Create image attributes for EGL
+  img_attrs = [
+    EGL_WIDTH, width,
+    EGL_HEIGHT, height,
+    EGL_LINUX_DRM_FOURCC_EXT, DRM_FORMAT_NV12,
+    EGL_DMA_BUF_PLANE0_FD_EXT, dup_fd,
+    EGL_DMA_BUF_PLANE0_OFFSET_EXT, 0,
+    EGL_DMA_BUF_PLANE0_PITCH_EXT, stride,
+    EGL_DMA_BUF_PLANE1_FD_EXT, dup_fd,
+    EGL_DMA_BUF_PLANE1_OFFSET_EXT, uv_offset,
+    EGL_DMA_BUF_PLANE1_PITCH_EXT, stride,
+    EGL_NONE
+  ]
+
+  attr_array = _egl.ffi.new("int[]", img_attrs)
+  egl_image = _egl.create_image_khr(_egl.display, _egl.NO_CONTEXT, EGL_LINUX_DMA_BUF_EXT, _egl.ffi.NULL, attr_array)
+
+  if egl_image == _egl.NO_IMAGE_KHR:
+    cloudlog.error(f"Failed to create EGL image: {_egl.get_error()}")
+    os.close(dup_fd)
+    return None
+
+  return EGLImage(egl_image=egl_image, fd=dup_fd)
+
+
+def destroy_egl_image(egl_image: EGLImage) -> None:
+  assert _egl.initialized, "EGL not initialized"
+
+  _egl.destroy_image_khr(_egl.display, egl_image.egl_image)
+
+  # Close the duplicated fd we created in create_egl_image()
+  # We need to handle OSError since the fd might already be closed
+  try:
+    os.close(egl_image.fd)
+  except OSError:
+    pass
+
+
+def bind_egl_image_to_texture(texture_id: int, egl_image: EGLImage) -> None:
+  assert _egl.initialized, "EGL not initialized"
+
+  _egl.active_texture(GL_TEXTURE0)
+  _egl.bind_texture(GL_TEXTURE_EXTERNAL_OES, texture_id)
+  _egl.image_target_texture(GL_TEXTURE_EXTERNAL_OES, egl_image.egl_image)
diff --git a/system/ui/lib/inputbox.py b/system/ui/lib/inputbox.py
new file mode 100644
index 0000000000..ae036c03c2
--- /dev/null
+++ b/system/ui/lib/inputbox.py
@@ -0,0 +1,233 @@
+import pyray as rl
+import time
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+
+PASSWORD_MASK_CHAR = "•"
+PASSWORD_MASK_DELAY = 1.5  # Seconds to show character before masking
+
+
+class InputBox:
+  def __init__(self, max_text_size=255, password_mode=False):
+    self._max_text_size = max_text_size
+    self._input_text = ""
+    self._cursor_position = 0
+    self._password_mode = password_mode
+    self._blink_counter = 0
+    self._show_cursor = False
+    self._last_key_pressed = 0
+    self._key_press_time = 0
+    self._repeat_delay = 30
+    self._repeat_rate = 4
+    self._text_offset = 0
+    self._visible_width = 0
+    self._last_char_time = 0  # Track when last character was added
+    self._masked_length = 0   # How many characters are currently masked
+
+  @property
+  def text(self):
+    return self._input_text
+
+  @text.setter
+  def text(self, value):
+    self._input_text = value[: self._max_text_size]
+    self._cursor_position = len(self._input_text)
+    self._update_text_offset()
+
+  def set_password_mode(self, password_mode):
+    self._password_mode = password_mode
+
+  def clear(self):
+    self._input_text = ''
+    self._cursor_position = 0
+    self._text_offset = 0
+
+  def set_cursor_position(self, position):
+    """Set the cursor position and reset the blink counter."""
+    if 0 <= position <= len(self._input_text):
+      self._cursor_position = position
+      self._blink_counter = 0
+      self._show_cursor = True
+      self._update_text_offset()
+
+  def _update_text_offset(self):
+    """Ensure the cursor is visible by adjusting text offset."""
+    if self._visible_width == 0:
+      return
+
+    font = gui_app.font()
+    display_text = self._get_display_text()
+    padding = 10
+
+    if self._cursor_position > 0:
+      cursor_x = measure_text_cached(font, display_text[: self._cursor_position], self._font_size).x
+    else:
+      cursor_x = 0
+
+    visible_width = self._visible_width - (padding * 2)
+
+    # Adjust offset if cursor would be outside visible area
+    if cursor_x < self._text_offset:
+      self._text_offset = max(0, cursor_x - padding)
+    elif cursor_x > self._text_offset + visible_width:
+      self._text_offset = cursor_x - visible_width + padding
+
+  def add_char_at_cursor(self, char):
+    """Add a character at the current cursor position."""
+    if len(self._input_text) < self._max_text_size:
+      self._input_text = self._input_text[: self._cursor_position] + char + self._input_text[self._cursor_position :]
+      self.set_cursor_position(self._cursor_position + 1)
+
+      if self._password_mode:
+        self._last_char_time = time.time()
+
+      return True
+    return False
+
+  def delete_char_before_cursor(self):
+    """Delete the character before the cursor position (backspace)."""
+    if self._cursor_position > 0:
+      self._input_text = self._input_text[: self._cursor_position - 1] + self._input_text[self._cursor_position :]
+      self.set_cursor_position(self._cursor_position - 1)
+      return True
+    return False
+
+  def delete_char_at_cursor(self):
+    """Delete the character at the cursor position (delete)."""
+    if self._cursor_position < len(self._input_text):
+      self._input_text = self._input_text[: self._cursor_position] + self._input_text[self._cursor_position + 1 :]
+      self.set_cursor_position(self._cursor_position)
+      return True
+    return False
+
+  def render(self, rect, color=rl.BLACK, border_color=rl.DARKGRAY, text_color=rl.WHITE, font_size=80):
+    # Store dimensions for text offset calculations
+    self._visible_width = rect.width
+    self._font_size = font_size
+
+    # Handle mouse input
+    self._handle_mouse_input(rect, font_size)
+
+    # Draw input box
+    rl.draw_rectangle_rec(rect, color)
+
+    # Process keyboard input
+    self._handle_keyboard_input()
+
+    # Update cursor blink
+    self._blink_counter += 1
+    if self._blink_counter >= 30:
+      self._show_cursor = not self._show_cursor
+      self._blink_counter = 0
+
+    # Display text
+    font = gui_app.font()
+    display_text = self._get_display_text()
+    padding = 10
+
+    # Clip text within input box bounds
+    buffer = 2
+    rl.begin_scissor_mode(int(rect.x + padding - buffer), int(rect.y), int(rect.width - padding * 2 + buffer * 2), int(rect.height))
+    rl.draw_text_ex(
+      font,
+      display_text,
+      rl.Vector2(int(rect.x + padding - self._text_offset), int(rect.y + rect.height / 2 - font_size / 2)),
+      font_size,
+      0,
+      text_color,
+    )
+
+    # Draw cursor
+    if self._show_cursor:
+      cursor_x = rect.x + padding
+      if len(display_text) > 0 and self._cursor_position > 0:
+        cursor_x += measure_text_cached(font, display_text[: self._cursor_position], font_size).x
+
+      # Apply text offset to cursor position
+      cursor_x -= self._text_offset
+
+      cursor_height = font_size + 4
+      cursor_y = rect.y + rect.height / 2 - cursor_height / 2
+      rl.draw_line(int(cursor_x), int(cursor_y), int(cursor_x), int(cursor_y + cursor_height), rl.WHITE)
+
+    rl.end_scissor_mode()
+
+  def _get_display_text(self):
+    """Get text to display, applying password masking with delay if needed."""
+    if not self._password_mode:
+      return self._input_text
+
+    # Show character at last edited position if within delay window
+    masked_text = PASSWORD_MASK_CHAR * len(self._input_text)
+    recent_edit = time.time() - self._last_char_time < PASSWORD_MASK_DELAY
+    if recent_edit and self._input_text:
+      last_pos = max(0, self._cursor_position - 1)
+      if last_pos < len(self._input_text):
+        return masked_text[:last_pos] + self._input_text[last_pos] + masked_text[last_pos + 1 :]
+
+    return masked_text
+
+  def _handle_mouse_input(self, rect, font_size):
+    """Handle mouse clicks to position cursor."""
+    mouse_pos = rl.get_mouse_position()
+    if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON) and rl.check_collision_point_rec(mouse_pos, rect):
+      # Calculate cursor position from click
+      if len(self._input_text) > 0:
+        font = gui_app.font()
+        display_text = self._get_display_text()
+
+        # Find the closest character position to the click
+        relative_x = mouse_pos.x - (rect.x + 10) + self._text_offset
+        best_pos = 0
+        min_distance = float('inf')
+
+        for i in range(len(self._input_text) + 1):
+          char_width = measure_text_cached(font, display_text[:i], font_size).x
+          distance = abs(relative_x - char_width)
+          if distance < min_distance:
+            min_distance = distance
+            best_pos = i
+
+        self.set_cursor_position(best_pos)
+      else:
+        self.set_cursor_position(0)
+
+  def _handle_keyboard_input(self):
+    # Handle navigation keys
+    key = rl.get_key_pressed()
+    if key != 0:
+      self._process_key(key)
+      if key in (rl.KEY_LEFT, rl.KEY_RIGHT, rl.KEY_BACKSPACE, rl.KEY_DELETE):
+        self._last_key_pressed = key
+        self._key_press_time = 0
+
+    # Handle repeats for held keys
+    elif self._last_key_pressed != 0:
+      if rl.is_key_down(self._last_key_pressed):
+        self._key_press_time += 1
+        if self._key_press_time > self._repeat_delay and self._key_press_time % self._repeat_rate == 0:
+          self._process_key(self._last_key_pressed)
+      else:
+        self._last_key_pressed = 0
+
+    # Handle text input
+    char = rl.get_char_pressed()
+    if char != 0 and char >= 32:  # Filter out control characters
+      self.add_char_at_cursor(chr(char))
+
+  def _process_key(self, key):
+    if key == rl.KEY_LEFT:
+      if self._cursor_position > 0:
+        self.set_cursor_position(self._cursor_position - 1)
+    elif key == rl.KEY_RIGHT:
+      if self._cursor_position < len(self._input_text):
+        self.set_cursor_position(self._cursor_position + 1)
+    elif key == rl.KEY_BACKSPACE:
+      self.delete_char_before_cursor()
+    elif key == rl.KEY_DELETE:
+      self.delete_char_at_cursor()
+    elif key == rl.KEY_HOME:
+      self.set_cursor_position(0)
+    elif key == rl.KEY_END:
+      self.set_cursor_position(len(self._input_text))
diff --git a/system/ui/lib/label.py b/system/ui/lib/label.py
index ccfd89a2ec..82533660de 100644
--- a/system/ui/lib/label.py
+++ b/system/ui/lib/label.py
@@ -1,5 +1,6 @@
 import pyray as rl
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_SIZE, DEFAULT_TEXT_COLOR
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.utils import GuiStyleContext
 
 
@@ -10,13 +11,27 @@ def gui_label(
   color: rl.Color = DEFAULT_TEXT_COLOR,
   font_weight: FontWeight = FontWeight.NORMAL,
   alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE
+  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+  elide_right: bool = True
 ):
-  # Set font based on the provided weight
   font = gui_app.font(font_weight)
+  text_size = measure_text_cached(font, text, font_size)
+  display_text = text
 
-  # Measure text size
-  text_size = rl.measure_text_ex(font, text, font_size, 0)
+  # Elide text to fit within the rectangle
+  if elide_right and text_size.x > rect.width:
+    ellipsis = "..."
+    left, right = 0, len(text)
+    while left < right:
+      mid = (left + right) // 2
+      candidate = text[:mid] + ellipsis
+      candidate_size = measure_text_cached(font, candidate, font_size)
+      if candidate_size.x <= rect.width:
+        left = mid + 1
+      else:
+        right = mid
+    display_text = text[: left - 1] + ellipsis if left > 0 else ellipsis
+    text_size = measure_text_cached(font, display_text, font_size)
 
   # Calculate horizontal position based on alignment
   text_x = rect.x + {
@@ -33,7 +48,7 @@ def gui_label(
   }.get(alignment_vertical, 0)
 
   # Draw the text in the specified rectangle
-  rl.draw_text_ex(font, text, rl.Vector2(text_x, text_y), font_size, 0, color)
+  rl.draw_text_ex(font, display_text, rl.Vector2(text_x, text_y), font_size, 0, color)
 
 
 def gui_text_box(
@@ -42,7 +57,8 @@ def gui_text_box(
   font_size: int = DEFAULT_TEXT_SIZE,
   color: rl.Color = DEFAULT_TEXT_COLOR,
   alignment: int = rl.GuiTextAlignment.TEXT_ALIGN_LEFT,
-  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP
+  alignment_vertical: int = rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP,
+  font_weight: FontWeight = FontWeight.NORMAL,
 ):
   styles = [
     (rl.GuiControl.DEFAULT, rl.GuiControlProperty.TEXT_COLOR_NORMAL, rl.color_to_int(color)),
@@ -52,6 +68,12 @@ def gui_text_box(
     (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_ALIGNMENT_VERTICAL, alignment_vertical),
     (rl.GuiControl.DEFAULT, rl.GuiDefaultProperty.TEXT_WRAP_MODE, rl.GuiTextWrapMode.TEXT_WRAP_WORD)
   ]
+  if font_weight != FontWeight.NORMAL:
+    rl.gui_set_font(gui_app.font(font_weight))
 
   with GuiStyleContext(styles):
     rl.gui_label(rect, text)
+
+  if font_weight != FontWeight.NORMAL:
+    rl.gui_set_font(gui_app.font(FontWeight.NORMAL))
+
diff --git a/system/ui/lib/list_view.py b/system/ui/lib/list_view.py
new file mode 100644
index 0000000000..9ca2363bc7
--- /dev/null
+++ b/system/ui/lib/list_view.py
@@ -0,0 +1,380 @@
+import os
+import pyray as rl
+from dataclasses import dataclass
+from collections.abc import Callable
+from abc import ABC, abstractmethod
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.wrap_text import wrap_text
+from openpilot.system.ui.lib.button import gui_button
+from openpilot.system.ui.lib.toggle import Toggle
+from openpilot.system.ui.lib.toggle import WIDTH as TOGGLE_WIDTH, HEIGHT as TOGGLE_HEIGHT
+
+
+LINE_PADDING = 40
+LINE_COLOR = rl.GRAY
+ITEM_PADDING = 20
+ITEM_SPACING = 80
+ITEM_BASE_HEIGHT = 170
+ITEM_TEXT_FONT_SIZE = 50
+ITEM_TEXT_COLOR = rl.WHITE
+ITEM_DESC_TEXT_COLOR = rl.Color(128, 128, 128, 255)
+ITEM_DESC_FONT_SIZE = 40
+ITEM_DESC_V_OFFSET = 130
+RIGHT_ITEM_PADDING = 20
+ICON_SIZE = 80
+BUTTON_WIDTH = 250
+BUTTON_HEIGHT = 100
+BUTTON_BORDER_RADIUS = 50
+BUTTON_FONT_SIZE = 35
+BUTTON_FONT_WEIGHT = FontWeight.MEDIUM
+
+
+# Abstract base class for right-side items
+class RightItem(ABC):
+  def __init__(self, width: int = 100):
+    self.width = width
+    self.enabled = True
+
+  @abstractmethod
+  def draw(self, rect: rl.Rectangle) -> bool:
+    pass
+
+  @abstractmethod
+  def get_width(self) -> int:
+    pass
+
+
+class ToggleRightItem(RightItem):
+  def __init__(self, initial_state: bool = False, width: int = TOGGLE_WIDTH):
+    super().__init__(width)
+    self.toggle = Toggle(initial_state=initial_state)
+    self.state = initial_state
+    self.enabled = True
+
+  def draw(self, rect: rl.Rectangle) -> bool:
+    if self.toggle.render(rl.Rectangle(rect.x, rect.y + (rect.height - TOGGLE_HEIGHT) / 2, self.width, TOGGLE_HEIGHT)):
+      self.state = not self.state
+      return True
+    return False
+
+  def get_width(self) -> int:
+    return self.width
+
+  def set_state(self, state: bool):
+    self.state = state
+    self.toggle.set_state(state)
+
+  def get_state(self) -> bool:
+    return self.state
+
+  def set_enabled(self, enabled: bool):
+    self.enabled = enabled
+
+
+class ButtonRightItem(RightItem):
+  def __init__(self, text: str, width: int = BUTTON_WIDTH):
+    super().__init__(width)
+    self.text = text
+    self.enabled = True
+
+  def draw(self, rect: rl.Rectangle) -> bool:
+    return (
+      gui_button(
+        rl.Rectangle(rect.x, rect.y + (rect.height - BUTTON_HEIGHT) / 2, BUTTON_WIDTH, BUTTON_HEIGHT),
+        self.text,
+        border_radius=BUTTON_BORDER_RADIUS,
+        font_weight=BUTTON_FONT_WEIGHT,
+        font_size=BUTTON_FONT_SIZE,
+        is_enabled=self.enabled,
+      )
+      == 1
+    )
+
+  def get_width(self) -> int:
+    return self.width
+
+  def set_enabled(self, enabled: bool):
+    self.enabled = enabled
+
+
+class TextRightItem(RightItem):
+  def __init__(self, text: str, color: rl.Color = ITEM_TEXT_COLOR, font_size: int = ITEM_TEXT_FONT_SIZE):
+    self.text = text
+    self.color = color
+    self.font_size = font_size
+
+    font = gui_app.font(FontWeight.NORMAL)
+    text_width = measure_text_cached(font, text, font_size).x
+    super().__init__(int(text_width + 20))
+
+  def draw(self, rect: rl.Rectangle) -> bool:
+    font = gui_app.font(FontWeight.NORMAL)
+    text_size = measure_text_cached(font, self.text, self.font_size)
+
+    # Center the text in the allocated rectangle
+    text_x = rect.x + (rect.width - text_size.x) / 2
+    text_y = rect.y + (rect.height - text_size.y) / 2
+
+    rl.draw_text_ex(font, self.text, rl.Vector2(text_x, text_y), self.font_size, 0, self.color)
+    return False
+
+  def get_width(self) -> int:
+    return self.width
+
+  def set_text(self, text: str):
+    self.text = text
+    font = gui_app.font(FontWeight.NORMAL)
+    text_width = measure_text_cached(font, text, self.font_size).x
+    self.width = int(text_width + 20)
+
+
+@dataclass
+class ListItem:
+  title: str
+  icon: str | None = None
+  description: str | None = None
+  description_visible: bool = False
+  rect: "rl.Rectangle | None" = None
+  callback: Callable | None = None
+  right_item: RightItem | None = None
+
+  # Cached properties for performance
+  _wrapped_description: str | None = None
+  _description_height: float = 0
+
+  def get_right_item(self) -> RightItem | None:
+    return self.right_item
+
+  def get_item_height(self, font: rl.Font, max_width: int) -> float:
+    if self.description_visible and self.description:
+      if not self._wrapped_description:
+        wrapped_lines = wrap_text(font, self.description, ITEM_DESC_FONT_SIZE, max_width)
+        self._wrapped_description = "\n".join(wrapped_lines)
+        self._description_height = len(wrapped_lines) * 20 + 10  # Line height + padding
+      return ITEM_BASE_HEIGHT + self._description_height - (ITEM_BASE_HEIGHT - ITEM_DESC_V_OFFSET) + ITEM_SPACING
+    return ITEM_BASE_HEIGHT
+
+  def get_content_width(self, total_width: int) -> int:
+    if self.right_item:
+      return total_width - self.right_item.get_width() - RIGHT_ITEM_PADDING
+    return total_width
+
+  def get_right_item_rect(self, item_rect: rl.Rectangle) -> rl.Rectangle:
+    if not self.right_item:
+      return rl.Rectangle(0, 0, 0, 0)
+
+    right_width = self.right_item.get_width()
+    right_x = item_rect.x + item_rect.width - right_width
+    right_y = item_rect.y
+    return rl.Rectangle(right_x, right_y, right_width, ITEM_BASE_HEIGHT)
+
+
+class ListView:
+  def __init__(self, items: list[ListItem]):
+    self._items: list[ListItem] = items
+    self._last_dim: tuple[float, float] = (0, 0)
+    self.scroll_panel = GuiScrollPanel()
+
+    self._font_normal = gui_app.font(FontWeight.NORMAL)
+
+    # Interaction state
+    self._hovered_item: int = -1
+    self._last_mouse_pos = rl.Vector2(0, 0)
+
+    self._total_height: float = 0
+    self._visible_range = (0, 0)
+
+  def invalid_height_cache(self):
+    self._last_dim = (0, 0)
+
+  def render(self, rect: rl.Rectangle):
+    if self._last_dim != (rect.width, rect.height):
+      self._update_item_rects(rect)
+      self._last_dim = (rect.width, rect.height)
+
+    # Update layout and handle scrolling
+    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._total_height)
+    scroll_offset = self.scroll_panel.handle_scroll(rect, content_rect)
+
+    # Handle mouse interaction
+    if self.scroll_panel.is_click_valid():
+      self._handle_mouse_interaction(rect, scroll_offset)
+
+    # Set scissor mode for clipping
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+
+    # Calculate visible range for performance
+    self._calculate_visible_range(rect, -scroll_offset.y)
+
+    # Render only visible items
+    for i in range(self._visible_range[0], min(self._visible_range[1], len(self._items))):
+      item = self._items[i]
+      if item.rect:
+        adjusted_rect = rl.Rectangle(item.rect.x, item.rect.y + scroll_offset.y, item.rect.width, item.rect.height)
+        self._render_item(item, adjusted_rect, i)
+
+        if i != len(self._items) - 1:
+          rl.draw_line_ex(
+            rl.Vector2(adjusted_rect.x + LINE_PADDING, adjusted_rect.y + adjusted_rect.height - 1),
+            rl.Vector2(
+              adjusted_rect.x + adjusted_rect.width - LINE_PADDING * 2, adjusted_rect.y + adjusted_rect.height - 1
+            ),
+            1.0,
+            LINE_COLOR,
+          )
+    rl.end_scissor_mode()
+
+  def _render_item(self, item: ListItem, rect: rl.Rectangle, index: int):
+    content_x = rect.x + ITEM_PADDING
+    text_x = content_x
+
+    # Calculate available width for main content
+    content_width = item.get_content_width(int(rect.width - ITEM_PADDING * 2))
+
+    # Draw icon if present
+    if item.icon:
+      icon_texture = gui_app.texture(os.path.join("icons", item.icon), ICON_SIZE, ICON_SIZE)
+      rl.draw_texture(
+        icon_texture, int(content_x), int(rect.y + (ITEM_BASE_HEIGHT - icon_texture.width) // 2), rl.WHITE
+      )
+      text_x += ICON_SIZE + ITEM_PADDING
+
+    # Draw main text
+    text_size = measure_text_cached(self._font_normal, item.title, ITEM_TEXT_FONT_SIZE)
+    item_y = rect.y + (ITEM_BASE_HEIGHT - text_size.y) // 2
+    rl.draw_text_ex(self._font_normal, item.title, rl.Vector2(text_x, item_y), ITEM_TEXT_FONT_SIZE, 0, ITEM_TEXT_COLOR)
+
+    # Draw description if visible (adjust width for right item)
+    if item.description_visible and item._wrapped_description:
+      desc_y = rect.y + ITEM_DESC_V_OFFSET
+      desc_max_width = int(content_width - (text_x - content_x))
+
+      # Re-wrap description if needed due to right item
+      if (item.right_item and item.description) and not item._wrapped_description:
+        wrapped_lines = wrap_text(self._font_normal, item.description, ITEM_DESC_FONT_SIZE, desc_max_width)
+        item._wrapped_description = "\n".join(wrapped_lines)
+
+      rl.draw_text_ex(
+        self._font_normal,
+        item._wrapped_description,
+        rl.Vector2(text_x, desc_y),
+        ITEM_DESC_FONT_SIZE,
+        0,
+        ITEM_DESC_TEXT_COLOR,
+      )
+
+    # Draw right item if present
+    if item.right_item:
+      right_rect = item.get_right_item_rect(rect)
+      # Adjust for scroll offset
+      right_rect.y = right_rect.y
+      if item.right_item.draw(right_rect):
+        # Right item was clicked/activated
+        if item.callback:
+          item.callback()
+
+  def _update_item_rects(self, container_rect: rl.Rectangle) -> None:
+    current_y: float = 0.0
+    self._total_height = 0
+
+    for item in self._items:
+      content_width = item.get_content_width(int(container_rect.width - ITEM_PADDING * 2))
+      item_height = item.get_item_height(self._font_normal, content_width)
+      item.rect = rl.Rectangle(container_rect.x, container_rect.y + current_y, container_rect.width, item_height)
+      current_y += item_height
+      self._total_height += item_height
+
+  def _calculate_visible_range(self, rect: rl.Rectangle, scroll_offset: float):
+    if not self._items:
+      self._visible_range = (0, 0)
+      return
+
+    visible_top = scroll_offset
+    visible_bottom = scroll_offset + rect.height
+
+    start_idx = 0
+    end_idx = len(self._items)
+
+    # Find first visible item
+    for i, item in enumerate(self._items):
+      if item.rect and item.rect.y + item.rect.height >= visible_top:
+        start_idx = max(0, i - 1)
+        break
+
+    # Find last visible item
+    for i in range(start_idx, len(self._items)):
+      item = self._items[i]
+      if item.rect and item.rect.y > visible_bottom:
+        end_idx = min(len(self._items), i + 2)
+        break
+
+    self._visible_range = (start_idx, end_idx)
+
+  def _handle_mouse_interaction(self, rect: rl.Rectangle, scroll_offset: rl.Vector2):
+    mouse_pos = rl.get_mouse_position()
+
+    self._hovered_item = -1
+    if not rl.check_collision_point_rec(mouse_pos, rect):
+      return
+
+    content_mouse_y = mouse_pos.y - rect.y - scroll_offset.y
+
+    for i, item in enumerate(self._items):
+      if item.rect:
+        # Check if mouse is within this item's bounds in content space
+        if (
+          mouse_pos.x >= rect.x
+          and mouse_pos.x <= rect.x + rect.width
+          and content_mouse_y >= item.rect.y
+          and content_mouse_y <= item.rect.y + item.rect.height
+        ):
+          item_screen_y = item.rect.y + scroll_offset.y
+          if item_screen_y < rect.height and item_screen_y + item.rect.height > 0:
+            self._hovered_item = i
+            break
+
+    # Handle click on main item (not right item)
+    if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT) and self._hovered_item >= 0:
+      item = self._items[self._hovered_item]
+
+      # Check if click was on right item area
+      if item.right_item and item.rect:
+        adjusted_rect = rl.Rectangle(item.rect.x, item.rect.y + scroll_offset.y, item.rect.width, item.rect.height)
+        right_rect = item.get_right_item_rect(adjusted_rect)
+        if rl.check_collision_point_rec(mouse_pos, right_rect):
+          # Click was handled by right item, don't process main item click
+          return
+
+      # Toggle description visibility if item has description
+      if item.description:
+        item.description_visible = not item.description_visible
+        # Force layout update when description visibility changes
+        self._last_dim = (0, 0)
+
+      # Call item callback
+      if item.callback:
+        item.callback()
+
+
+# Factory functions
+def simple_item(title: str, callback: Callable | None = None) -> ListItem:
+  return ListItem(title=title, callback=callback)
+
+
+def toggle_item(
+  title: str, description: str = None, initial_state: bool = False, callback: Callable | None = None, icon: str = ""
+) -> ListItem:
+  toggle = ToggleRightItem(initial_state=initial_state)
+  return ListItem(title=title, description=description, right_item=toggle, icon=icon, callback=callback)
+
+
+def button_item(title: str, button_text: str, description: str = None, callback: Callable | None = None) -> ListItem:
+  button = ButtonRightItem(text=button_text)
+  return ListItem(title=title, description=description, right_item=button, callback=callback)
+
+
+def text_item(title: str, value: str, description: str = None, callback: Callable | None = None) -> ListItem:
+  text_item = TextRightItem(text=value, color=rl.Color(170, 170, 170, 255))
+  return ListItem(title=title, description=description, right_item=text_item, callback=callback)
diff --git a/system/ui/lib/scroll_panel.py b/system/ui/lib/scroll_panel.py
index 0dc757ff6f..43111504bb 100644
--- a/system/ui/lib/scroll_panel.py
+++ b/system/ui/lib/scroll_panel.py
@@ -1,32 +1,61 @@
 import pyray as rl
 from enum import IntEnum
 
+# Scroll constants for smooth scrolling behavior
 MOUSE_WHEEL_SCROLL_SPEED = 30
-INERTIA_FRICTION = 0.95  # The rate at which the inertia slows down
-MIN_VELOCITY = 0.1  # Minimum velocity before stopping the inertia
+INERTIA_FRICTION = 0.92        # The rate at which the inertia slows down
+MIN_VELOCITY = 0.5             # Minimum velocity before stopping the inertia
+DRAG_THRESHOLD = 5             # Pixels of movement to consider it a drag, not a click
+BOUNCE_FACTOR = 0.2            # Elastic bounce when scrolling past boundaries
+BOUNCE_RETURN_SPEED = 0.15     # How quickly it returns from the bounce
+MAX_BOUNCE_DISTANCE = 150      # Maximum distance for bounce effect
+FLICK_MULTIPLIER = 1.8         # Multiplier for flick gestures
+VELOCITY_HISTORY_SIZE = 5      # Track velocity over multiple frames for smoother motion
 
 
 class ScrollState(IntEnum):
   IDLE = 0
   DRAGGING_CONTENT = 1
   DRAGGING_SCROLLBAR = 2
+  BOUNCING = 3
 
 
 class GuiScrollPanel:
   def __init__(self, show_vertical_scroll_bar: bool = False):
     self._scroll_state: ScrollState = ScrollState.IDLE
     self._last_mouse_y: float = 0.0
+    self._start_mouse_y: float = 0.0  # Track the initial mouse position for drag detection
     self._offset = rl.Vector2(0, 0)
     self._view = rl.Rectangle(0, 0, 0, 0)
     self._show_vertical_scroll_bar: bool = show_vertical_scroll_bar
     self._velocity_y = 0.0  # Velocity for inertia
+    self._is_dragging: bool = False
+    self._bounce_offset: float = 0.0
+    self._last_frame_time = rl.get_time()
+    self._velocity_history: list[float] = []
+    self._last_drag_time: float = 0.0
+    self._content_rect: rl.Rectangle | None = None
+    self._bounds_rect: rl.Rectangle | None = None
 
   def handle_scroll(self, bounds: rl.Rectangle, content: rl.Rectangle) -> rl.Vector2:
-    mouse_pos = rl.get_mouse_position()
+    # Store rectangles for reference
+    self._content_rect = content
+    self._bounds_rect = bounds
 
-    # Handle dragging logic
+    # Calculate time delta
+    current_time = rl.get_time()
+    delta_time = current_time - self._last_frame_time
+    self._last_frame_time = current_time
+
+    # Prevent large jumps
+    delta_time = min(delta_time, 0.05)
+
+    mouse_pos = rl.get_mouse_position()
+    max_scroll_y = max(content.height - bounds.height, 0)
+
+    # Start dragging on mouse press
     if rl.check_collision_point_rec(mouse_pos, bounds) and rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
-      if self._scroll_state == ScrollState.IDLE:
+      if self._scroll_state == ScrollState.IDLE or self._scroll_state == ScrollState.BOUNCING:
         self._scroll_state = ScrollState.DRAGGING_CONTENT
         if self._show_vertical_scroll_bar:
           scrollbar_width = rl.gui_get_style(rl.GuiControl.LISTVIEW, rl.GuiListViewProperty.SCROLLBAR_WIDTH)
@@ -35,41 +64,133 @@ class GuiScrollPanel:
             self._scroll_state = ScrollState.DRAGGING_SCROLLBAR
 
         self._last_mouse_y = mouse_pos.y
-        self._velocity_y = 0.0  # Reset velocity when drag starts
+        self._start_mouse_y = mouse_pos.y
+        self._last_drag_time = current_time
+        self._velocity_history = []
+        self._velocity_y = 0.0
+        self._bounce_offset = 0.0
+        self._is_dragging = False
 
-    if self._scroll_state != ScrollState.IDLE:
+    # Handle active dragging
+    if self._scroll_state == ScrollState.DRAGGING_CONTENT or self._scroll_state == ScrollState.DRAGGING_SCROLLBAR:
       if rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
         delta_y = mouse_pos.y - self._last_mouse_y
 
+        # Track velocity for inertia
+        time_since_last_drag = current_time - self._last_drag_time
+        if time_since_last_drag > 0:
+          drag_velocity = delta_y / time_since_last_drag / 60.0
+          self._velocity_history.append(drag_velocity)
+
+          if len(self._velocity_history) > VELOCITY_HISTORY_SIZE:
+            self._velocity_history.pop(0)
+
+        self._last_drag_time = current_time
+
+        # Detect actual dragging
+        total_drag = abs(mouse_pos.y - self._start_mouse_y)
+        if total_drag > DRAG_THRESHOLD:
+          self._is_dragging = True
+
         if self._scroll_state == ScrollState.DRAGGING_CONTENT:
+          # Add resistance at boundaries
+          if (self._offset.y > 0 and delta_y > 0) or (self._offset.y < -max_scroll_y and delta_y < 0):
+            delta_y *= BOUNCE_FACTOR
+
           self._offset.y += delta_y
-        else:
-          delta_y = -delta_y
+        elif self._scroll_state == ScrollState.DRAGGING_SCROLLBAR:
+          scroll_ratio = content.height / bounds.height
+          self._offset.y -= delta_y * scroll_ratio
 
         self._last_mouse_y = mouse_pos.y
-        self._velocity_y = delta_y  # Update velocity during drag
-      else:
-        self._scroll_state = ScrollState.IDLE
 
-    # Handle mouse wheel scrolling
+      elif rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
+        # Calculate flick velocity
+        if self._velocity_history:
+          total_weight = 0
+          weighted_velocity = 0.0
+
+          for i, v in enumerate(self._velocity_history):
+            weight = i + 1
+            weighted_velocity += v * weight
+            total_weight += weight
+
+          if total_weight > 0:
+            avg_velocity = weighted_velocity / total_weight
+            self._velocity_y = avg_velocity * FLICK_MULTIPLIER
+
+        # Check bounds
+        if self._offset.y > 0 or self._offset.y < -max_scroll_y:
+          self._scroll_state = ScrollState.BOUNCING
+        else:
+          self._scroll_state = ScrollState.IDLE
+
+    # Handle mouse wheel
     wheel_move = rl.get_mouse_wheel_move()
-    if self._show_vertical_scroll_bar:
-      self._offset.y += wheel_move * (MOUSE_WHEEL_SCROLL_SPEED - 20)
-      rl.gui_scroll_panel(bounds, rl.ffi.NULL, content, self._offset, self._view)
-    else:
-      self._offset.y += wheel_move * MOUSE_WHEEL_SCROLL_SPEED
+    if wheel_move != 0:
+      self._velocity_y = 0.0
+
+      if self._show_vertical_scroll_bar:
+        self._offset.y += wheel_move * (MOUSE_WHEEL_SCROLL_SPEED - 20)
+        rl.gui_scroll_panel(bounds, rl.ffi.NULL, content, self._offset, self._view)
+      else:
+        self._offset.y += wheel_move * MOUSE_WHEEL_SCROLL_SPEED
+
+      if self._offset.y > 0 or self._offset.y < -max_scroll_y:
+        self._scroll_state = ScrollState.BOUNCING
 
     # Apply inertia (continue scrolling after mouse release)
     if self._scroll_state == ScrollState.IDLE:
-      self._offset.y += self._velocity_y
-      self._velocity_y *= INERTIA_FRICTION  # Slow down velocity over time
+      if abs(self._velocity_y) > MIN_VELOCITY:
+        self._offset.y += self._velocity_y
+        self._velocity_y *= INERTIA_FRICTION
 
-      # Stop scrolling when velocity is low
-      if abs(self._velocity_y) < MIN_VELOCITY:
+        if self._offset.y > 0 or self._offset.y < -max_scroll_y:
+          self._scroll_state = ScrollState.BOUNCING
+      else:
         self._velocity_y = 0.0
 
-    # Ensure scrolling doesn't go beyond bounds
-    max_scroll_y = max(content.height - bounds.height, 0)
-    self._offset.y = max(min(self._offset.y, 0), -max_scroll_y)
+    # Handle bouncing effect
+    elif self._scroll_state == ScrollState.BOUNCING:
+      target_y = 0.0
+      if self._offset.y < -max_scroll_y:
+        target_y = -max_scroll_y
+
+      distance = target_y - self._offset.y
+      bounce_step = distance * BOUNCE_RETURN_SPEED
+      self._offset.y += bounce_step
+      self._velocity_y *= INERTIA_FRICTION * 0.8
+
+      if abs(distance) < 0.5 and abs(self._velocity_y) < MIN_VELOCITY:
+        self._offset.y = target_y
+        self._velocity_y = 0.0
+        self._scroll_state = ScrollState.IDLE
+
+    # Limit bounce distance
+    if self._scroll_state != ScrollState.DRAGGING_CONTENT:
+      if self._offset.y > MAX_BOUNCE_DISTANCE:
+        self._offset.y = MAX_BOUNCE_DISTANCE
+      elif self._offset.y < -(max_scroll_y + MAX_BOUNCE_DISTANCE):
+        self._offset.y = -(max_scroll_y + MAX_BOUNCE_DISTANCE)
 
     return self._offset
+
+  def is_click_valid(self) -> bool:
+    # Check if this is a click rather than a drag
+    return (
+      self._scroll_state == ScrollState.IDLE
+      and not self._is_dragging
+      and rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT)
+    )
+
+  def get_normalized_scroll_position(self) -> float:
+    """Returns the current scroll position as a value from 0.0 to 1.0"""
+    if not self._content_rect or not self._bounds_rect:
+      return 0.0
+
+    max_scroll_y = max(self._content_rect.height - self._bounds_rect.height, 0)
+    if max_scroll_y == 0:
+      return 0.0
+
+    normalized = -self._offset.y / max_scroll_y
+    return max(0.0, min(1.0, normalized))
diff --git a/system/ui/lib/shader_polygon.py b/system/ui/lib/shader_polygon.py
new file mode 100644
index 0000000000..94190abc36
--- /dev/null
+++ b/system/ui/lib/shader_polygon.py
@@ -0,0 +1,315 @@
+import pyray as rl
+import numpy as np
+from typing import Any
+
+MAX_GRADIENT_COLORS = 15
+
+FRAGMENT_SHADER = """
+#version 300 es
+precision mediump float;
+
+in vec2 fragTexCoord;
+out vec4 finalColor;
+
+uniform vec2 points[100];
+uniform int pointCount;
+uniform vec4 fillColor;
+uniform vec2 resolution;
+
+uniform int useGradient;
+uniform vec2 gradientStart;
+uniform vec2 gradientEnd;
+uniform vec4 gradientColors[15];
+uniform float gradientStops[15];
+uniform int gradientColorCount;
+
+vec4 getGradientColor(vec2 pos) {
+  vec2 gradientDir = gradientEnd - gradientStart;
+  float gradientLength = length(gradientDir);
+  if (gradientLength < 0.001) return gradientColors[0];
+
+  vec2 normalizedDir = gradientDir / gradientLength;
+  float t = clamp(dot(pos - gradientStart, normalizedDir) / gradientLength, 0.0, 1.0);
+
+  if (gradientColorCount <= 1) return gradientColors[0];
+  for (int i = 0; i < gradientColorCount - 1; i++) {
+    if (t >= gradientStops[i] && t <= gradientStops[i+1]) {
+      float segmentT = (t - gradientStops[i]) / (gradientStops[i+1] - gradientStops[i]);
+      return mix(gradientColors[i], gradientColors[i+1], segmentT);
+    }
+  }
+
+  return gradientColors[gradientColorCount-1];
+}
+
+bool isPointInsidePolygon(vec2 p) {
+  if (pointCount < 3) return false;
+  int crossings = 0;
+  for (int i = 0, j = pointCount - 1; i < pointCount; j = i++) {
+    vec2 pi = points[i];
+    vec2 pj = points[j];
+    if (distance(pi, pj) < 0.001) continue;
+    if (((pi.y > p.y) != (pj.y > p.y)) &&
+        (p.x < (pj.x - pi.x) * (p.y - pi.y) / (pj.y - pi.y + 0.001) + pi.x)) {
+      crossings++;
+    }
+  }
+  return (crossings & 1) == 1;
+}
+
+float distanceToEdge(vec2 p) {
+  float minDist = 1000.0;
+
+  for (int i = 0, j = pointCount - 1; i < pointCount; j = i++) {
+    vec2 edge0 = points[j];
+    vec2 edge1 = points[i];
+
+    if (distance(edge0, edge1) < 0.0001) continue;
+
+    vec2 v1 = p - edge0;
+    vec2 v2 = edge1 - edge0;
+    float l2 = dot(v2, v2);
+
+    if (l2 < 0.0001) {
+      float dist = length(v1);
+      minDist = min(minDist, dist);
+      continue;
+    }
+
+    float t = clamp(dot(v1, v2) / l2, 0.0, 1.0);
+    vec2 projection = edge0 + t * v2;
+    float dist = length(p - projection);
+    minDist = min(minDist, dist);
+  }
+
+  return minDist;
+}
+
+void main() {
+  vec2 pixel = fragTexCoord * resolution;
+
+  // Compute pixel size for anti-aliasing
+  vec2 pixelGrad = vec2(dFdx(pixel.x), dFdy(pixel.y));
+  float pixelSize = length(pixelGrad);
+  float aaWidth = max(0.5, pixelSize * 1.5);
+
+  bool inside = isPointInsidePolygon(pixel);
+  if (inside) {
+    finalColor = useGradient == 1 ? getGradientColor(pixel) : fillColor;
+    return;
+  }
+
+  float sd = -distanceToEdge(pixel);
+  float alpha = smoothstep(-aaWidth, aaWidth, sd);
+  if (alpha > 0.0){
+    vec4 color = useGradient == 1 ? getGradientColor(pixel) : fillColor;
+    finalColor = vec4(color.rgb, color.a * alpha);
+  } else {
+    finalColor = vec4(0.0);
+  }
+}
+"""
+
+# Default vertex shader
+VERTEX_SHADER = """
+#version 300 es
+in vec3 vertexPosition;
+in vec2 vertexTexCoord;
+out vec2 fragTexCoord;
+uniform mat4 mvp;
+
+void main() {
+  fragTexCoord = vertexTexCoord;
+  gl_Position = mvp * vec4(vertexPosition, 1.0);
+}
+"""
+
+
+UNIFORM_INT = rl.ShaderUniformDataType.SHADER_UNIFORM_INT
+UNIFORM_FLOAT = rl.ShaderUniformDataType.SHADER_UNIFORM_FLOAT
+UNIFORM_VEC2 = rl.ShaderUniformDataType.SHADER_UNIFORM_VEC2
+UNIFORM_VEC4 = rl.ShaderUniformDataType.SHADER_UNIFORM_VEC4
+
+
+class ShaderState:
+  _instance: Any = None
+
+  @classmethod
+  def get_instance(cls):
+    if cls._instance is None:
+      cls._instance = cls()
+    return cls._instance
+
+  def __init__(self):
+    if ShaderState._instance is not None:
+      raise Exception("This class is a singleton. Use get_instance() instead.")
+
+    self.initialized = False
+    self.shader = None
+    self.white_texture = None
+
+    # Shader uniform locations
+    self.locations = {
+      'pointCount': None,
+      'fillColor': None,
+      'resolution': None,
+      'points': None,
+      'useGradient': None,
+      'gradientStart': None,
+      'gradientEnd': None,
+      'gradientColors': None,
+      'gradientStops': None,
+      'gradientColorCount': None,
+      'mvp': None,
+    }
+
+    # Pre-allocated FFI objects
+    self.point_count_ptr = rl.ffi.new("int[]", [0])
+    self.resolution_ptr = rl.ffi.new("float[]", [0.0, 0.0])
+    self.fill_color_ptr = rl.ffi.new("float[]", [0.0, 0.0, 0.0, 0.0])
+    self.use_gradient_ptr = rl.ffi.new("int[]", [0])
+    self.gradient_start_ptr = rl.ffi.new("float[]", [0.0, 0.0])
+    self.gradient_end_ptr = rl.ffi.new("float[]", [0.0, 0.0])
+    self.color_count_ptr = rl.ffi.new("int[]", [0])
+    self.gradient_colors_ptr = rl.ffi.new("float[]", MAX_GRADIENT_COLORS * 4)
+    self.gradient_stops_ptr = rl.ffi.new("float[]", MAX_GRADIENT_COLORS)
+
+  def initialize(self):
+    if self.initialized:
+      return
+
+    self.shader = rl.load_shader_from_memory(VERTEX_SHADER, FRAGMENT_SHADER)
+
+    # Create and cache white texture
+    white_img = rl.gen_image_color(2, 2, rl.WHITE)
+    self.white_texture = rl.load_texture_from_image(white_img)
+    rl.set_texture_filter(self.white_texture, rl.TEXTURE_FILTER_BILINEAR)
+    rl.unload_image(white_img)
+
+    # Cache all uniform locations
+    for uniform in self.locations.keys():
+      self.locations[uniform] = rl.get_shader_location(self.shader, uniform)
+
+    # Setup default MVP matrix
+    mvp_ptr = rl.ffi.new("float[16]", [1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 1.0])
+    rl.set_shader_value_matrix(self.shader, self.locations['mvp'], rl.Matrix(*mvp_ptr))
+
+    self.initialized = True
+
+  def cleanup(self):
+    if not self.initialized:
+      return
+
+    if self.white_texture:
+      rl.unload_texture(self.white_texture)
+      self.white_texture = None
+
+    if self.shader:
+      rl.unload_shader(self.shader)
+      self.shader = None
+
+    self.initialized = False
+
+
+def _configure_shader_color(state, color, gradient, clipped_rect, original_rect):
+  use_gradient = 1 if gradient else 0
+  state.use_gradient_ptr[0] = use_gradient
+  rl.set_shader_value(state.shader, state.locations['useGradient'], state.use_gradient_ptr, UNIFORM_INT)
+
+  if use_gradient:
+    start = np.array(gradient['start']) * np.array([original_rect.width, original_rect.height]) + np.array([original_rect.x, original_rect.y])
+    end = np.array(gradient['end']) * np.array([original_rect.width, original_rect.height]) + np.array([original_rect.x, original_rect.y])
+    start = start - np.array([clipped_rect.x, clipped_rect.y])
+    end = end - np.array([clipped_rect.x, clipped_rect.y])
+    state.gradient_start_ptr[0:2] = start.astype(np.float32)
+    state.gradient_end_ptr[0:2] = end.astype(np.float32)
+    rl.set_shader_value(state.shader, state.locations['gradientStart'], state.gradient_start_ptr, UNIFORM_VEC2)
+    rl.set_shader_value(state.shader, state.locations['gradientEnd'], state.gradient_end_ptr, UNIFORM_VEC2)
+
+    colors = gradient['colors']
+    color_count = min(len(colors), MAX_GRADIENT_COLORS)
+    state.color_count_ptr[0] = color_count
+    for i, c in enumerate(colors[:color_count]):
+      base_idx = i * 4
+      state.gradient_colors_ptr[base_idx:base_idx+4] = [c.r / 255.0, c.g / 255.0, c.b / 255.0, c.a / 255.0]
+    rl.set_shader_value_v(state.shader, state.locations['gradientColors'], state.gradient_colors_ptr, UNIFORM_VEC4, color_count)
+
+    stops = gradient.get('stops', [i / max(1, color_count - 1) for i in range(color_count)])
+    stops = np.clip(stops[:color_count], 0.0, 1.0)
+    state.gradient_stops_ptr[0:color_count] = stops
+    rl.set_shader_value_v(state.shader, state.locations['gradientStops'], state.gradient_stops_ptr, UNIFORM_FLOAT, color_count)
+    rl.set_shader_value(state.shader, state.locations['gradientColorCount'], state.color_count_ptr, UNIFORM_INT)
+  else:
+    color = color or rl.WHITE
+    state.fill_color_ptr[0:4] = [color.r / 255.0, color.g / 255.0, color.b / 255.0, color.a / 255.0]
+    rl.set_shader_value(state.shader, state.locations['fillColor'], state.fill_color_ptr, UNIFORM_VEC4)
+
+def draw_polygon(origin_rect: rl.Rectangle, points: np.ndarray, color=None, gradient=None):
+  """
+  Draw a complex polygon using shader-based even-odd fill rule
+
+  Args:
+      rect: Rectangle defining the drawing area
+      points: numpy array of (x,y) points defining the polygon
+      color: Solid fill color (rl.Color)
+      gradient: Dict with gradient parameters:
+          {
+              'start': (x1, y1),    # Start point (normalized 0-1)
+              'end': (x2, y2),      # End point (normalized 0-1)
+              'colors': [rl.Color], # List of colors at stops
+              'stops': [float]      # List of positions (0-1)
+          }
+  """
+  if len(points) < 3:
+    return
+
+  state = ShaderState.get_instance()
+  if not state.initialized:
+    state.initialize()
+
+  # Find bounding box
+  min_xy = np.min(points, axis=0)
+  max_xy = np.max(points, axis=0)
+  clip_x = max(origin_rect.x, min_xy[0])
+  clip_y = max(origin_rect.y, min_xy[1])
+  clip_right = min(origin_rect.x + origin_rect.width, max_xy[0])
+  clip_bottom = min(origin_rect.y + origin_rect.height, max_xy[1])
+
+  # Check if polygon is completely off-screen
+  if clip_x >= clip_right or clip_y >= clip_bottom:
+    return
+
+  clipped_rect = rl.Rectangle(clip_x, clip_y, clip_right - clip_x, clip_bottom - clip_y)
+
+  # Transform points relative to the CLIPPED area
+  transformed_points = points - np.array([clip_x, clip_y])
+
+  # Set shader values
+  state.point_count_ptr[0] = len(transformed_points)
+  rl.set_shader_value(state.shader, state.locations['pointCount'], state.point_count_ptr, UNIFORM_INT)
+
+  state.resolution_ptr[0:2] = [clipped_rect.width, clipped_rect.height]
+  rl.set_shader_value(state.shader, state.locations['resolution'], state.resolution_ptr, UNIFORM_VEC2)
+
+  flat_points = np.ascontiguousarray(transformed_points.flatten().astype(np.float32))
+  points_ptr = rl.ffi.cast("float *", flat_points.ctypes.data)
+  rl.set_shader_value_v(state.shader, state.locations['points'], points_ptr, UNIFORM_VEC2, len(transformed_points))
+
+  _configure_shader_color(state, color, gradient, clipped_rect, origin_rect)
+
+  # Render
+  rl.begin_shader_mode(state.shader)
+  rl.draw_texture_pro(
+    state.white_texture,
+    rl.Rectangle(0, 0, 2, 2),
+    clipped_rect,
+    rl.Vector2(0, 0),
+    0.0,
+    rl.WHITE,
+  )
+  rl.end_shader_mode()
+
+
+def cleanup_shader_resources():
+  state = ShaderState.get_instance()
+  state.cleanup()
diff --git a/system/ui/lib/text_measure.py b/system/ui/lib/text_measure.py
new file mode 100644
index 0000000000..c172f94251
--- /dev/null
+++ b/system/ui/lib/text_measure.py
@@ -0,0 +1,14 @@
+import pyray as rl
+
+_cache: dict[int, rl.Vector2] = {}
+
+
+def measure_text_cached(font: rl.Font, text: str, font_size: int, spacing: int = 0) -> rl.Vector2:
+  """Caches text measurements to avoid redundant calculations."""
+  key = hash((font.texture.id, text, font_size, spacing))
+  if key in _cache:
+    return _cache[key]
+
+  result = rl.measure_text_ex(font, text, font_size, spacing)  # noqa: TID251
+  _cache[key] = result
+  return result
diff --git a/system/ui/lib/toggle.py b/system/ui/lib/toggle.py
new file mode 100644
index 0000000000..5b3fbf277c
--- /dev/null
+++ b/system/ui/lib/toggle.py
@@ -0,0 +1,75 @@
+import pyray as rl
+
+ON_COLOR = rl.Color(51, 171, 76, 255)
+OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255)
+KNOB_COLOR = rl.WHITE
+DISABLED_ON_COLOR = rl.Color(0x22, 0x77, 0x22, 255)  # Dark green when disabled + on
+DISABLED_OFF_COLOR = rl.Color(0x39, 0x39, 0x39, 255)
+DISABLED_KNOB_COLOR = rl.Color(0x88, 0x88, 0x88, 255)
+WIDTH, HEIGHT = 160, 80
+BG_HEIGHT = 60
+ANIMATION_SPEED = 8.0
+
+
+class Toggle:
+  def __init__(self, initial_state=False):
+    self._state = initial_state
+    self._enabled = True
+    self._rect = rl.Rectangle(0, 0, WIDTH, HEIGHT)
+    self._progress = 1.0 if initial_state else 0.0
+    self._target = self._progress
+
+  def handle_input(self):
+    if not self._enabled:
+      return 0
+
+    if rl.is_mouse_button_pressed(rl.MOUSE_LEFT_BUTTON):
+      if rl.check_collision_point_rec(rl.get_mouse_position(), self._rect):
+        self._state = not self._state
+        self._target = 1.0 if self._state else 0.0
+        return 1
+    return 0
+
+  def get_state(self):
+    return self._state
+
+  def set_state(self, state: bool):
+    self._state = state
+    self._target = 1.0 if state else 0.0
+
+  def set_enabled(self, enabled: bool):
+    self._enabled = enabled
+
+  def is_enabled(self):
+    return self._enabled
+
+  def update(self):
+    if abs(self._progress - self._target) > 0.01:
+      delta = rl.get_frame_time() * ANIMATION_SPEED
+      self._progress += delta if self._progress < self._target else -delta
+      self._progress = max(0.0, min(1.0, self._progress))
+
+  def render(self, rect: rl.Rectangle):
+    self._rect.x, self._rect.y = rect.x, rect.y
+    self.update()
+
+    if self._enabled:
+      bg_color = self._blend_color(OFF_COLOR, ON_COLOR, self._progress)
+      knob_color = KNOB_COLOR
+    else:
+      bg_color = self._blend_color(DISABLED_OFF_COLOR, DISABLED_ON_COLOR, self._progress)
+      knob_color = DISABLED_KNOB_COLOR
+
+    # Draw background
+    bg_rect = rl.Rectangle(self._rect.x + 5, self._rect.y + 10, WIDTH - 10, BG_HEIGHT)
+    rl.draw_rectangle_rounded(bg_rect, 1.0, 10, bg_color)
+
+    # Draw knob
+    knob_x = self._rect.x + HEIGHT / 2 + (WIDTH - HEIGHT) * self._progress
+    knob_y = self._rect.y + HEIGHT / 2
+    rl.draw_circle(int(knob_x), int(knob_y), HEIGHT / 2, knob_color)
+
+    return self.handle_input()
+
+  def _blend_color(self, c1, c2, t):
+    return rl.Color(int(c1.r + (c2.r - c1.r) * t), int(c1.g + (c2.g - c1.g) * t), int(c1.b + (c2.b - c1.b) * t), 255)
diff --git a/system/ui/lib/wifi_manager.py b/system/ui/lib/wifi_manager.py
new file mode 100644
index 0000000000..d8a8144fb0
--- /dev/null
+++ b/system/ui/lib/wifi_manager.py
@@ -0,0 +1,716 @@
+import asyncio
+import concurrent.futures
+import copy
+import threading
+import time
+import uuid
+from collections.abc import Callable
+from dataclasses import dataclass
+from enum import IntEnum
+from typing import TypeVar
+
+from dbus_next.aio import MessageBus
+from dbus_next import BusType, Variant, Message
+from dbus_next.errors import DBusError
+from dbus_next.constants import MessageType
+try:
+  from openpilot.common.params import Params
+except ImportError:
+  # Params/Cythonized modules are not available in zipapp
+  Params = None
+from openpilot.common.swaglog import cloudlog
+
+T = TypeVar("T")
+
+# NetworkManager constants
+NM = "org.freedesktop.NetworkManager"
+NM_PATH = '/org/freedesktop/NetworkManager'
+NM_IFACE = 'org.freedesktop.NetworkManager'
+NM_SETTINGS_PATH = '/org/freedesktop/NetworkManager/Settings'
+NM_SETTINGS_IFACE = 'org.freedesktop.NetworkManager.Settings'
+NM_CONNECTION_IFACE = 'org.freedesktop.NetworkManager.Settings.Connection'
+NM_WIRELESS_IFACE = 'org.freedesktop.NetworkManager.Device.Wireless'
+NM_PROPERTIES_IFACE = 'org.freedesktop.DBus.Properties'
+NM_DEVICE_IFACE = "org.freedesktop.NetworkManager.Device"
+
+NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT = 8
+
+TETHERING_IP_ADDRESS = "192.168.43.1"
+DEFAULT_TETHERING_PASSWORD = "12345678"
+
+# NetworkManager device states
+class NMDeviceState(IntEnum):
+  DISCONNECTED = 30
+  PREPARE = 40
+  NEED_AUTH = 60
+  IP_CONFIG = 70
+  ACTIVATED = 100
+
+class SecurityType(IntEnum):
+  OPEN = 0
+  WPA = 1
+  WPA2 = 2
+  WPA3 = 3
+  UNSUPPORTED = 4
+
+@dataclass
+class NetworkInfo:
+  ssid: str
+  strength: int
+  is_connected: bool
+  security_type: SecurityType
+  path: str
+  bssid: str
+  is_saved: bool = False
+  # saved_path: str
+
+
+@dataclass
+class WifiManagerCallbacks:
+  need_auth: Callable[[str], None] | None = None
+  activated: Callable[[], None] | None = None
+  forgotten: Callable[[str], None] | None = None
+  networks_updated: Callable[[list[NetworkInfo]], None] | None = None
+  connection_failed: Callable[[str, str], None] | None = None  # Added for error feedback
+
+
+class WifiManager:
+  def __init__(self, callbacks):
+    self.callbacks: WifiManagerCallbacks = callbacks
+    self.networks: list[NetworkInfo] = []
+    self.bus: MessageBus = None
+    self.device_path: str = ""
+    self.device_proxy = None
+    self.saved_connections: dict[str, str] = {}
+    self.active_ap_path: str = ""
+    self.scan_task: asyncio.Task | None = None
+    # Set tethering ssid as "weedle" + first 4 characters of a dongle id
+    self._tethering_ssid = "weedle"
+    if Params is not None:
+      dongle_id = Params().get("DongleId", encoding="utf-8")
+      if dongle_id:
+        self._tethering_ssid += "-" + dongle_id[:4]
+    self.running: bool = True
+    self._current_connection_ssid: str | None = None
+
+  async def connect(self) -> None:
+    """Connect to the DBus system bus."""
+    try:
+      self.bus = await MessageBus(bus_type=BusType.SYSTEM).connect()
+      if not await self._find_wifi_device():
+        raise ValueError("No Wi-Fi device found")
+
+      await self._setup_signals(self.device_path)
+      self.active_ap_path = await self.get_active_access_point()
+      await self.add_tethering_connection(self._tethering_ssid, DEFAULT_TETHERING_PASSWORD)
+      self.saved_connections = await self._get_saved_connections()
+      self.scan_task = asyncio.create_task(self._periodic_scan())
+    except DBusError as e:
+      cloudlog.error(f"Failed to connect to DBus: {e}")
+      raise
+    except Exception as e:
+      cloudlog.error(f"Unexpected error during connect: {e}")
+      raise
+
+  async def shutdown(self) -> None:
+    self.running = False
+    if self.scan_task:
+      self.scan_task.cancel()
+      try:
+        await self.scan_task
+      except asyncio.CancelledError:
+        pass
+    if self.bus:
+      self.bus.disconnect()
+
+  async def _request_scan(self) -> None:
+    try:
+      interface = self.device_proxy.get_interface(NM_WIRELESS_IFACE)
+      await interface.call_request_scan({})
+    except DBusError as e:
+      cloudlog.warning(f"Scan request failed: {str(e)}")
+
+  async def get_active_access_point(self):
+    try:
+      props_iface = self.device_proxy.get_interface(NM_PROPERTIES_IFACE)
+      ap_path = await props_iface.call_get(NM_WIRELESS_IFACE, 'ActiveAccessPoint')
+      return ap_path.value
+    except DBusError as e:
+      cloudlog.error(f"Error fetching active access point: {str(e)}")
+      return ''
+
+  async def forget_connection(self, ssid: str) -> bool:
+    path = self.saved_connections.get(ssid)
+    if not path:
+      return False
+
+    try:
+      nm_iface = await self._get_interface(NM, path, NM_CONNECTION_IFACE)
+      await nm_iface.call_delete()
+
+      if self._current_connection_ssid == ssid:
+        self._current_connection_ssid = None
+
+      if ssid in self.saved_connections:
+        del self.saved_connections[ssid]
+
+      for network in self.networks:
+        if network.ssid == ssid:
+          network.is_saved = False
+          network.is_connected = False
+          break
+
+      # Notify UI of forgotten connection
+      if self.callbacks.networks_updated:
+        self.callbacks.networks_updated(copy.deepcopy(self.networks))
+
+      return True
+    except DBusError as e:
+      cloudlog.error(f"Failed to delete connection for SSID: {ssid}. Error: {e}")
+      return False
+
+  async def activate_connection(self, ssid: str) -> bool:
+    connection_path = self.saved_connections.get(ssid)
+    if not connection_path:
+      return False
+    try:
+      nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
+      await nm_iface.call_activate_connection(connection_path, self.device_path, "/")
+      return True
+    except DBusError as e:
+      cloudlog.error(f"Failed to activate connection {ssid}: {str(e)}")
+      return False
+
+  async def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False) -> None:
+    """Connect to a selected Wi-Fi network."""
+    try:
+      self._current_connection_ssid = ssid
+
+      if ssid in self.saved_connections:
+        # Forget old connection if new password provided
+        if password:
+          await self.forget_connection(ssid)
+          await asyncio.sleep(0.2)  # NetworkManager delay
+        else:
+          # Just activate existing connection
+          await self.activate_connection(ssid)
+          return
+
+      connection = {
+        'connection': {
+          'type': Variant('s', '802-11-wireless'),
+          'uuid': Variant('s', str(uuid.uuid4())),
+          'id': Variant('s', ssid),
+          'autoconnect-retries': Variant('i', 0),
+        },
+        '802-11-wireless': {
+          'ssid': Variant('ay', ssid.encode('utf-8')),
+          'hidden': Variant('b', is_hidden),
+          'mode': Variant('s', 'infrastructure'),
+        },
+        'ipv4': {'method': Variant('s', 'auto')},
+        'ipv6': {'method': Variant('s', 'ignore')},
+      }
+
+      if bssid:
+        connection['802-11-wireless']['bssid'] = Variant('ay', bssid.encode('utf-8'))
+
+      if password:
+        connection['802-11-wireless-security'] = {
+          'key-mgmt': Variant('s', 'wpa-psk'),
+          'auth-alg': Variant('s', 'open'),
+          'psk': Variant('s', password),
+        }
+
+      nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
+      await nm_iface.call_add_and_activate_connection(connection, self.device_path, "/")
+    except Exception as e:
+      self._current_connection_ssid = None
+      cloudlog.error(f"Error connecting to network: {e}")
+       # Notify UI of failure
+      if self.callbacks.connection_failed:
+        self.callbacks.connection_failed(ssid, str(e))
+
+  def is_saved(self, ssid: str) -> bool:
+    return ssid in self.saved_connections
+
+  async def _find_wifi_device(self) -> bool:
+    nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
+    devices = await nm_iface.get_devices()
+
+    for device_path in devices:
+      device = await self.bus.introspect(NM, device_path)
+      device_proxy = self.bus.get_proxy_object(NM, device_path, device)
+      device_interface = device_proxy.get_interface(NM_DEVICE_IFACE)
+      device_type = await device_interface.get_device_type()  # type: ignore[attr-defined]
+      if device_type == 2:  # Wi-Fi device
+        self.device_path = device_path
+        self.device_proxy = device_proxy
+        return True
+
+    return False
+
+  async def add_tethering_connection(self, ssid: str, password: str = "12345678") -> bool:
+    """Create a WiFi tethering connection."""
+    if len(password) < 8:
+      print("Tethering password must be at least 8 characters")
+      return False
+
+    try:
+      # First, check if a hotspot connection already exists
+      settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE)
+      connection_paths = await settings_iface.call_list_connections()
+
+      # Look for an existing hotspot connection
+      for path in connection_paths:
+        try:
+          settings = await self._get_connection_settings(path)
+          conn_type = settings.get('connection', {}).get('type', Variant('s', '')).value
+          wifi_mode = settings.get('802-11-wireless', {}).get('mode', Variant('s', '')).value
+
+          if conn_type == '802-11-wireless' and wifi_mode == 'ap':
+            # Extract the SSID to check
+            connection_ssid = self._extract_ssid(settings)
+            if connection_ssid == ssid:
+              return True
+        except DBusError:
+          continue
+
+      connection = {
+        'connection': {
+          'id': Variant('s', 'Hotspot'),
+          'uuid': Variant('s', str(uuid.uuid4())),
+          'type': Variant('s', '802-11-wireless'),
+          'interface-name': Variant('s', 'wlan0'),
+          'autoconnect': Variant('b', False),
+        },
+        '802-11-wireless': {
+          'band': Variant('s', 'bg'),
+          'mode': Variant('s', 'ap'),
+          'ssid': Variant('ay', ssid.encode('utf-8')),
+        },
+        '802-11-wireless-security': {
+          'group': Variant('as', ['ccmp']),
+          'key-mgmt': Variant('s', 'wpa-psk'),
+          'pairwise': Variant('as', ['ccmp']),
+          'proto': Variant('as', ['rsn']),
+          'psk': Variant('s', password),
+        },
+        'ipv4': {
+          'method': Variant('s', 'shared'),
+          'address-data': Variant('aa{sv}', [{'address': Variant('s', TETHERING_IP_ADDRESS), 'prefix': Variant('u', 24)}]),
+          'gateway': Variant('s', TETHERING_IP_ADDRESS),
+          'never-default': Variant('b', True),
+        },
+        'ipv6': {
+          'method': Variant('s', 'ignore'),
+        },
+      }
+
+      settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE)
+      new_connection = await settings_iface.call_add_connection(connection)
+      print(f"Added tethering connection with path: {new_connection}")
+      return True
+    except DBusError as e:
+      print(f"Failed to add tethering connection: {e}")
+      return False
+    except Exception as e:
+      print(f"Unexpected error adding tethering connection: {e}")
+      return False
+
+  async def get_tethering_password(self) -> str:
+    """Get the current tethering password."""
+    try:
+      hotspot_path = self.saved_connections.get(self._tethering_ssid)
+      if hotspot_path:
+        conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE)
+        secrets = await conn_iface.call_get_secrets('802-11-wireless-security')
+        if secrets and '802-11-wireless-security' in secrets:
+          psk = secrets.get('802-11-wireless-security', {}).get('psk', Variant('s', '')).value
+          return str(psk) if psk is not None else ""
+      return ""
+    except DBusError as e:
+      print(f"Failed to get tethering password: {e}")
+      return ""
+    except Exception as e:
+      print(f"Unexpected error getting tethering password: {e}")
+      return ""
+
+  async def set_tethering_password(self, password: str) -> bool:
+    """Set the tethering password."""
+    if len(password) < 8:
+      cloudlog.error("Tethering password must be at least 8 characters")
+      return False
+
+    try:
+      hotspot_path = self.saved_connections.get(self._tethering_ssid)
+      if not hotspot_path:
+        print("No hotspot connection found")
+        return False
+
+      # Update the connection settings with new password
+      settings = await self._get_connection_settings(hotspot_path)
+      if '802-11-wireless-security' not in settings:
+        settings['802-11-wireless-security'] = {}
+      settings['802-11-wireless-security']['psk'] = Variant('s', password)
+
+      # Apply changes
+      conn_iface = await self._get_interface(NM, hotspot_path, NM_CONNECTION_IFACE)
+      await conn_iface.call_update(settings)
+
+      # Check if connection is active and restart if needed
+      is_active = False
+      nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
+      active_connections = await nm_iface.get_active_connections()
+
+      for conn_path in active_connections:
+        props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE)
+        conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection')
+        if conn_id_path.value == hotspot_path:
+          is_active = True
+          await nm_iface.call_deactivate_connection(conn_path)
+          break
+
+      if is_active:
+        await nm_iface.call_activate_connection(hotspot_path, self.device_path, "/")
+
+      print("Tethering password updated successfully")
+      return True
+    except DBusError as e:
+      print(f"Failed to set tethering password: {e}")
+      return False
+    except Exception as e:
+      print(f"Unexpected error setting tethering password: {e}")
+      return False
+
+  async def is_tethering_active(self) -> bool:
+    """Check if tethering is active for the specified SSID."""
+    try:
+      hotspot_path = self.saved_connections.get(self._tethering_ssid)
+      if not hotspot_path:
+        return False
+
+      nm_iface = await self._get_interface(NM, NM_PATH, NM_IFACE)
+      active_connections = await nm_iface.get_active_connections()
+
+      for conn_path in active_connections:
+        props_iface = await self._get_interface(NM, conn_path, NM_PROPERTIES_IFACE)
+        conn_id_path = await props_iface.call_get('org.freedesktop.NetworkManager.Connection.Active', 'Connection')
+
+        if conn_id_path.value == hotspot_path:
+          return True
+
+      return False
+    except Exception:
+      return False
+
+  async def _periodic_scan(self):
+    while self.running:
+      try:
+        await self._request_scan()
+        await asyncio.sleep(30)
+      except asyncio.CancelledError:
+        break
+      except DBusError as e:
+        cloudlog.error(f"Scan failed: {e}")
+        await asyncio.sleep(5)
+
+  async def _setup_signals(self, device_path: str) -> None:
+    rules = [
+      f"type='signal',interface='{NM_PROPERTIES_IFACE}',member='PropertiesChanged',path='{device_path}'",
+      f"type='signal',interface='{NM_DEVICE_IFACE}',member='StateChanged',path='{device_path}'",
+      f"type='signal',interface='{NM_SETTINGS_IFACE}',member='NewConnection',path='{NM_SETTINGS_PATH}'",
+      f"type='signal',interface='{NM_SETTINGS_IFACE}',member='ConnectionRemoved',path='{NM_SETTINGS_PATH}'",
+    ]
+    for rule in rules:
+      await self._add_match_rule(rule)
+
+    # Set up signal handlers
+    self.device_proxy.get_interface(NM_PROPERTIES_IFACE).on_properties_changed(self._on_properties_changed)
+    self.device_proxy.get_interface(NM_DEVICE_IFACE).on_state_changed(self._on_state_changed)
+
+    settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE)
+    settings_iface.on_new_connection(self._on_new_connection)
+    settings_iface.on_connection_removed(self._on_connection_removed)
+
+  def _on_properties_changed(self, interface: str, changed: dict, invalidated: list):
+    # print("property changed", interface, changed, invalidated)
+    if 'LastScan' in changed:
+      asyncio.create_task(self._refresh_networks())
+    elif interface == NM_WIRELESS_IFACE and "ActiveAccessPoint" in changed:
+      new_ap_path = changed["ActiveAccessPoint"].value
+      if self.active_ap_path != new_ap_path:
+        self.active_ap_path = new_ap_path
+        asyncio.create_task(self._refresh_networks())
+
+  def _on_state_changed(self, new_state: int, old_state: int, reason: int):
+    print("State changed", new_state, old_state, reason)
+    if new_state == NMDeviceState.ACTIVATED:
+      if self.callbacks.activated:
+        self.callbacks.activated()
+      asyncio.create_task(self._refresh_networks())
+      self._current_connection_ssid = None
+    elif new_state in (NMDeviceState.DISCONNECTED, NMDeviceState.NEED_AUTH):
+      for network in self.networks:
+        network.is_connected = False
+
+      if new_state == NMDeviceState.NEED_AUTH and reason == NM_DEVICE_STATE_REASON_SUPPLICANT_DISCONNECT and self.callbacks.need_auth:
+        if self._current_connection_ssid:
+          self.callbacks.need_auth(self._current_connection_ssid)
+        else:
+          # Try to find the network from active_ap_path
+          for network in self.networks:
+            if network.path == self.active_ap_path:
+              self.callbacks.need_auth(network.ssid)
+              break
+          else:
+            # Couldn't identify the network that needs auth
+            cloudlog.error("Network needs authentication but couldn't identify which one")
+
+  def _on_new_connection(self, path: str) -> None:
+    """Callback for NewConnection signal."""
+    asyncio.create_task(self._add_saved_connection(path))
+
+  def _on_connection_removed(self, path: str) -> None:
+    """Callback for ConnectionRemoved signal."""
+    for ssid, p in list(self.saved_connections.items()):
+      if path == p:
+        del self.saved_connections[ssid]
+
+        if self.callbacks.forgotten:
+          self.callbacks.forgotten(ssid)
+
+        # Update network list to reflect the removed saved connection
+        asyncio.create_task(self._refresh_networks())
+        break
+
+  async def _add_saved_connection(self, path: str) -> None:
+    """Add a new saved connection to the dictionary."""
+    try:
+      settings = await self._get_connection_settings(path)
+      if ssid := self._extract_ssid(settings):
+        self.saved_connections[ssid] = path
+        await self._refresh_networks()
+    except DBusError as e:
+      cloudlog.error(f"Failed to add connection {path}: {e}")
+
+  def _extract_ssid(self, settings: dict) -> str | None:
+    """Extract SSID from connection settings."""
+    ssid_variant = settings.get('802-11-wireless', {}).get('ssid', Variant('ay', b'')).value
+    return ''.join(chr(b) for b in ssid_variant) if ssid_variant else None
+
+  async def _add_match_rule(self, rule):
+    """Add a match rule on the bus."""
+    reply = await self.bus.call(
+      Message(
+        message_type=MessageType.METHOD_CALL,
+        destination='org.freedesktop.DBus',
+        interface="org.freedesktop.DBus",
+        path='/org/freedesktop/DBus',
+        member='AddMatch',
+        signature='s',
+        body=[rule],
+      )
+    )
+
+    assert reply.message_type == MessageType.METHOD_RETURN
+    return reply
+
+  async def _refresh_networks(self):
+    """Get a list of available networks via NetworkManager."""
+    wifi_iface = self.device_proxy.get_interface(NM_WIRELESS_IFACE)
+    access_points = await wifi_iface.get_access_points()
+    self.active_ap_path = await self.get_active_access_point()
+    network_dict = {}
+    for ap_path in access_points:
+      try:
+        props_iface = await self._get_interface(NM, ap_path, NM_PROPERTIES_IFACE)
+        properties = await props_iface.call_get_all('org.freedesktop.NetworkManager.AccessPoint')
+        ssid_variant = properties['Ssid'].value
+        ssid = ''.join(chr(byte) for byte in ssid_variant)
+        if not ssid:
+          continue
+
+        bssid = properties.get('HwAddress', Variant('s', '')).value
+        strength = properties['Strength'].value
+        flags = properties['Flags'].value
+        wpa_flags = properties['WpaFlags'].value
+        rsn_flags = properties['RsnFlags'].value
+        existing_network = network_dict.get(ssid)
+        if not existing_network or ((not existing_network.bssid and bssid) or (existing_network.strength < strength)):
+          network_dict[ssid] = NetworkInfo(
+            ssid=ssid,
+            strength=strength,
+            security_type=self._get_security_type(flags, wpa_flags, rsn_flags),
+            path=ap_path,
+            bssid=bssid,
+            is_connected=self.active_ap_path == ap_path and self._current_connection_ssid != ssid,
+            is_saved=ssid in self.saved_connections
+          )
+
+      except DBusError as e:
+        cloudlog.error(f"Error fetching networks: {e}")
+      except Exception as e:
+        cloudlog.error({e})
+
+    self.networks = sorted(
+      network_dict.values(),
+      key=lambda network: (
+        not network.is_connected,
+        -network.strength,  # Higher signal strength first
+        network.ssid.lower(),
+      ),
+    )
+
+    if self.callbacks.networks_updated:
+      self.callbacks.networks_updated(copy.deepcopy(self.networks))
+
+  async def _get_connection_settings(self, path):
+    """Fetch connection settings for a specific connection path."""
+    try:
+      settings = await self._get_interface(NM, path, NM_CONNECTION_IFACE)
+      return await settings.call_get_settings()
+    except DBusError as e:
+      cloudlog.error(f"Failed to get settings for {path}: {str(e)}")
+      return {}
+
+  async def _process_chunk(self, paths_chunk):
+    """Process a chunk of connection paths."""
+    tasks = [self._get_connection_settings(path) for path in paths_chunk]
+    return await asyncio.gather(*tasks, return_exceptions=True)
+
+  async def _get_saved_connections(self) -> dict[str, str]:
+    try:
+      settings_iface = await self._get_interface(NM, NM_SETTINGS_PATH, NM_SETTINGS_IFACE)
+      connection_paths = await settings_iface.call_list_connections()
+      saved_ssids: dict[str, str] = {}
+      batch_size = 20
+      for i in range(0, len(connection_paths), batch_size):
+        chunk = connection_paths[i : i + batch_size]
+        results = await self._process_chunk(chunk)
+        for path, config in zip(chunk, results, strict=True):
+          if isinstance(config, dict) and '802-11-wireless' in config:
+            if ssid := self._extract_ssid(config):
+              saved_ssids[ssid] = path
+      return saved_ssids
+    except DBusError as e:
+      cloudlog.error(f"Error fetching saved connections: {str(e)}")
+      return {}
+
+  async def _get_interface(self, bus_name: str, path: str, name: str):
+    introspection = await self.bus.introspect(bus_name, path)
+    proxy = self.bus.get_proxy_object(bus_name, path, introspection)
+    return proxy.get_interface(name)
+
+  def _get_security_type(self, flags: int, wpa_flags: int, rsn_flags: int) -> SecurityType:
+    """Determine the security type based on flags."""
+    if flags == 0 and not (wpa_flags or rsn_flags):
+      return SecurityType.OPEN
+    if rsn_flags & 0x200:  # SAE (WPA3 Personal)
+      # TODO: support WPA3
+      return SecurityType.UNSUPPORTED
+    if rsn_flags:  # RSN indicates WPA2 or higher
+      return SecurityType.WPA2
+    if wpa_flags:  # WPA flags indicate WPA
+      return SecurityType.WPA
+    return SecurityType.UNSUPPORTED
+
+
+class WifiManagerWrapper:
+  def __init__(self):
+    self._manager: WifiManager | None = None
+    self._callbacks: WifiManagerCallbacks = WifiManagerCallbacks()
+
+    self._thread = threading.Thread(target=self._run, daemon=True)
+    self._loop: asyncio.EventLoop | None = None
+    self._running = False
+
+  def set_callbacks(self, callbacks: WifiManagerCallbacks):
+    self._callbacks = callbacks
+
+  def start(self) -> None:
+    if not self._running:
+      self._thread.start()
+      while self._thread is not None and not self._running:
+        time.sleep(0.1)
+
+  def _run(self):
+    self._loop = asyncio.new_event_loop()
+    asyncio.set_event_loop(self._loop)
+
+    try:
+      self._manager = WifiManager(self._callbacks)
+      self._running = True
+      self._loop.run_forever()
+    except Exception as e:
+      cloudlog.error(f"Error in WifiManagerWrapper thread: {e}")
+    finally:
+      if self._loop.is_running():
+        self._loop.stop()
+      self._running = False
+
+  def shutdown(self) -> None:
+    if self._running:
+      if self._manager is not None and self._loop:
+        shutdown_future = asyncio.run_coroutine_threadsafe(self._manager.shutdown(), self._loop)
+        shutdown_future.result(timeout=3.0)
+
+      if self._loop and self._loop.is_running():
+        self._loop.call_soon_threadsafe(self._loop.stop)
+      if self._thread and self._thread.is_alive():
+        self._thread.join(timeout=2.0)
+      self._running = False
+
+  def is_saved(self, ssid: str) -> bool:
+    """Check if a network is saved."""
+    return self._run_coroutine_sync(lambda manager: manager.is_saved(ssid), default=False)
+
+  def connect(self):
+    """Connect to DBus and start Wi-Fi scanning."""
+    if not self._manager:
+      return
+    self._run_coroutine(self._manager.connect())
+
+  def forget_connection(self, ssid: str):
+    """Forget a saved Wi-Fi connection."""
+    if not self._manager:
+      return
+    self._run_coroutine(self._manager.forget_connection(ssid))
+
+  def activate_connection(self, ssid: str):
+    """Activate an existing Wi-Fi connection."""
+    if not self._manager:
+      return
+    self._run_coroutine(self._manager.activate_connection(ssid))
+
+  def connect_to_network(self, ssid: str, password: str = None, bssid: str = None, is_hidden: bool = False):
+    """Connect to a Wi-Fi network."""
+    if not self._manager:
+      return
+    self._run_coroutine(self._manager.connect_to_network(ssid, password, bssid, is_hidden))
+
+  def _run_coroutine(self, coro):
+    """Run a coroutine in the async thread."""
+    if not self._running or not self._loop:
+      cloudlog.error("WifiManager thread is not running")
+      return
+    asyncio.run_coroutine_threadsafe(coro, self._loop)
+
+  def _run_coroutine_sync(self, func: Callable[[WifiManager], T], default: T) -> T:
+    """Run a function synchronously in the async thread."""
+    if not self._running or not self._loop or not self._manager:
+      return default
+    future = concurrent.futures.Future[T]()
+
+    def wrapper(manager: WifiManager) -> None:
+      try:
+        future.set_result(func(manager))
+      except Exception as e:
+        future.set_exception(e)
+
+    try:
+      self._loop.call_soon_threadsafe(wrapper, self._manager)
+      return future.result(timeout=1.0)
+    except Exception as e:
+      cloudlog.error(f"WifiManagerWrapper property access failed: {e}")
+      return default
diff --git a/system/ui/lib/window.py b/system/ui/lib/window.py
new file mode 100644
index 0000000000..989a3b0284
--- /dev/null
+++ b/system/ui/lib/window.py
@@ -0,0 +1,58 @@
+import threading
+import time
+import os
+from typing import Generic, Protocol, TypeVar
+from openpilot.common.swaglog import cloudlog
+from openpilot.system.ui.lib.application import gui_app
+
+
+class RendererProtocol(Protocol):
+  def render(self): ...
+
+
+R = TypeVar("R", bound=RendererProtocol)
+
+
+class BaseWindow(Generic[R]):
+  def __init__(self, title: str):
+    self._title = title
+    self._renderer: R | None = None
+    self._stop_event = threading.Event()
+    self._thread = threading.Thread(target=self._run)
+    self._thread.start()
+
+    # wait for the renderer to be initialized
+    while self._renderer is None and self._thread.is_alive():
+      time.sleep(0.01)
+
+  def _create_renderer(self) -> R:
+    raise NotImplementedError()
+
+  def _run(self):
+    if os.getenv("CI") is not None:
+      return
+    gui_app.init_window(self._title)
+    self._renderer = self._create_renderer()
+    try:
+      for _ in gui_app.render():
+        if self._stop_event.is_set():
+          break
+        self._renderer.render()
+    finally:
+      gui_app.close()
+
+  def __enter__(self):
+    return self
+
+  def close(self):
+    if self._thread.is_alive():
+      self._stop_event.set()
+      self._thread.join(timeout=2.0)
+      if self._thread.is_alive():
+        cloudlog.warning(f"Failed to join {self._title} thread")
+
+  def __del__(self):
+    self.close()
+
+  def __exit__(self, exc_type, exc_val, exc_tb):
+    self.close()
diff --git a/system/ui/lib/wrap_text.py b/system/ui/lib/wrap_text.py
new file mode 100644
index 0000000000..fdfb1970aa
--- /dev/null
+++ b/system/ui/lib/wrap_text.py
@@ -0,0 +1,87 @@
+import pyray as rl
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+
+def _break_long_word(font: rl.Font, word: str, font_size: int, max_width: int) -> list[str]:
+  if not word:
+    return []
+
+  parts = []
+  remaining = word
+
+  while remaining:
+    if measure_text_cached(font, remaining, font_size).x <= max_width:
+      parts.append(remaining)
+      break
+
+    # Binary search for the longest substring that fits
+    left, right = 1, len(remaining)
+    best_fit = 1
+
+    while left <= right:
+      mid = (left + right) // 2
+      substring = remaining[:mid]
+      width = measure_text_cached(font, substring, font_size).x
+
+      if width <= max_width:
+        best_fit = mid
+        left = mid + 1
+      else:
+        right = mid - 1
+
+    # Add the part that fits
+    parts.append(remaining[:best_fit])
+    remaining = remaining[best_fit:]
+
+  return parts
+
+
+def wrap_text(font: rl.Font, text: str, font_size: int, max_width: int) -> list[str]:
+  if not text or max_width <= 0:
+    return []
+
+  words = text.split()
+  if not words:
+    return []
+
+  lines: list[str] = []
+  current_line: list[str] = []
+  current_width = 0
+  space_width = int(measure_text_cached(font, " ", font_size).x)
+
+  for word in words:
+    word_width = int(measure_text_cached(font, word, font_size).x)
+
+    # Check if word alone exceeds max width (need to break the word)
+    if word_width > max_width:
+      # Finish current line if it has content
+      if current_line:
+        lines.append(" ".join(current_line))
+        current_line = []
+        current_width = 0
+
+      # Break the long word into parts
+      lines.extend(_break_long_word(font, word, font_size, max_width))
+      continue
+
+    # Calculate width if we add this word
+    needed_width = current_width
+    if current_line:  # Need space before word
+      needed_width += space_width
+    needed_width += word_width
+
+    # Check if word fits on current line
+    if needed_width <= max_width:
+      current_line.append(word)
+      current_width = needed_width
+    else:
+      # Start new line with this word
+      if current_line:
+        lines.append(" ".join(current_line))
+      current_line = [word]
+      current_width = word_width
+
+  # Add remaining words
+  if current_line:
+    lines.append(" ".join(current_line))
+
+  return lines
diff --git a/system/ui/reset.py b/system/ui/reset.py
index 80a1c10ea8..20b689934b 100755
--- a/system/ui/reset.py
+++ b/system/ui/reset.py
@@ -5,6 +5,7 @@ import sys
 import threading
 from enum import IntEnum
 
+from openpilot.system.hardware import PC
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
 from openpilot.system.ui.lib.label import gui_label, gui_text_box
@@ -31,7 +32,10 @@ class Reset:
     self.mode = mode
     self.reset_state = ResetState.NONE
 
-  def do_reset(self):
+  def _do_erase(self):
+    if PC:
+      return
+
     # Best effort to wipe NVME
     os.system(f"sudo umount {NVME}")
     os.system(f"yes | sudo mkfs.ext4 {NVME}")
@@ -48,7 +52,7 @@ class Reset:
 
   def start_reset(self):
     self.reset_state = ResetState.RESETTING
-    threading.Timer(0.1, self.do_reset).start()
+    threading.Timer(0.1, self._do_erase).start()
 
   def render(self, rect: rl.Rectangle):
     label_rect = rl.Rectangle(rect.x + 140, rect.y, rect.width - 280, 100)
diff --git a/system/ui/setup.py b/system/ui/setup.py
new file mode 100755
index 0000000000..0ec5d6395e
--- /dev/null
+++ b/system/ui/setup.py
@@ -0,0 +1,349 @@
+#!/usr/bin/env python3
+import os
+import re
+import threading
+import time
+import urllib.request
+from enum import IntEnum
+import pyray as rl
+
+from cereal import log
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.button import gui_button, ButtonStyle
+from openpilot.system.ui.lib.label import gui_label, gui_text_box
+from openpilot.system.ui.widgets.network import WifiManagerUI, WifiManagerWrapper
+from openpilot.system.ui.widgets.keyboard import Keyboard
+
+NetworkType = log.DeviceState.NetworkType
+
+MARGIN = 50
+TITLE_FONT_SIZE = 116
+TITLE_FONT_WEIGHT = FontWeight.MEDIUM
+NEXT_BUTTON_WIDTH = 310
+BODY_FONT_SIZE = 96
+BUTTON_HEIGHT = 160
+BUTTON_SPACING = 50
+
+OPENPILOT_URL = "https://openpilot.comma.ai"
+USER_AGENT = f"AGNOSSetup-{HARDWARE.get_os_version()}"
+
+
+class SetupState(IntEnum):
+  LOW_VOLTAGE = 0
+  GETTING_STARTED = 1
+  NETWORK_SETUP = 2
+  SOFTWARE_SELECTION = 3
+  CUSTOM_URL = 4
+  DOWNLOADING = 5
+  DOWNLOAD_FAILED = 6
+
+
+class Setup:
+  def __init__(self):
+    self.state = SetupState.GETTING_STARTED
+    self.network_check_thread = None
+    self.network_connected = threading.Event()
+    self.wifi_connected = threading.Event()
+    self.stop_network_check_thread = threading.Event()
+    self.failed_url = ""
+    self.failed_reason = ""
+    self.download_url = ""
+    self.download_progress = 0
+    self.download_thread = None
+    self.wifi_manager = WifiManagerWrapper()
+    self.wifi_ui = WifiManagerUI(self.wifi_manager)
+    self.keyboard = Keyboard()
+    self.selected_radio = None
+
+    self.warning = gui_app.texture("icons/warning.png", 150, 150)
+    self.checkmark = gui_app.texture("icons/circled_check.png", 100, 100)
+
+    try:
+      with open("/sys/class/hwmon/hwmon1/in1_input") as f:
+        voltage = float(f.read().strip()) / 1000.0
+        if voltage < 7:
+          self.state = SetupState.LOW_VOLTAGE
+    except (FileNotFoundError, ValueError):
+      self.state = SetupState.LOW_VOLTAGE
+
+  def render(self, rect: rl.Rectangle):
+    if self.state == SetupState.LOW_VOLTAGE:
+      self.render_low_voltage(rect)
+    elif self.state == SetupState.GETTING_STARTED:
+      self.render_getting_started(rect)
+    elif self.state == SetupState.NETWORK_SETUP:
+      self.render_network_setup(rect)
+    elif self.state == SetupState.SOFTWARE_SELECTION:
+      self.render_software_selection(rect)
+    elif self.state == SetupState.CUSTOM_URL:
+      self.render_custom_url()
+    elif self.state == SetupState.DOWNLOADING:
+      self.render_downloading(rect)
+    elif self.state == SetupState.DOWNLOAD_FAILED:
+      self.render_download_failed(rect)
+
+  def render_low_voltage(self, rect: rl.Rectangle):
+    rl.draw_texture(self.warning, int(rect.x + 150), int(rect.y + 110), rl.WHITE)
+
+    title_rect = rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100, rect.width - 500 - 150, TITLE_FONT_SIZE)
+    gui_label(title_rect, "WARNING: Low Voltage", TITLE_FONT_SIZE, rl.Color(255, 89, 79, 255), FontWeight.MEDIUM)
+
+    body_rect = rl.Rectangle(rect.x + 150, rect.y + 110 + 150 + 100 + TITLE_FONT_SIZE + 25, rect.width - 500 - 150, BODY_FONT_SIZE * 3)
+    gui_text_box(body_rect, "Power your device in a car with a harness or proceed at your own risk.", BODY_FONT_SIZE)
+
+    button_width = (rect.width - MARGIN * 3) / 2
+    button_y = rect.height - MARGIN - BUTTON_HEIGHT
+
+    if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Power off"):
+      HARDWARE.shutdown()
+
+    if gui_button(rl.Rectangle(rect.x + MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT), "Continue"):
+      self.state = SetupState.GETTING_STARTED
+
+  def render_getting_started(self, rect: rl.Rectangle):
+    title_rect = rl.Rectangle(rect.x + 165, rect.y + 280, rect.width - 265, TITLE_FONT_SIZE)
+    gui_label(title_rect, "Getting Started", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM)
+
+    desc_rect = rl.Rectangle(rect.x + 165, rect.y + 280 + TITLE_FONT_SIZE + 90, rect.width - 500, BODY_FONT_SIZE * 3)
+    gui_text_box(desc_rect, "Before we get on the road, let's finish installation and cover some details.", BODY_FONT_SIZE)
+
+    btn_rect = rl.Rectangle(rect.width - NEXT_BUTTON_WIDTH, 0, NEXT_BUTTON_WIDTH, rect.height)
+
+    ret = gui_button(btn_rect, "", button_style=ButtonStyle.PRIMARY, border_radius=0)
+    triangle = gui_app.texture("images/button_continue_triangle.png", 54, int(btn_rect.height))
+    rl.draw_texture_v(triangle, rl.Vector2(btn_rect.x + btn_rect.width / 2 - triangle.width / 2, btn_rect.height / 2 - triangle.height / 2), rl.WHITE)
+
+    if ret:
+      self.state = SetupState.NETWORK_SETUP
+      self.wifi_manager.request_scan()
+      self.start_network_check()
+
+  def check_network_connectivity(self):
+    while not self.stop_network_check_thread.is_set():
+      if self.state == SetupState.NETWORK_SETUP:
+        try:
+          urllib.request.urlopen(OPENPILOT_URL, timeout=2)
+          self.network_connected.set()
+          if HARDWARE.get_network_type() == NetworkType.wifi:
+            self.wifi_connected.set()
+          else:
+            self.wifi_connected.clear()
+        except Exception:
+          self.network_connected.clear()
+      time.sleep(1)
+
+  def start_network_check(self):
+    if self.network_check_thread is None or not self.network_check_thread.is_alive():
+      self.network_check_thread = threading.Thread(target=self.check_network_connectivity, daemon=True)
+      self.network_check_thread.start()
+
+  def close(self):
+    if self.network_check_thread is not None:
+      self.stop_network_check_thread.set()
+      self.network_check_thread.join()
+
+  def render_network_setup(self, rect: rl.Rectangle):
+    if self.wifi_ui.require_full_screen:
+      self.wifi_ui.render(rect)
+      return
+
+    title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE)
+    gui_label(title_rect, "Connect to Wi-Fi", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM)
+
+    wifi_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN + 25, rect.width - MARGIN * 2,
+                             rect.height - TITLE_FONT_SIZE - 25 - BUTTON_HEIGHT - MARGIN * 3)
+    rl.draw_rectangle_rounded(wifi_rect, 0.05, 10, rl.Color(51, 51, 51, 255))
+    wifi_content_rect = rl.Rectangle(wifi_rect.x + MARGIN, wifi_rect.y, wifi_rect.width - MARGIN * 2, wifi_rect.height)
+    self.wifi_ui.render(wifi_content_rect)
+
+    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
+    button_y = rect.height - BUTTON_HEIGHT - MARGIN
+
+    if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Back"):
+      self.state = SetupState.GETTING_STARTED
+
+    # Check network connectivity status
+    continue_enabled = self.network_connected.is_set()
+    continue_text = ("Continue" if self.wifi_connected.is_set() else "Continue without Wi-Fi") if continue_enabled else "Waiting for internet"
+
+    if gui_button(
+      rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT),
+      continue_text,
+      button_style=ButtonStyle.PRIMARY if continue_enabled else ButtonStyle.NORMAL,
+      is_enabled=continue_enabled,
+    ):
+      self.state = SetupState.SOFTWARE_SELECTION
+      self.stop_network_check_thread.set()
+
+  def render_software_selection(self, rect: rl.Rectangle):
+    title_rect = rl.Rectangle(rect.x + MARGIN, rect.y + MARGIN, rect.width - MARGIN * 2, TITLE_FONT_SIZE)
+    gui_label(title_rect, "Choose Software to Install", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM)
+
+    radio_height = 230
+    radio_spacing = 30
+
+    openpilot_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2, rect.width - MARGIN * 2, radio_height)
+    openpilot_selected = self.selected_radio == "openpilot"
+
+    rl.draw_rectangle_rounded(openpilot_rect, 0.1, 10, rl.Color(70, 91, 234, 255) if openpilot_selected else rl.Color(79, 79, 79, 255))
+    gui_label(rl.Rectangle(openpilot_rect.x + 100, openpilot_rect.y, openpilot_rect.width - 200, radio_height), "openpilot", BODY_FONT_SIZE)
+
+    if openpilot_selected:
+      checkmark_pos = rl.Vector2(openpilot_rect.x + openpilot_rect.width - 100 - self.checkmark.width,
+                                 openpilot_rect.y + radio_height / 2 - self.checkmark.height / 2)
+      rl.draw_texture_v(self.checkmark, checkmark_pos, rl.WHITE)
+
+    custom_rect = rl.Rectangle(rect.x + MARGIN, rect.y + TITLE_FONT_SIZE + MARGIN * 2 + radio_height + radio_spacing, rect.width - MARGIN * 2, radio_height)
+    custom_selected = self.selected_radio == "custom"
+
+    rl.draw_rectangle_rounded(custom_rect, 0.1, 10, rl.Color(70, 91, 234, 255) if custom_selected else rl.Color(79, 79, 79, 255))
+    gui_label(rl.Rectangle(custom_rect.x + 100, custom_rect.y, custom_rect.width - 200, radio_height), "Custom Software", BODY_FONT_SIZE)
+
+    if custom_selected:
+      checkmark_pos = rl.Vector2(custom_rect.x + custom_rect.width - 100 - self.checkmark.width, custom_rect.y + radio_height / 2 - self.checkmark.height / 2)
+      rl.draw_texture_v(self.checkmark, checkmark_pos, rl.WHITE)
+
+    mouse_pos = rl.get_mouse_position()
+    if rl.is_mouse_button_released(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      if rl.check_collision_point_rec(mouse_pos, openpilot_rect):
+        self.selected_radio = "openpilot"
+      elif rl.check_collision_point_rec(mouse_pos, custom_rect):
+        self.selected_radio = "custom"
+
+    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
+    button_y = rect.height - BUTTON_HEIGHT - MARGIN
+
+    if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Back"):
+      self.state = SetupState.NETWORK_SETUP
+
+    continue_enabled = self.selected_radio is not None
+    if gui_button(
+      rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT),
+      "Continue",
+      button_style=ButtonStyle.PRIMARY,
+      is_enabled=continue_enabled,
+    ):
+      if continue_enabled:
+        if self.selected_radio == "openpilot":
+          self.download(OPENPILOT_URL)
+        else:
+          self.state = SetupState.CUSTOM_URL
+
+  def render_downloading(self, rect: rl.Rectangle):
+    title_rect = rl.Rectangle(rect.x, rect.y + rect.height / 2 - TITLE_FONT_SIZE / 2, rect.width, TITLE_FONT_SIZE)
+    gui_label(title_rect, "Downloading...", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+
+  def render_download_failed(self, rect: rl.Rectangle):
+    title_rect = rl.Rectangle(rect.x + 117, rect.y + 185, rect.width - 117, TITLE_FONT_SIZE)
+    gui_label(title_rect, "Download Failed", TITLE_FONT_SIZE, font_weight=FontWeight.MEDIUM)
+
+    url_rect = rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67, rect.width - 117 - 100, 64)
+    gui_label(url_rect, self.failed_url, 64, font_weight=FontWeight.NORMAL)
+
+    error_rect = rl.Rectangle(rect.x + 117, rect.y + 185 + TITLE_FONT_SIZE + 67 + 64 + 48,
+                              rect.width - 117 - 100, rect.height - 185 + TITLE_FONT_SIZE + 67 + 64 + 48 - BUTTON_HEIGHT - MARGIN * 2)
+    gui_text_box(error_rect, self.failed_reason, BODY_FONT_SIZE)
+
+    button_width = (rect.width - BUTTON_SPACING - MARGIN * 2) / 2
+    button_y = rect.height - BUTTON_HEIGHT - MARGIN
+
+    if gui_button(rl.Rectangle(rect.x + MARGIN, button_y, button_width, BUTTON_HEIGHT), "Reboot device"):
+      HARDWARE.reboot()
+
+    if gui_button(rl.Rectangle(rect.x + MARGIN + button_width + BUTTON_SPACING, button_y, button_width, BUTTON_HEIGHT), "Start over",
+                  button_style=ButtonStyle.PRIMARY):
+      self.state = SetupState.GETTING_STARTED
+
+  def render_custom_url(self):
+    result = self.keyboard.render("Enter URL", "for Custom Software")
+
+    # Enter pressed
+    if result == 1:
+      url = self.keyboard.text
+      self.keyboard.clear()
+      if url:
+        self.download(url)
+
+    # Cancel pressed
+    elif result == 0:
+      self.state = SetupState.SOFTWARE_SELECTION
+
+  def download(self, url: str):
+    # autocomplete incomplete URLs
+    if re.match("^([^/.]+)/([^/]+)$", url):
+      url = f"https://installer.comma.ai/{url}"
+
+    self.download_url = url
+    self.state = SetupState.DOWNLOADING
+
+    self.download_thread = threading.Thread(target=self._download_thread, daemon=True)
+    self.download_thread.start()
+
+  def _download_thread(self):
+    try:
+      import tempfile
+
+      _, tmpfile = tempfile.mkstemp(prefix="installer_")
+
+      headers = {"User-Agent": USER_AGENT, "X-openpilot-serial": HARDWARE.get_serial()}
+      req = urllib.request.Request(self.download_url, headers=headers)
+
+      with open(tmpfile, 'wb') as f, urllib.request.urlopen(req, timeout=30) as response:
+        total_size = int(response.headers.get('content-length', 0))
+        downloaded = 0
+        block_size = 8192
+
+        while True:
+          buffer = response.read(block_size)
+          if not buffer:
+            break
+
+          downloaded += len(buffer)
+          f.write(buffer)
+
+          if total_size:
+            self.download_progress = int(downloaded * 100 / total_size)
+
+      is_elf = False
+      with open(tmpfile, 'rb') as f:
+        header = f.read(4)
+        is_elf = header == b'\x7fELF'
+
+      if not is_elf:
+        self.download_failed(self.download_url, "No custom software found at this URL.")
+        return
+
+      os.rename(tmpfile, "/tmp/installer")
+      os.chmod("/tmp/installer", 0o755)
+
+      with open("/tmp/installer_url", "w") as f:
+        f.write(self.download_url)
+
+      gui_app.request_close()
+
+    except Exception:
+      error_msg = "Ensure the entered URL is valid, and the device's internet connection is good."
+      self.download_failed(self.download_url, error_msg)
+
+  def download_failed(self, url: str, reason: str):
+    self.failed_url = url
+    self.failed_reason = reason
+    self.state = SetupState.DOWNLOAD_FAILED
+
+
+def main():
+  try:
+    gui_app.init_window("Setup")
+    setup = Setup()
+    for _ in gui_app.render():
+      setup.render(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+    setup.close()
+  except Exception as e:
+    print(f"Setup error: {e}")
+  finally:
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/ui/spinner.py b/system/ui/spinner.py
index 9809307474..ed605885b0 100755
--- a/system/ui/spinner.py
+++ b/system/ui/spinner.py
@@ -1,45 +1,70 @@
 #!/usr/bin/env python3
 import pyray as rl
-import os
 import threading
+import time
 
-from openpilot.common.basedir import BASEDIR
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.text_measure import measure_text_cached
+from openpilot.system.ui.lib.window import BaseWindow
+from openpilot.system.ui.text import wrap_text
+
+from openpilot.system.ui.sunnypilot.lib.application import gui_app_sp
 
 # Constants
 PROGRESS_BAR_WIDTH = 1000
 PROGRESS_BAR_HEIGHT = 20
-ROTATION_TIME_SECONDS = 1.0  # Time for one full circle
-MARGIN = 200
+DEGREES_PER_SECOND = 360.0  # one full rotation per second
+MARGIN_H = 100
 TEXTURE_SIZE = 360
-FONT_SIZE = 80
+FONT_SIZE = 96
+LINE_HEIGHT = 104
+DARKGRAY = (55, 55, 55, 255)
 
 
 def clamp(value, min_value, max_value):
   return max(min(value, max_value), min_value)
 
 
-class Spinner:
+class SpinnerRenderer:
   def __init__(self):
-    self._comma_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_comma.png"), TEXTURE_SIZE, TEXTURE_SIZE)
-    self._spinner_texture = gui_app.load_texture_from_image(os.path.join(BASEDIR, "selfdrive/assets/img_spinner_track.png"), TEXTURE_SIZE, TEXTURE_SIZE)
+    self._comma_texture = gui_app_sp.sp_texture("images/spinner_sunnypilot.png", TEXTURE_SIZE, TEXTURE_SIZE)
+    self._spinner_texture = gui_app.texture("images/spinner_track.png", TEXTURE_SIZE, TEXTURE_SIZE, alpha_premultiply=True)
     self._rotation = 0.0
-    self._text: str = ""
+    self._progress: int | None = None
+    self._wrapped_lines: list[str] = []
     self._lock = threading.Lock()
 
   def set_text(self, text: str) -> None:
     with self._lock:
-      self._text = text
+      if text.isdigit():
+        self._progress = clamp(int(text), 0, 100)
+        self._wrapped_lines = []
+      else:
+        self._progress = None
+        self._wrapped_lines = wrap_text(text, FONT_SIZE, gui_app.width - MARGIN_H)
 
   def render(self):
-    center = rl.Vector2(gui_app.width / 2.0, gui_app.height / 2.0)
+    with self._lock:
+      progress = self._progress
+      wrapped_lines = self._wrapped_lines
+
+    if wrapped_lines:
+      # Calculate total height required for spinner and text
+      spacing = 50
+      total_height = TEXTURE_SIZE + spacing + len(wrapped_lines) * LINE_HEIGHT
+      center_y = (gui_app.height - total_height) / 2.0 + TEXTURE_SIZE / 2.0
+    else:
+      # Center spinner vertically
+      spacing = 150
+      center_y = gui_app.height / 2.0
+    y_pos = center_y + TEXTURE_SIZE / 2.0 + spacing
+
+    center = rl.Vector2(gui_app.width / 2.0, center_y)
     spinner_origin = rl.Vector2(TEXTURE_SIZE / 2.0, TEXTURE_SIZE / 2.0)
     comma_position = rl.Vector2(center.x - TEXTURE_SIZE / 2.0, center.y - TEXTURE_SIZE / 2.0)
 
-    fps = rl.get_fps()
-    if fps > 0:
-      degrees_per_frame = 360.0 / (ROTATION_TIME_SECONDS * fps)
-      self._rotation = (self._rotation + degrees_per_frame) % 360.0
+    delta_time = rl.get_frame_time()
+    self._rotation = (self._rotation + DEGREES_PER_SECOND * delta_time) % 360.0
 
     # Draw rotating spinner and static comma logo
     rl.draw_texture_pro(self._spinner_texture, rl.Rectangle(0, 0, TEXTURE_SIZE, TEXTURE_SIZE),
@@ -47,29 +72,40 @@ class Spinner:
                         spinner_origin, self._rotation, rl.WHITE)
     rl.draw_texture_v(self._comma_texture, comma_position, rl.WHITE)
 
-    # Display progress bar or text based on user input
-    text = None
-    with self._lock:
-      text = self._text
+    # Display the progress bar or text based on user input
+    if progress is not None:
+      bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
+      rl.draw_rectangle_rounded(bar, 1, 10, DARKGRAY)
 
-    if text:
-      y_pos = rl.get_screen_height() - MARGIN - PROGRESS_BAR_HEIGHT
-      if text.isdigit():
-        progress = clamp(int(text), 0, 100)
-        bar = rl.Rectangle(center.x - PROGRESS_BAR_WIDTH / 2.0, y_pos, PROGRESS_BAR_WIDTH, PROGRESS_BAR_HEIGHT)
-        rl.draw_rectangle_rounded(bar, 0.5, 10, rl.GRAY)
+      bar.width *= progress / 100.0
+      rl.draw_rectangle_rounded(bar, 1, 10, rl.WHITE)
+    elif wrapped_lines:
+      for i, line in enumerate(wrapped_lines):
+        text_size = measure_text_cached(gui_app.font(), line, FONT_SIZE)
+        rl.draw_text_ex(gui_app.font(), line, rl.Vector2(center.x - text_size.x / 2, y_pos + i * LINE_HEIGHT),
+                        FONT_SIZE, 0.0, rl.WHITE)
 
-        bar.width *= progress / 100.0
-        rl.draw_rectangle_rounded(bar, 0.5, 10, rl.WHITE)
-      else:
-        text_size = rl.measure_text_ex(gui_app.font(), text, FONT_SIZE, 1.0)
-        rl.draw_text_ex(gui_app.font(), text,
-                        rl.Vector2(center.x - text_size.x / 2, y_pos), FONT_SIZE, 1.0, rl.WHITE)
+
+class Spinner(BaseWindow[SpinnerRenderer]):
+  def __init__(self):
+    super().__init__("Spinner")
+
+  def _create_renderer(self):
+    return SpinnerRenderer()
+
+  def update(self, spinner_text: str):
+    if self._renderer is not None:
+      self._renderer.set_text(spinner_text)
+
+  def update_progress(self, cur: float, total: float):
+    self.update(str(round(100 * cur / total)))
+
+
+def main():
+  with Spinner() as s:
+    s.update("Spinner text")
+    time.sleep(5)
 
 
 if __name__ == "__main__":
-  gui_app.init_window("Spinner")
-  spinner = Spinner()
-  spinner.set_text("Spinner text")
-  for _ in gui_app.render():
-    spinner.render()
+  main()
diff --git a/system/ui/sunnypilot/lib/application.py b/system/ui/sunnypilot/lib/application.py
new file mode 100644
index 0000000000..10227ce9fd
--- /dev/null
+++ b/system/ui/sunnypilot/lib/application.py
@@ -0,0 +1,21 @@
+from openpilot.system.ui.lib.application import GuiApplication
+from importlib.resources import as_file, files
+
+ASSETS_DIR_SP = files("openpilot.sunnypilot.selfdrive").joinpath("assets")
+
+class GuiApplicationSP(GuiApplication):
+
+    def __init__(self, width: int, height: int):
+        super().__init__(width, height)
+
+    def sp_texture(self, asset_path: str, width: int, height: int, alpha_premultiply=False, keep_aspect_ratio=True):
+        cache_key = f"{asset_path}_{width}_{height}_{alpha_premultiply}{keep_aspect_ratio}"
+        if cache_key in self._textures:
+            return self._textures[cache_key]
+
+        with as_file(ASSETS_DIR_SP.joinpath(asset_path)) as fspath:
+            texture_obj = self._load_texture_from_image(fspath.as_posix(), width, height, alpha_premultiply, keep_aspect_ratio)
+        self._textures[cache_key] = texture_obj
+        return texture_obj
+
+gui_app_sp = GuiApplicationSP(2160, 1080)
diff --git a/system/ui/text.py b/system/ui/text.py
index 97d0ebcce9..63d00fbde3 100755
--- a/system/ui/text.py
+++ b/system/ui/text.py
@@ -1,14 +1,18 @@
 #!/usr/bin/env python3
+import re
+import time
 import pyray as rl
-from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.window import BaseWindow
 
 MARGIN = 50
-SPACING = 50
-FONT_SIZE = 60
-LINE_HEIGHT = 64
+SPACING = 40
+FONT_SIZE = 72
+LINE_HEIGHT = 80
 BUTTON_SIZE = rl.Vector2(310, 160)
 
 DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necessary.
@@ -16,27 +20,39 @@ DEMO_TEXT = """This is a sample text that will be wrapped and scrolled if necess
 
 def wrap_text(text, font_size, max_width):
   lines = []
-  current_line = ""
   font = gui_app.font()
 
-  for word in text.split():
-    test_line = current_line + word + " "
-    if rl.measure_text_ex(font, test_line, font_size, 0).x <= max_width:
-      current_line = test_line
-    else:
+  for paragraph in text.split("\n"):
+    if not paragraph.strip():
+      # Don't add empty lines first, ensuring wrap_text("") returns []
+      if lines:
+        lines.append("")
+      continue
+    indent = re.match(r"^\s*", paragraph).group()
+    current_line = indent
+    words = re.split(r"(\s+)", paragraph[len(indent):])
+    while len(words):
+      word = words.pop(0)
+      test_line = current_line + word + (words.pop(0) if words else "")
+      if measure_text_cached(font, test_line, font_size).x <= max_width:
+        current_line = test_line
+      else:
+        lines.append(current_line)
+        current_line = word + " "
+    current_line = current_line.rstrip()
+    if current_line:
       lines.append(current_line)
-      current_line = word + " "
-  if current_line:
-    lines.append(current_line)
 
   return lines
 
-class TextWindow:
+
+class TextWindowRenderer:
   def __init__(self, text: str):
     self._textarea_rect = rl.Rectangle(MARGIN, MARGIN, gui_app.width - MARGIN * 2, gui_app.height - MARGIN * 2)
     self._wrapped_lines = wrap_text(text, FONT_SIZE, self._textarea_rect.width - 20)
     self._content_rect = rl.Rectangle(0, 0, self._textarea_rect.width - 20, len(self._wrapped_lines) * LINE_HEIGHT)
     self._scroll_panel = GuiScrollPanel(show_vertical_scroll_bar=True)
+    self._scroll_panel._offset.y = -max(self._content_rect.height - self._textarea_rect.height, 0)
 
   def render(self):
     scroll = self._scroll_panel.handle_scroll(self._textarea_rect, self._content_rect)
@@ -45,22 +61,32 @@ class TextWindow:
       position = rl.Vector2(self._textarea_rect.x + scroll.x, self._textarea_rect.y + scroll.y + i * LINE_HEIGHT)
       if position.y + LINE_HEIGHT < self._textarea_rect.y or position.y > self._textarea_rect.y + self._textarea_rect.height:
         continue
-      rl.draw_text_ex(gui_app.font(), line.strip(), position, FONT_SIZE, 0, rl.WHITE)
+      rl.draw_text_ex(gui_app.font(), line, position, FONT_SIZE, 0, rl.WHITE)
     rl.end_scissor_mode()
 
-    button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
-    ret = gui_button(button_bounds, "Reboot", button_style=ButtonStyle.TRANSPARENT)
+    button_bounds = rl.Rectangle(gui_app.width - MARGIN - BUTTON_SIZE.x - SPACING, gui_app.height - MARGIN - BUTTON_SIZE.y, BUTTON_SIZE.x, BUTTON_SIZE.y)
+    ret = gui_button(button_bounds, "Exit" if PC else "Reboot", button_style=ButtonStyle.TRANSPARENT)
     if ret:
-      HARDWARE.reboot()
+      if PC:
+        gui_app.request_close()
+      else:
+        HARDWARE.reboot()
     return ret
 
 
-def show_text_in_window(text: str):
-  gui_app.init_window("Text")
-  text_window = TextWindow(text)
-  for _ in gui_app.render():
-    text_window.render()
+class TextWindow(BaseWindow[TextWindowRenderer]):
+  def __init__(self, text: str):
+    self._text = text
+    super().__init__("Text")
+
+  def _create_renderer(self):
+    return TextWindowRenderer(self._text)
+
+  def wait_for_exit(self):
+    while self._thread.is_alive():
+      time.sleep(0.01)
 
 
 if __name__ == "__main__":
-  show_text_in_window(DEMO_TEXT)
+  with TextWindow(DEMO_TEXT):
+    time.sleep(30)
diff --git a/system/ui/updater.py b/system/ui/updater.py
new file mode 100755
index 0000000000..3ee02ce97c
--- /dev/null
+++ b/system/ui/updater.py
@@ -0,0 +1,171 @@
+#!/usr/bin/env python3
+import sys
+import subprocess
+import threading
+import pyray as rl
+from enum import IntEnum
+
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.button import gui_button, ButtonStyle
+from openpilot.system.ui.lib.label import gui_text_box, gui_label
+from openpilot.system.ui.lib.wifi_manager import WifiManagerWrapper
+from openpilot.system.ui.widgets.network import WifiManagerUI
+
+
+# Constants
+MARGIN = 50
+BUTTON_HEIGHT = 160
+BUTTON_WIDTH = 400
+PROGRESS_BAR_HEIGHT = 72
+TITLE_FONT_SIZE = 80
+BODY_FONT_SIZE = 65
+BACKGROUND_COLOR = rl.BLACK
+PROGRESS_BG_COLOR = rl.Color(41, 41, 41, 255)
+PROGRESS_COLOR = rl.Color(54, 77, 239, 255)
+
+
+class Screen(IntEnum):
+  PROMPT = 0
+  WIFI = 1
+  PROGRESS = 2
+
+
+class Updater:
+  def __init__(self, updater_path, manifest_path):
+    self.updater = updater_path
+    self.manifest = manifest_path
+    self.current_screen = Screen.PROMPT
+
+    self.progress_value = 0
+    self.progress_text = "Loading..."
+    self.show_reboot_button = False
+    self.process = None
+    self.update_thread = None
+    self.wifi_manager = WifiManagerWrapper()
+    self.wifi_manager_ui = WifiManagerUI(self.wifi_manager)
+
+  def install_update(self):
+    self.current_screen = Screen.PROGRESS
+    self.progress_value = 0
+    self.progress_text = "Downloading..."
+    self.show_reboot_button = False
+
+    # Start the update process in a separate thread
+    self.update_thread = threading.Thread(target=self._run_update_process)
+    self.update_thread.daemon = True
+    self.update_thread.start()
+
+  def _run_update_process(self):
+    # TODO: just import it and run in a thread without a subprocess
+    cmd = [self.updater, "--swap", self.manifest]
+    self.process = subprocess.Popen(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
+                                   text=True, bufsize=1, universal_newlines=True)
+
+    for line in self.process.stdout:
+      parts = line.strip().split(":")
+      if len(parts) == 2:
+        self.progress_text = parts[0]
+        try:
+          self.progress_value = int(float(parts[1]))
+        except ValueError:
+          pass
+
+    exit_code = self.process.wait()
+    if exit_code == 0:
+      HARDWARE.reboot()
+    else:
+      self.progress_text = "Update failed"
+      self.show_reboot_button = True
+
+  def render_prompt_screen(self):
+    # Title
+    title_rect = rl.Rectangle(MARGIN + 50, 250, gui_app.width - MARGIN * 2 - 100, TITLE_FONT_SIZE)
+    gui_label(title_rect, "Update Required", TITLE_FONT_SIZE, font_weight=FontWeight.BOLD)
+
+    # Description
+    desc_text = ("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. " +
+                "The download size is approximately 1GB.")
+
+    desc_rect = rl.Rectangle(MARGIN + 50, 250 + TITLE_FONT_SIZE + 75, gui_app.width - MARGIN * 2 - 100, BODY_FONT_SIZE * 3)
+    gui_text_box(desc_rect, desc_text, BODY_FONT_SIZE)
+
+    # Buttons at the bottom
+    button_y = gui_app.height - MARGIN - BUTTON_HEIGHT
+    button_width = (gui_app.width - MARGIN * 3) // 2
+
+    # WiFi button
+    wifi_button_rect = rl.Rectangle(MARGIN, button_y, button_width, BUTTON_HEIGHT)
+    if gui_button(wifi_button_rect, "Connect to Wi-Fi"):
+      self.current_screen = Screen.WIFI
+      return  # Return to avoid processing other buttons after screen change
+
+    # Install button
+    install_button_rect = rl.Rectangle(MARGIN * 2 + button_width, button_y, button_width, BUTTON_HEIGHT)
+    if gui_button(install_button_rect, "Install", button_style=ButtonStyle.PRIMARY):
+      self.install_update()
+      return  # Return to avoid further processing after action
+
+  def render_wifi_screen(self):
+    # Draw the Wi-Fi manager UI
+    wifi_rect = rl.Rectangle(MARGIN + 50, MARGIN, gui_app.width - MARGIN * 2 - 100, gui_app.height - MARGIN * 2 - BUTTON_HEIGHT - 20)
+    self.wifi_manager_ui.render(wifi_rect)
+    if self.wifi_manager_ui.require_full_screen:
+      return
+
+    back_button_rect = rl.Rectangle(MARGIN, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+    if gui_button(back_button_rect, "Back"):
+      self.current_screen = Screen.PROMPT
+      return  # Return to avoid processing other interactions after screen change
+
+  def render_progress_screen(self):
+    title_rect = rl.Rectangle(MARGIN + 100, 330, gui_app.width - MARGIN * 2 - 200, 100)
+    gui_label(title_rect, self.progress_text, 90, font_weight=FontWeight.SEMI_BOLD)
+
+    # Progress bar
+    bar_rect = rl.Rectangle(MARGIN + 100, 330 + 100 + 100, gui_app.width - MARGIN * 2 - 200, PROGRESS_BAR_HEIGHT)
+    rl.draw_rectangle_rounded(bar_rect, 0.5, 10, PROGRESS_BG_COLOR)
+
+    # Calculate the width of the progress chunk
+    progress_width = (bar_rect.width * self.progress_value) / 100
+    if progress_width > 0:
+      progress_rect = rl.Rectangle(bar_rect.x, bar_rect.y, progress_width, bar_rect.height)
+      rl.draw_rectangle_rounded(progress_rect, 0.5, 10, PROGRESS_COLOR)
+
+    # Show reboot button if needed
+    if self.show_reboot_button:
+      reboot_rect = rl.Rectangle(MARGIN + 100, gui_app.height - MARGIN - BUTTON_HEIGHT, BUTTON_WIDTH, BUTTON_HEIGHT)
+      if gui_button(reboot_rect, "Reboot"):
+        # Return True to signal main loop to exit before rebooting
+        HARDWARE.reboot()
+        return
+
+  def render(self):
+    if self.current_screen == Screen.PROMPT:
+      self.render_prompt_screen()
+    elif self.current_screen == Screen.WIFI:
+      self.render_wifi_screen()
+    elif self.current_screen == Screen.PROGRESS:
+      self.render_progress_screen()
+
+
+def main():
+  if len(sys.argv) < 3:
+    print("Usage: updater.py <updater_path> <manifest_path>")
+    sys.exit(1)
+
+  updater_path = sys.argv[1]
+  manifest_path = sys.argv[2]
+
+  try:
+    gui_app.init_window("System Update")
+    updater = Updater(updater_path, manifest_path)
+    for _ in gui_app.render():
+      updater.render()
+  finally:
+    # Make sure we clean up even if there's an error
+    gui_app.close()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/ui/widgets/confirm_dialog.py b/system/ui/widgets/confirm_dialog.py
index e5ca002ecf..f42220053b 100644
--- a/system/ui/widgets/confirm_dialog.py
+++ b/system/ui/widgets/confirm_dialog.py
@@ -1,4 +1,5 @@
 import pyray as rl
+from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.lib.button import gui_button, ButtonStyle
 from openpilot.system.ui.lib.label import gui_text_box
 
@@ -11,10 +12,9 @@ TEXT_AREA_HEIGHT_REDUCTION = 200
 BACKGROUND_COLOR = rl.Color(27, 27, 27, 255)
 
 
-def confirm_dialog(rect: rl.Rectangle, message: str, confirm_text: str, cancel_text: str = "Cancel") -> int:
-  # Calculate dialog position and size, centered within the parent rectangle
-  dialog_x = rect.x + (rect.width - DIALOG_WIDTH) / 2
-  dialog_y = rect.y + (rect.height - DIALOG_HEIGHT) / 2
+def confirm_dialog(message: str, confirm_text: str, cancel_text: str = "Cancel") -> int:
+  dialog_x = (gui_app.width - DIALOG_WIDTH) / 2
+  dialog_y = (gui_app.height - DIALOG_HEIGHT) / 2
   dialog_rect = rl.Rectangle(dialog_x, dialog_y, DIALOG_WIDTH, DIALOG_HEIGHT)
 
   # Calculate button positions at the bottom of the dialog
@@ -27,19 +27,14 @@ def confirm_dialog(rect: rl.Rectangle, message: str, confirm_text: str, cancel_t
   yes_button = rl.Rectangle(yes_button_x, button_y, button_width, BUTTON_HEIGHT)
 
   # Draw the dialog background
-  rl.draw_rectangle(
-    int(dialog_rect.x),
-    int(dialog_rect.y),
-    int(dialog_rect.width),
-    int(dialog_rect.height),
-    BACKGROUND_COLOR,
-  )
+  rl.draw_rectangle_rec(dialog_rect, BACKGROUND_COLOR)
 
   # Draw the message in the dialog, centered
   text_rect = rl.Rectangle(dialog_rect.x, dialog_rect.y, dialog_rect.width, dialog_rect.height - TEXT_AREA_HEIGHT_REDUCTION)
   gui_text_box(
     text_rect,
     message,
+    font_size=88,
     alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
     alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
   )
diff --git a/system/ui/widgets/keyboard.py b/system/ui/widgets/keyboard.py
index 4d1ad1b2cd..0e22f1b527 100644
--- a/system/ui/widgets/keyboard.py
+++ b/system/ui/widgets/keyboard.py
@@ -1,29 +1,40 @@
+import time
+from typing import Literal
 import pyray as rl
-from openpilot.system.ui.lib.button import gui_button
+from openpilot.system.ui.lib.application import gui_app, FontWeight
+from openpilot.system.ui.lib.button import ButtonStyle, gui_button
+from openpilot.system.ui.lib.inputbox import InputBox
 from openpilot.system.ui.lib.label import gui_label
 
+KEY_FONT_SIZE = 96
+DOUBLE_CLICK_THRESHOLD = 0.5  # seconds
+DELETE_REPEAT_DELAY = 0.5
+DELETE_REPEAT_INTERVAL = 0.07
+
 # Constants for special keys
+CONTENT_MARGIN = 50
 BACKSPACE_KEY = "<-"
-ENTER_KEY = "Enter"
+ENTER_KEY = "->"
 SPACE_KEY = "  "
-SHIFT_KEY = "↑"
-SHIFT_DOWN_KEY = "↓"
+SHIFT_INACTIVE_KEY = "SHIFT_OFF"
+SHIFT_ACTIVE_KEY = "SHIFT_ON"
+CAPS_LOCK_KEY = "CAPS"
 NUMERIC_KEY = "123"
 SYMBOL_KEY = "#+="
 ABC_KEY = "ABC"
 
 # Define keyboard layouts as a dictionary for easier access
-keyboard_layouts = {
+KEYBOARD_LAYOUTS = {
   "lowercase": [
     ["q", "w", "e", "r", "t", "y", "u", "i", "o", "p"],
     ["a", "s", "d", "f", "g", "h", "j", "k", "l"],
-    [SHIFT_KEY, "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY],
+    [SHIFT_INACTIVE_KEY, "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY],
     [NUMERIC_KEY, "/", "-", SPACE_KEY, ".", ENTER_KEY],
   ],
   "uppercase": [
     ["Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"],
     ["A", "S", "D", "F", "G", "H", "J", "K", "L"],
-    [SHIFT_DOWN_KEY, "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY],
+    [SHIFT_ACTIVE_KEY, "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY],
     [NUMERIC_KEY, "/", "-", SPACE_KEY, ".", ENTER_KEY],
   ],
   "numbers": [
@@ -42,34 +53,79 @@ keyboard_layouts = {
 
 
 class Keyboard:
-  def __init__(self, max_text_size: int = 255):
-    self._layout = keyboard_layouts["lowercase"]
-    self._input_text = ""
+  def __init__(self, max_text_size: int = 255, min_text_size: int = 0, password_mode: bool = False, show_password_toggle: bool = False):
+    self._layout_name: Literal["lowercase", "uppercase", "numbers", "specials"] = "lowercase"
+    self._caps_lock = False
+    self._last_shift_press_time = 0
+
     self._max_text_size = max_text_size
+    self._min_text_size = min_text_size
+    self._input_box = InputBox(max_text_size)
+    self._password_mode = password_mode
+    self._show_password_toggle = show_password_toggle
+
+    # Backspace key repeat tracking
+    self._backspace_pressed: bool = False
+    self._backspace_press_time: float = 0.0
+    self._backspace_last_repeat:float = 0.0
+
+    self._eye_open_texture = gui_app.texture("icons/eye_open.png", 81, 54)
+    self._eye_closed_texture = gui_app.texture("icons/eye_closed.png", 81, 54)
+    self._key_icons = {
+      BACKSPACE_KEY: gui_app.texture("icons/backspace.png", 80, 80),
+      SHIFT_INACTIVE_KEY: gui_app.texture("icons/shift.png", 80, 80),
+      SHIFT_ACTIVE_KEY: gui_app.texture("icons/shift-fill.png", 80, 80),
+      CAPS_LOCK_KEY: gui_app.texture("icons/capslock-fill.png", 80, 80),
+      ENTER_KEY: gui_app.texture("icons/arrow-right.png", 80, 80),
+    }
 
   @property
-  def text(self) -> str:
-    return self._input_text
+  def text(self):
+    return self._input_box.text
 
   def clear(self):
-    self._input_text = ""
+    self._layout_name = "lowercase"
+    self._caps_lock = False
+    self._input_box.clear()
+    self._backspace_pressed = False
 
-  def render(self, rect, title, sub_title):
-    gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90)
-    gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, rl.GRAY)
-    if gui_button(rl.Rectangle(rect.x + rect.width - 300, rect.y, 300, 100), "Cancel"):
-      return -1
+  def render(self, title: str, sub_title: str):
+    rect = rl.Rectangle(CONTENT_MARGIN, CONTENT_MARGIN, gui_app.width - 2 * CONTENT_MARGIN, gui_app.height - 2 * CONTENT_MARGIN)
+    gui_label(rl.Rectangle(rect.x, rect.y, rect.width, 95), title, 90, font_weight=FontWeight.BOLD)
+    gui_label(rl.Rectangle(rect.x, rect.y + 95, rect.width, 60), sub_title, 55, font_weight=FontWeight.NORMAL)
+    if gui_button(rl.Rectangle(rect.x + rect.width - 386, rect.y, 386, 125), "Cancel"):
+      self.clear()
+      return 0
 
-    # Text box for input
-    rl.gui_text_box(rl.Rectangle(rect.x, rect.y + 160, rect.width, 100), self._input_text, self._max_text_size, True)
+    # Draw input box and password toggle
+    input_margin = 25
+    input_box_rect = rl.Rectangle(rect.x + input_margin, rect.y + 160, rect.width - input_margin, 100)
+    self._render_input_area(input_box_rect)
+
+    # Process backspace key repeat if it's held down
+    if not rl.is_mouse_button_down(rl.MouseButton.MOUSE_BUTTON_LEFT):
+      self._backspace_pressed = False
+
+    if self._backspace_pressed:
+      current_time = time.monotonic()
+      time_since_press = current_time - self._backspace_press_time
+
+      # After initial delay, start repeating with shorter intervals
+      if time_since_press > DELETE_REPEAT_DELAY:
+        time_since_last_repeat = current_time - self._backspace_last_repeat
+        if time_since_last_repeat > DELETE_REPEAT_INTERVAL:
+          self._input_box.delete_char_before_cursor()
+          self._backspace_last_repeat = current_time
+
+    layout = KEYBOARD_LAYOUTS[self._layout_name]
 
     h_space, v_space = 15, 15
     row_y_start = rect.y + 300  # Starting Y position for the first row
     key_height = (rect.height - 300 - 3 * v_space) / 4
-    key_max_width = (rect.width - (len(self._layout[2]) - 1) * h_space) / len(self._layout[2])
+    key_max_width = (rect.width - (len(layout[2]) - 1) * h_space) / len(layout[2])
 
     # Iterate over the rows of keys in the current layout
-    for row, keys in enumerate(self._layout):
+    for row, keys in enumerate(layout):
       key_width = min((rect.width - (180 if row == 1 else 0) - h_space * (len(keys) - 1)) / len(keys), key_max_width)
       start_x = rect.x + (90 if row == 1 else 0)
 
@@ -81,24 +137,97 @@ class Keyboard:
         key_rect = rl.Rectangle(start_x, row_y_start + row * (key_height + v_space), new_width, key_height)
         start_x += new_width
 
-        if gui_button(key_rect, key):
+        is_enabled = key != ENTER_KEY or len(self._input_box.text) >= self._min_text_size
+        result = -1
+
+        # Check for backspace key press-and-hold
+        mouse_pos = rl.get_mouse_position()
+        mouse_over_key = rl.check_collision_point_rec(mouse_pos, key_rect)
+
+        if key == BACKSPACE_KEY and mouse_over_key:
+          if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT):
+            self._backspace_pressed = True
+            self._backspace_press_time = time.monotonic()
+            self._backspace_last_repeat = time.monotonic()
+
+        if key in self._key_icons:
+          if key == SHIFT_ACTIVE_KEY and self._caps_lock:
+            key = CAPS_LOCK_KEY
+          texture = self._key_icons[key]
+          result = gui_button(key_rect, "", icon=texture, button_style=ButtonStyle.PRIMARY if key == ENTER_KEY else ButtonStyle.NORMAL, is_enabled=is_enabled)
+        else:
+          result = gui_button(key_rect, key, KEY_FONT_SIZE, is_enabled=is_enabled)
+
+        if result:
           if key == ENTER_KEY:
             return 1
           else:
             self.handle_key_press(key)
 
-    return 0
+    return -1
+
+  def _render_input_area(self, input_rect: rl.Rectangle):
+    if self._show_password_toggle:
+      self._input_box.set_password_mode(self._password_mode)
+      self._input_box.render(rl.Rectangle(input_rect.x, input_rect.y, input_rect.width - 100, input_rect.height))
+
+      # render eye icon
+      eye_texture = self._eye_closed_texture if self._password_mode else self._eye_open_texture
+
+      eye_rect = rl.Rectangle(input_rect.x + input_rect.width - 90, input_rect.y, 80, input_rect.height)
+      eye_x = eye_rect.x + (eye_rect.width - eye_texture.width) / 2
+      eye_y = eye_rect.y + (eye_rect.height - eye_texture.height) / 2
+
+      rl.draw_texture_v(eye_texture, rl.Vector2(eye_x, eye_y), rl.WHITE)
+
+      # Handle click on eye icon
+      if rl.is_mouse_button_pressed(rl.MouseButton.MOUSE_BUTTON_LEFT) and rl.check_collision_point_rec(
+        rl.get_mouse_position(), eye_rect
+      ):
+        self._password_mode = not self._password_mode
+    else:
+      self._input_box.render(input_rect)
+
+    rl.draw_line_ex(
+      rl.Vector2(input_rect.x, input_rect.y + input_rect.height - 2),
+      rl.Vector2(input_rect.x + input_rect.width, input_rect.y + input_rect.height - 2),
+      3.0,  # 3 pixel thickness
+      rl.Color(189, 189, 189, 255),
+    )
 
   def handle_key_press(self, key):
-    if key in (SHIFT_DOWN_KEY, ABC_KEY):
-      self._layout = keyboard_layouts["lowercase"]
-    elif key == SHIFT_KEY:
-      self._layout = keyboard_layouts["uppercase"]
+    if key in (CAPS_LOCK_KEY, ABC_KEY):
+      self._caps_lock = False
+      self._layout_name = "lowercase"
+    elif key == SHIFT_INACTIVE_KEY:
+      self._last_shift_press_time = time.monotonic()
+      self._layout_name = "uppercase"
+    elif key == SHIFT_ACTIVE_KEY:
+      if time.monotonic() - self._last_shift_press_time < DOUBLE_CLICK_THRESHOLD:
+        self._caps_lock = True
+      else:
+        self._layout_name = "lowercase"
     elif key == NUMERIC_KEY:
-      self._layout = keyboard_layouts["numbers"]
+      self._layout_name = "numbers"
     elif key == SYMBOL_KEY:
-      self._layout = keyboard_layouts["specials"]
-    elif key == BACKSPACE_KEY and len(self._input_text) > 0:
-      self._input_text = self._input_text[:-1]
-    elif key != BACKSPACE_KEY and len(self._input_text) < self._max_text_size:
-      self._input_text += key
+      self._layout_name = "specials"
+    elif key == BACKSPACE_KEY:
+      self._input_box.delete_char_before_cursor()
+    else:
+      self._input_box.add_char_at_cursor(key)
+      if not self._caps_lock and self._layout_name == "uppercase":
+        self._layout_name = "lowercase"
+
+
+if __name__ == "__main__":
+  gui_app.init_window("Keyboard")
+  keyboard = Keyboard(min_text_size=8, show_password_toggle=True)
+  for _ in gui_app.render():
+    result = keyboard.render("Keyboard", "Type here")
+    if result == 1:
+      print(f"You typed: {keyboard.text}")
+      gui_app.request_close()
+    elif result == 0:
+      print("Canceled")
+      gui_app.request_close()
+  gui_app.close()
diff --git a/system/ui/widgets/network.py b/system/ui/widgets/network.py
new file mode 100644
index 0000000000..80f55ebf56
--- /dev/null
+++ b/system/ui/widgets/network.py
@@ -0,0 +1,244 @@
+from dataclasses import dataclass
+from threading import Lock
+from typing import Literal
+
+import pyray as rl
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.lib.button import ButtonStyle, gui_button
+from openpilot.system.ui.lib.label import gui_label
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+from openpilot.system.ui.lib.wifi_manager import NetworkInfo, WifiManagerCallbacks, WifiManagerWrapper, SecurityType
+from openpilot.system.ui.widgets.keyboard import Keyboard
+from openpilot.system.ui.widgets.confirm_dialog import confirm_dialog
+
+NM_DEVICE_STATE_NEED_AUTH = 60
+MIN_PASSWORD_LENGTH = 8
+MAX_PASSWORD_LENGTH = 64
+ITEM_HEIGHT = 160
+ICON_SIZE = 50
+
+STRENGTH_ICONS = [
+  "icons/wifi_strength_low.png",
+  "icons/wifi_strength_medium.png",
+  "icons/wifi_strength_high.png",
+  "icons/wifi_strength_full.png",
+]
+
+@dataclass
+class StateIdle:
+  action: Literal["idle"] = "idle"
+
+@dataclass
+class StateConnecting:
+  network: NetworkInfo
+  action: Literal["connecting"] = "connecting"
+
+@dataclass
+class StateNeedsAuth:
+  network: NetworkInfo
+  action: Literal["needs_auth"] = "needs_auth"
+
+@dataclass
+class StateShowForgetConfirm:
+  network: NetworkInfo
+  action: Literal["show_forget_confirm"] = "show_forget_confirm"
+
+@dataclass
+class StateForgetting:
+  network: NetworkInfo
+  action: Literal["forgetting"] = "forgetting"
+
+UIState = StateIdle | StateConnecting | StateNeedsAuth | StateShowForgetConfirm | StateForgetting
+
+
+class WifiManagerUI:
+  def __init__(self, wifi_manager: WifiManagerWrapper):
+    self.state: UIState = StateIdle()
+    self.btn_width: int = 200
+    self.scroll_panel = GuiScrollPanel()
+    self.keyboard = Keyboard(max_text_size=MAX_PASSWORD_LENGTH, min_text_size=MIN_PASSWORD_LENGTH, show_password_toggle=True)
+
+    self._networks: list[NetworkInfo] = []
+    self._lock = Lock()
+    self.wifi_manager = wifi_manager
+
+    self.wifi_manager.set_callbacks(
+      WifiManagerCallbacks(
+        need_auth = self._on_need_auth,
+        activated = self._on_activated,
+        forgotten = self._on_forgotten,
+        networks_updated = self._on_network_updated,
+        connection_failed = self._on_connection_failed
+      )
+    )
+    self.wifi_manager.start()
+    self.wifi_manager.connect()
+
+  def render(self, rect: rl.Rectangle):
+    with self._lock:
+      if not self._networks:
+        gui_label(rect, "Scanning Wi-Fi networks...", 72, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+        return
+
+      match self.state:
+        case StateNeedsAuth(network):
+          result = self.keyboard.render("Enter password", f"for {network.ssid}")
+          if result == 1:
+            password = self.keyboard.text
+            self.keyboard.clear()
+
+            if len(password) >= MIN_PASSWORD_LENGTH:
+              self.connect_to_network(network, password)
+          elif result == 0:
+            self.state = StateIdle()
+
+        case StateShowForgetConfirm(network):
+          result = confirm_dialog(f'Forget Wi-Fi Network "{network.ssid}"?', "Forget")
+          if result == 1:
+            self.forget_network(network)
+          elif result == 0:
+            self.state = StateIdle()
+
+        case _:
+          self._draw_network_list(rect)
+
+  @property
+  def require_full_screen(self) -> bool:
+    """Check if the WiFi UI requires exclusive full-screen rendering."""
+    with self._lock:
+      return isinstance(self.state, (StateNeedsAuth, StateShowForgetConfirm))
+
+  def _draw_network_list(self, rect: rl.Rectangle):
+    content_rect = rl.Rectangle(rect.x, rect.y, rect.width, len(self._networks) * ITEM_HEIGHT)
+    offset = self.scroll_panel.handle_scroll(rect, content_rect)
+    clicked = self.scroll_panel.is_click_valid()
+
+    rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
+    for i, network in enumerate(self._networks):
+      y_offset = rect.y + i * ITEM_HEIGHT + offset.y
+      item_rect = rl.Rectangle(rect.x, y_offset, rect.width, ITEM_HEIGHT)
+      if not rl.check_collision_recs(item_rect, rect):
+        continue
+
+      self._draw_network_item(item_rect, network, clicked)
+      if i < len(self._networks) - 1:
+        line_y = int(item_rect.y + item_rect.height - 1)
+        rl.draw_line(int(item_rect.x), int(line_y), int(item_rect.x + item_rect.width), line_y, rl.LIGHTGRAY)
+
+    rl.end_scissor_mode()
+
+  def _draw_network_item(self, rect, network: NetworkInfo, clicked: bool):
+    spacing = 50
+    ssid_rect = rl.Rectangle(rect.x, rect.y, rect.width - self.btn_width * 2, ITEM_HEIGHT)
+    signal_icon_rect = rl.Rectangle(rect.x + rect.width - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
+    security_icon_rect = rl.Rectangle(signal_icon_rect.x - spacing - ICON_SIZE, rect.y + (ITEM_HEIGHT - ICON_SIZE) / 2, ICON_SIZE, ICON_SIZE)
+
+    gui_label(ssid_rect, network.ssid, 55)
+
+    status_text = ""
+    match self.state:
+      case StateConnecting(network=connecting):
+        if connecting.ssid == network.ssid:
+          status_text = "CONNECTING..."
+      case StateForgetting(network=forgetting):
+        if forgetting.ssid == network.ssid:
+          status_text = "FORGETTING..."
+
+    if status_text:
+      status_text_rect = rl.Rectangle(security_icon_rect.x - 410, rect.y, 410, ITEM_HEIGHT)
+      gui_label(status_text_rect, status_text, font_size=48, alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER)
+    else:
+      # If the network is saved, show the "Forget" button
+      if network.is_saved:
+        forget_btn_rect = rl.Rectangle(security_icon_rect.x - self.btn_width - spacing,
+          rect.y + (ITEM_HEIGHT - 80) / 2,
+          self.btn_width,
+          80,
+        )
+        if isinstance(self.state, StateIdle) and gui_button(forget_btn_rect, "Forget", button_style=ButtonStyle.ACTION) and clicked:
+          self.state = StateShowForgetConfirm(network)
+
+    self._draw_status_icon(security_icon_rect, network)
+    self._draw_signal_strength_icon(signal_icon_rect, network)
+
+    if isinstance(self.state, StateIdle) and rl.check_collision_point_rec(rl.get_mouse_position(), ssid_rect) and clicked:
+      if not network.is_saved and network.security_type != SecurityType.OPEN:
+        self.state = StateNeedsAuth(network)
+      elif not network.is_connected:
+        self.connect_to_network(network)
+
+  def _draw_status_icon(self, rect, network: NetworkInfo):
+    """Draw the status icon based on network's connection state"""
+    icon_file = None
+    if network.is_connected:
+      icon_file = "icons/checkmark.png"
+    elif network.security_type == SecurityType.UNSUPPORTED:
+      icon_file = "icons/circled_slash.png"
+    elif network.security_type != SecurityType.OPEN:
+      icon_file = "icons/lock_closed.png"
+
+    if not icon_file:
+      return
+
+    texture = gui_app.texture(icon_file, ICON_SIZE, ICON_SIZE)
+    icon_rect = rl.Vector2(rect.x, rect.y + (ICON_SIZE - texture.height) / 2)
+    rl.draw_texture_v(texture, icon_rect, rl.WHITE)
+
+  def _draw_signal_strength_icon(self, rect: rl.Rectangle, network: NetworkInfo):
+    """Draw the Wi-Fi signal strength icon based on network's signal strength"""
+    strength_level = max(0, min(3, round(network.strength / 33.0)))
+    rl.draw_texture_v(gui_app.texture(STRENGTH_ICONS[strength_level], ICON_SIZE, ICON_SIZE), rl.Vector2(rect.x, rect.y), rl.WHITE)
+
+  def connect_to_network(self, network: NetworkInfo, password=''):
+    self.state = StateConnecting(network)
+    if network.is_saved and not password:
+      self.wifi_manager.activate_connection(network.ssid)
+    else:
+      self.wifi_manager.connect_to_network(network.ssid, password)
+
+  def forget_network(self, network: NetworkInfo):
+    self.state = StateForgetting(network)
+    network.is_saved = False
+    self.wifi_manager.forget_connection(network.ssid)
+
+  def _on_network_updated(self, networks: list[NetworkInfo]):
+    with self._lock:
+      self._networks = networks
+
+  def _on_need_auth(self, ssid):
+    with self._lock:
+      network = next((n for n in self._networks if n.ssid == ssid), None)
+      if network:
+        self.state = StateNeedsAuth(network)
+
+  def _on_activated(self):
+    with self._lock:
+      if isinstance(self.state, StateConnecting):
+        self.state = StateIdle()
+
+  def _on_forgotten(self, ssid):
+    with self._lock:
+      if isinstance(self.state, StateForgetting):
+        self.state = StateIdle()
+
+  def _on_connection_failed(self, ssid: str, error: str):
+    with self._lock:
+      if isinstance(self.state, StateConnecting):
+        self.state = StateIdle()
+
+
+
+def main():
+  gui_app.init_window("Wi-Fi Manager")
+  wifi_manager = WifiManagerWrapper()
+  wifi_ui = WifiManagerUI(wifi_manager)
+
+  for _ in gui_app.render():
+    wifi_ui.render(rl.Rectangle(50, 50, gui_app.width - 100, gui_app.height - 100))
+
+  wifi_manager.shutdown()
+  gui_app.close()
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/ui/widgets/option_dialog.py b/system/ui/widgets/option_dialog.py
new file mode 100644
index 0000000000..c25c5c6e6c
--- /dev/null
+++ b/system/ui/widgets/option_dialog.py
@@ -0,0 +1,81 @@
+import pyray as rl
+
+from openpilot.system.ui.lib.button import gui_button, ButtonStyle, TextAlignment
+from openpilot.system.ui.lib.label import gui_label
+from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
+
+
+class MultiOptionDialog:
+  def __init__(self, title, options, current=""):
+    self._title = title
+    self._options = options
+    self._current = current if current in options else ""
+    self._selection = self._current
+    self._option_height = 80
+    self._padding = 20
+    self.scroll_panel = GuiScrollPanel()
+
+  @property
+  def selection(self):
+    return self._selection
+
+  def render(self, rect):
+    title_rect = rl.Rectangle(rect.x + self._padding, rect.y + self._padding, rect.width - 2 * self._padding, 70)
+    gui_label(title_rect, self._title, 70)
+
+    options_y_start = rect.y + 120
+    options_height = len(self._options) * (self._option_height + 10)
+    options_rect = rl.Rectangle(rect.x + self._padding, options_y_start, rect.width - 2 * self._padding, options_height)
+
+    view_rect = rl.Rectangle(
+      rect.x + self._padding, options_y_start, rect.width - 2 * self._padding, rect.height - 200 - 2 * self._padding
+    )
+
+    offset = self.scroll_panel.handle_scroll(view_rect, options_rect)
+    is_click_valid = self.scroll_panel.is_click_valid()
+
+    rl.begin_scissor_mode(int(view_rect.x), int(view_rect.y), int(view_rect.width), int(view_rect.height))
+
+    for i, option in enumerate(self._options):
+      y_pos = view_rect.y + i * (self._option_height + 10) + offset.y
+      item_rect = rl.Rectangle(view_rect.x, y_pos, view_rect.width, self._option_height)
+
+      if not rl.check_collision_recs(item_rect, view_rect):
+        continue
+
+      is_selected = option == self._selection
+      button_style = ButtonStyle.PRIMARY if is_selected else ButtonStyle.NORMAL
+
+      if gui_button(item_rect, option, button_style=button_style, text_alignment=TextAlignment.LEFT) and is_click_valid:
+        self._selection = option
+
+    rl.end_scissor_mode()
+
+    button_y = rect.y + rect.height - 80 - self._padding
+    button_width = (rect.width - 3 * self._padding) / 2
+
+    cancel_rect = rl.Rectangle(rect.x + self._padding, button_y, button_width, 80)
+    if gui_button(cancel_rect, "Cancel"):
+      return 0  # Canceled
+
+    select_rect = rl.Rectangle(rect.x + 2 * self._padding + button_width, button_y, button_width, 80)
+    has_new_selection = self._selection != "" and self._selection != self._current
+
+    if gui_button(select_rect, "Select", is_enabled=has_new_selection, button_style=ButtonStyle.PRIMARY):
+      return 1  # Selected
+
+    return -1  # Still active
+
+
+if __name__ == "__main__":
+  from openpilot.system.ui.lib.application import gui_app
+
+  gui_app.init_window("Multi Option Dialog Example")
+  options = [f"Option {i}" for i in range(1, 11)]
+  dialog = MultiOptionDialog("Choose an option", options, options[0])
+
+  for _ in gui_app.render():
+    result = dialog.render(rl.Rectangle(100, 100, 1024, 800))
+    if result >= 0:
+      print(f"Selected: {dialog.selection}" if result > 0 else "Canceled")
+      break
diff --git a/third_party/mapd_pfeiferj/README.md b/third_party/mapd_pfeiferj/README.md
new file mode 100644
index 0000000000..a814f11260
--- /dev/null
+++ b/third_party/mapd_pfeiferj/README.md
@@ -0,0 +1,2 @@
+# MAPD implementation by pfeiferj
+https://github.com/pfeiferj/openpilot-mapd/releases/
diff --git a/third_party/mapd_pfeiferj/mapd b/third_party/mapd_pfeiferj/mapd
new file mode 100755
index 0000000000..d24d9b757f
Binary files /dev/null and b/third_party/mapd_pfeiferj/mapd differ
diff --git a/tinygrad_repo b/tinygrad_repo
index 0e34f9082e..519dec6677 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 0e34f9082e9730b5df9c055b094a43e4565e413b
+Subproject commit 519dec6677f98718ee4f2d07be1936eb91dde73b
diff --git a/tools/adb_shell.sh b/tools/adb_shell.sh
deleted file mode 100755
index f757f7d4d0..0000000000
--- a/tools/adb_shell.sh
+++ /dev/null
@@ -1,8 +0,0 @@
-#!/usr/bin/env expect
-spawn adb shell
-expect "#"
-send "cd data/openpilot\r"
-send "export TERM=xterm-256color\r"
-send "su comma\r"
-send "clear\r"
-interact
diff --git a/tools/auto_source.py b/tools/auto_source.py
new file mode 100755
index 0000000000..401929a9ad
--- /dev/null
+++ b/tools/auto_source.py
@@ -0,0 +1,17 @@
+#!/usr/bin/env python3
+import sys
+from openpilot.tools.lib.logreader import LogReader
+
+
+def main():
+  if len(sys.argv) != 2:
+    print("Usage: python auto_source.py <log_path>")
+    sys.exit(1)
+
+  log_path = sys.argv[1]
+  lr = LogReader(log_path, sort_by_time=True)
+  print("\n".join(lr.logreader_identifiers))
+
+
+if __name__ == "__main__":
+  main()
diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index 0b7c5bf3ee..7933098e34 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -12,6 +12,8 @@ Options:
   -h, --help                     Displays help on commandline options.
   --help-all                     Displays help including Qt specific options.
   --demo                         use a demo route instead of providing your own
+  --auto                         Auto load the route from the best available source (no video):
+                                 internal, openpilotci, comma_api, car_segments, testing_closet
   --qcam                         load qcamera
   --ecam                         load wide road camera
   --msgq                         read can messages from msgq
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 1cacaba4a2..c8e6093b86 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -29,7 +29,7 @@ cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcans
                                                'streams/routes.cc', 'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
                                                'utils/export.cc', 'utils/util.cc',
                                                'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
-                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc', 'tools/routeinfo.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index d140a323e1..97f178b1f3 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -23,6 +23,7 @@ int main(int argc, char *argv[]) {
   cmd_parser.addHelpOption();
   cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
   cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
+  cmd_parser.addOption({"auto", "Auto load the route from the best available source (no video): internal, openpilotci, comma_api, car_segments, testing_closet"});
   cmd_parser.addOption({"qcam", "load qcamera"});
   cmd_parser.addOption({"ecam", "load wide road camera"});
   cmd_parser.addOption({"dcam", "load driver camera"});
@@ -69,7 +70,8 @@ int main(int argc, char *argv[]) {
     }
     if (!route.isEmpty()) {
       auto replay_stream = std::make_unique<ReplayStream>(&app);
-      if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
+      bool auto_source = cmd_parser.isSet("auto");
+      if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags, auto_source)) {
         return 0;
       }
       stream = replay_stream.release();
diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
index ba979f258c..e9c869fce7 100644
--- a/tools/cabana/dbc/dbc.cc
+++ b/tools/cabana/dbc/dbc.cc
@@ -180,25 +180,36 @@ bool cabana::Signal::operator==(const cabana::Signal &other) const {
 // helper functions
 
 double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig) {
-  int64_t val = 0;
+  const int msb_byte = sig.msb / 8;
+  if (msb_byte >= (int)data_size) return 0;
 
-  int i = sig.msb / 8;
-  int bits = sig.size;
-  while (i >= 0 && i < data_size && bits > 0) {
-    int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8;
-    int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1;
-    int size = msb - lsb + 1;
+  const int lsb_byte = sig.lsb / 8;
+  uint64_t val = 0;
 
-    uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1);
-    val |= d << (bits - size);
-
-    bits -= size;
-    i = sig.is_little_endian ? i - 1 : i + 1;
+  // Fast path: signal fits in a single byte
+  if (msb_byte == lsb_byte) {
+    val = (data[msb_byte] >> (sig.lsb & 7)) & ((1ULL << sig.size) - 1);
+  } else {
+    // Multi-byte case: signal spans across multiple bytes
+    int bits = sig.size;
+    int i = msb_byte;
+    const int step = sig.is_little_endian ? -1 : 1;
+    while (i >= 0 && i < (int)data_size && bits > 0) {
+      const int msb = (i == msb_byte) ? sig.msb & 7 : 7;
+      const int lsb = (i == lsb_byte) ? sig.lsb & 7 : 0;
+      const int nbits = msb - lsb + 1;
+      val = (val << nbits) | ((data[i] >> lsb) & ((1ULL << nbits) - 1));
+      bits -= nbits;
+      i += step;
+    }
   }
-  if (sig.is_signed) {
-    val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0;
+
+  // Sign extension (if needed)
+  if (sig.is_signed && (val & (1ULL << (sig.size - 1)))) {
+    val |= ~((1ULL << sig.size) - 1);
   }
-  return val * sig.factor + sig.offset;
+
+  return static_cast<int64_t>(val) * sig.factor + sig.offset;
 }
 
 void updateMsbLsb(cabana::Signal &s) {
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index ebe478ded7..b8cf1be299 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -7,6 +7,7 @@
 #include <QPushButton>
 
 #include "common/timing.h"
+#include "common/util.h"
 #include "tools/cabana/streams/routes.h"
 
 ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
@@ -45,9 +46,9 @@ void ReplayStream::mergeSegments() {
   }
 }
 
-bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) {
+bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags, bool auto_source) {
   replay.reset(new Replay(route.toStdString(), {"can", "roadEncodeIdx", "driverEncodeIdx", "wideRoadEncodeIdx", "carParams"},
-                          {}, nullptr, replay_flags, data_dir.toStdString()));
+                          {}, nullptr, replay_flags, data_dir.toStdString(), auto_source));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter([this](const Event *event) { return eventFilter(event); });
 
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index df1f2526a5..d429ed1f95 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -18,7 +18,7 @@ class ReplayStream : public AbstractStream {
 public:
   ReplayStream(QObject *parent);
   void start() override { replay->start(); }
-  bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
+  bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE, bool auto_source = false);
   bool eventFilter(const Event *event);
   void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
   bool liveStreaming() const override { return false; }
diff --git a/tools/cabana/tools/routeinfo.cc b/tools/cabana/tools/routeinfo.cc
new file mode 100644
index 0000000000..77a0e065cd
--- /dev/null
+++ b/tools/cabana/tools/routeinfo.cc
@@ -0,0 +1,40 @@
+#include "tools/cabana/tools/routeinfo.h"
+#include <QHeaderView>
+#include <QScrollBar>
+#include <QTableWidget>
+#include <QVBoxLayout>
+#include "tools/cabana/streams/replaystream.h"
+
+RouteInfoDlg::RouteInfoDlg(QWidget *parent) : QDialog(parent) {
+  auto *replay = qobject_cast<ReplayStream *>(can)->getReplay();
+  setWindowTitle(tr("Route: %1").arg(QString::fromStdString(replay->route().name())));
+
+  auto *table = new QTableWidget(replay->route().segments().size(), 7, this);
+  table->setToolTip(tr("Click on a row to seek to the corresponding segment."));
+  table->setEditTriggers(QAbstractItemView::NoEditTriggers);
+  table->setSelectionBehavior(QAbstractItemView::SelectRows);
+  table->setSelectionMode(QAbstractItemView::SingleSelection);
+  table->setHorizontalHeaderLabels({"", "rlog", "fcam", "ecam", "dcam", "qlog", "qcam"});
+  table->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
+  table->verticalHeader()->setVisible(false);
+  table->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+
+  int row = 0;
+  for (const auto &[seg_num, seg] : replay->route().segments()) {
+    table->setItem(row, 0, new QTableWidgetItem(QString::number(seg_num)));
+    table->setItem(row, 1, new QTableWidgetItem(seg.rlog.empty() ? "--" : "Yes"));
+    table->setItem(row, 2, new QTableWidgetItem(seg.road_cam.empty() ? "--" : "Yes"));
+    table->setItem(row, 3, new QTableWidgetItem(seg.wide_road_cam.empty() ? "--" : "Yes"));
+    table->setItem(row, 4, new QTableWidgetItem(seg.driver_cam.empty() ? "--" : "Yes"));
+    table->setItem(row, 5, new QTableWidgetItem(seg.qlog.empty() ? "--" : "Yes"));
+    table->setItem(row, 6, new QTableWidgetItem(seg.qcamera.empty() ? "--" : "Yes"));
+    ++row;
+  }
+  table->setMinimumWidth(table->horizontalHeader()->length() + table->verticalScrollBar()->sizeHint().width());
+  table->setMinimumHeight(table->rowHeight(0) * std::min(table->rowCount(), 13) + table->horizontalHeader()->height() + table->frameWidth() * 2);
+
+  connect(table, &QTableWidget::itemClicked, [](QTableWidgetItem *item) { can->seekTo(item->row() * 60.0); });
+
+  QVBoxLayout *layout = new QVBoxLayout(this);
+  layout->addWidget(table);
+}
diff --git a/tools/cabana/tools/routeinfo.h b/tools/cabana/tools/routeinfo.h
new file mode 100644
index 0000000000..36f32b4bf4
--- /dev/null
+++ b/tools/cabana/tools/routeinfo.h
@@ -0,0 +1,8 @@
+#pragma once
+#include <QDialog>
+
+class RouteInfoDlg : public QDialog {
+  Q_OBJECT
+public:
+  RouteInfoDlg(QWidget *parent = nullptr);
+};
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index e792f80a41..3d715b0319 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -11,6 +11,8 @@
 #include <QVBoxLayout>
 #include <QtConcurrent>
 
+#include "tools/cabana/tools/routeinfo.h"
+
 const int MIN_VIDEO_HEIGHT = 100;
 const int THUMBNAIL_MARGIN = 3;
 
@@ -100,9 +102,12 @@ void VideoWidget::createPlaybackController() {
 
   if (!can->liveStreaming()) {
     toolbar->addAction(utils::icon("repeat"), tr("Loop playback"), this, &VideoWidget::loopPlaybackClicked);
+    createSpeedDropdown(toolbar);
+    toolbar->addSeparator();
+    toolbar->addAction(utils::icon("info-circle"), tr("View route details"), this, &VideoWidget::showRouteInfo);
+  } else {
+    createSpeedDropdown(toolbar);
   }
-
-  createSpeedDropdown(toolbar);
 }
 
 void VideoWidget::createSpeedDropdown(QToolBar *toolbar) {
@@ -230,6 +235,12 @@ void VideoWidget::showThumbnail(double seconds) {
   slider->update();
 }
 
+void VideoWidget::showRouteInfo() {
+  RouteInfoDlg *route_info = new RouteInfoDlg(this);
+  route_info->setAttribute(Qt::WA_DeleteOnClose);
+  route_info->show();
+}
+
 bool VideoWidget::eventFilter(QObject *obj, QEvent *event) {
   if (event->type() == QEvent::MouseMove) {
     auto [min_sec, max_sec] = can->timeRange().value_or(std::make_pair(can->minSeconds(), can->maxSeconds()));
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index 1d87a5cfa0..6f756448c0 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -71,6 +71,7 @@ protected:
   void createSpeedDropdown(QToolBar *toolbar);
   void loopPlaybackClicked();
   void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
+  void showRouteInfo();
 
   StreamCameraView *cam_widget;
   QAction *time_display_action = nullptr;
diff --git a/tools/clip/run.py b/tools/clip/run.py
new file mode 100755
index 0000000000..a84290f9c4
--- /dev/null
+++ b/tools/clip/run.py
@@ -0,0 +1,320 @@
+#!/usr/bin/env python3
+
+import atexit
+import logging
+import os
+import platform
+import shutil
+import sys
+import time
+from argparse import ArgumentParser, ArgumentTypeError
+from collections.abc import Sequence
+from pathlib import Path
+from random import randint
+from subprocess import Popen, PIPE
+from typing import Literal
+
+from cereal.messaging import SubMaster
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params, UnknownKeyName
+from openpilot.common.prefix import OpenpilotPrefix
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
+
+DEFAULT_OUTPUT = 'output.mp4'
+DEMO_START = 90
+DEMO_END = 105
+DEMO_ROUTE = 'a2a0ccea32023010/2023-07-27--13-01-19'
+FRAMERATE = 20
+PIXEL_DEPTH = '24'
+RESOLUTION = '2160x1080'
+SECONDS_TO_WARM = 2
+PROC_WAIT_SECONDS = 30
+
+OPENPILOT_FONT = str(Path(BASEDIR, 'selfdrive/assets/fonts/Inter-Regular.ttf').resolve())
+REPLAY = str(Path(BASEDIR, 'tools/replay/replay').resolve())
+UI = str(Path(BASEDIR, 'selfdrive/ui/ui').resolve())
+
+logger = logging.getLogger('clip.py')
+
+
+def check_for_failure(proc: Popen):
+  exit_code = proc.poll()
+  if exit_code is not None and exit_code != 0:
+    cmd = str(proc.args)
+    if isinstance(proc.args, str):
+      cmd = proc.args
+    elif isinstance(proc.args, Sequence):
+      cmd = str(proc.args[0])
+    msg = f'{cmd} failed, exit code {exit_code}'
+    logger.error(msg)
+    stdout, stderr = proc.communicate()
+    if stdout:
+      logger.error(stdout.decode())
+    if stderr:
+      logger.error(stderr.decode())
+    raise ChildProcessError(msg)
+
+
+def escape_ffmpeg_text(value: str):
+  special_chars = {',': '\\,', ':': '\\:', '=': '\\=', '[': '\\[', ']': '\\]'}
+  value = value.replace('\\', '\\\\\\\\\\\\\\\\')
+  for char, escaped in special_chars.items():
+    value = value.replace(char, escaped)
+  return value
+
+
+def get_logreader(route: Route):
+  return LogReader(route.qlog_paths()[0] if len(route.qlog_paths()) else route.name.canonical_name)
+
+
+def get_meta_text(lr: LogReader, route: Route):
+  init_data = lr.first('initData')
+  car_params = lr.first('carParams')
+  origin_parts = init_data.gitRemote.split('/')
+  origin = origin_parts[3] if len(origin_parts) > 3 else 'unknown'
+  return ', '.join([
+    f"openpilot v{init_data.version}",
+    f"route: {route.name.canonical_name}",
+    f"car: {car_params.carFingerprint}",
+    f"origin: {origin}",
+    f"branch: {init_data.gitBranch}",
+    f"commit: {init_data.gitCommit[:7]}",
+    f"modified: {str(init_data.dirty).lower()}",
+  ])
+
+
+def parse_args(parser: ArgumentParser):
+  args = parser.parse_args()
+  if args.demo:
+    args.route = DEMO_ROUTE
+    if args.start is None or args.end is None:
+      args.start = DEMO_START
+      args.end = DEMO_END
+  elif args.route.count('/') == 1:
+    if args.start is None or args.end is None:
+      parser.error('must provide both start and end if timing is not in the route ID')
+  elif args.route.count('/') == 3:
+    if args.start is not None or args.end is not None:
+      parser.error('don\'t provide timing when including it in the route ID')
+    parts = args.route.split('/')
+    args.route = '/'.join(parts[:2])
+    args.start = int(parts[2])
+    args.end = int(parts[3])
+  if args.end <= args.start:
+    parser.error(f'end ({args.end}) must be greater than start ({args.start})')
+  if args.start < SECONDS_TO_WARM:
+    parser.error(f'start must be greater than {SECONDS_TO_WARM}s to allow the UI time to warm up')
+
+  try:
+    args.route = Route(args.route, data_dir=args.data_dir)
+  except Exception as e:
+    parser.error(f'failed to get route: {e}')
+
+  # FIXME: length isn't exactly max segment seconds, simplify to replay exiting at end of data
+  length = round(args.route.max_seg_number * 60)
+  if args.start >= length:
+    parser.error(f'start ({args.start}s) cannot be after end of route ({length}s)')
+  if args.end > length:
+    parser.error(f'end ({args.end}s) cannot be after end of route ({length}s)')
+
+  return args
+
+
+def populate_car_params(lr: LogReader):
+  init_data = lr.first('initData')
+  assert init_data is not None
+
+  params = Params()
+  entries = init_data.params.entries
+  for cp in entries:
+    key, value = cp.key, cp.value
+    try:
+      params.put(key, value)
+    except UnknownKeyName:
+      # forks of openpilot may have other Params keys configured. ignore these
+      logger.warning(f"unknown Params key '{key}', skipping")
+  logger.debug('persisted CarParams')
+
+
+def start_proc(args: list[str], env: dict[str, str]):
+  return Popen(args, env=env, stdout=PIPE, stderr=PIPE)
+
+
+def validate_env(parser: ArgumentParser):
+  if platform.system() not in ['Linux']:
+    parser.exit(1, f'clip.py: error: {platform.system()} is not a supported operating system\n')
+  for proc in ['Xvfb', 'ffmpeg']:
+    if shutil.which(proc) is None:
+      parser.exit(1, f'clip.py: error: missing {proc} command, is it installed?\n')
+  for proc in [REPLAY, UI]:
+    if shutil.which(proc) is None:
+      parser.exit(1, f'clip.py: error: missing {proc} command, did you build openpilot yet?\n')
+
+
+def validate_output_file(output_file: str):
+  if not output_file.endswith('.mp4'):
+    raise ArgumentTypeError('output must be an mp4')
+  return output_file
+
+
+def validate_route(route: str):
+  if route.count('/') not in (1, 3):
+    raise ArgumentTypeError(f'route must include or exclude timing, example: {DEMO_ROUTE}')
+  return route
+
+
+def validate_title(title: str):
+  if len(title) > 80:
+    raise ArgumentTypeError('title must be no longer than 80 chars')
+  return title
+
+
+def wait_for_frames(procs: list[Popen]):
+  sm = SubMaster(['uiDebug'])
+  no_frames_drawn = True
+  while no_frames_drawn:
+    sm.update()
+    no_frames_drawn = sm['uiDebug'].drawTimeMillis == 0.
+    for proc in procs:
+      check_for_failure(proc)
+
+
+def clip(
+  data_dir: str | None,
+  quality: Literal['low', 'high'],
+  prefix: str,
+  route: Route,
+  out: str,
+  start: int,
+  end: int,
+  target_mb: int,
+  title: str | None,
+):
+  logger.info(f'clipping route {route.name.canonical_name}, start={start} end={end} quality={quality} target_filesize={target_mb}MB')
+  lr = get_logreader(route)
+
+  begin_at = max(start - SECONDS_TO_WARM, 0)
+  duration = end - start
+  bit_rate_kbps = int(round(target_mb * 8 * 1024 * 1024 / duration / 1000))
+
+  # TODO: evaluate creating fn that inspects /tmp/.X11-unix and creates unused display to avoid possibility of collision
+  display = f':{randint(99, 999)}'
+
+  box_style = 'box=1:boxcolor=black@0.33:boxborderw=7'
+  meta_text = get_meta_text(lr, route)
+  overlays = [
+    # metadata overlay
+    f"drawtext=text='{escape_ffmpeg_text(meta_text)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=15:{box_style}:x=(w-text_w)/2:y=5.5:enable='between(t,1,5)'",
+    # route time overlay
+    f"drawtext=text='%{{eif\\:floor(({start}+t)/60)\\:d\\:2}}\\:%{{eif\\:mod({start}+t\\,60)\\:d\\:2}}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=24:{box_style}:x=w-text_w-38:y=38"
+  ]
+  if title:
+    overlays.append(f"drawtext=text='{escape_ffmpeg_text(title)}':fontfile={OPENPILOT_FONT}:fontcolor=white:fontsize=32:{box_style}:x=(w-text_w)/2:y=53")
+
+  ffmpeg_cmd = [
+    'ffmpeg', '-y',
+    '-video_size', RESOLUTION,
+    '-framerate', str(FRAMERATE),
+    '-f', 'x11grab',
+    '-rtbufsize', '100M',
+    '-draw_mouse', '0',
+    '-i', display,
+    '-c:v', 'libx264',
+    '-maxrate', f'{bit_rate_kbps}k',
+    '-bufsize', f'{bit_rate_kbps*2}k',
+    '-crf', '23',
+    '-filter:v', ','.join(overlays),
+    '-preset', 'ultrafast',
+    '-tune', 'zerolatency',
+    '-pix_fmt', 'yuv420p',
+    '-movflags', '+faststart',
+    '-f', 'mp4',
+    '-t', str(duration),
+    out,
+  ]
+
+  replay_cmd = [REPLAY, '--ecam', '-c', '1', '-s', str(begin_at), '--prefix', prefix]
+  if data_dir:
+    replay_cmd.extend(['--data_dir', data_dir])
+  if quality == 'low':
+    replay_cmd.append('--qcam')
+  replay_cmd.append(route.name.canonical_name)
+
+  ui_cmd = [UI, '-platform', 'xcb']
+  xvfb_cmd = ['Xvfb', display, '-terminate', '-screen', '0', f'{RESOLUTION}x{PIXEL_DEPTH}']
+
+  with OpenpilotPrefix(prefix, shared_download_cache=True):
+    populate_car_params(lr)
+
+    env = os.environ.copy()
+    env['DISPLAY'] = display
+
+    xvfb_proc = start_proc(xvfb_cmd, env)
+    atexit.register(lambda: xvfb_proc.terminate())
+    ui_proc = start_proc(ui_cmd, env)
+    atexit.register(lambda: ui_proc.terminate())
+    replay_proc = start_proc(replay_cmd, env)
+    atexit.register(lambda: replay_proc.terminate())
+    procs = [replay_proc, ui_proc, xvfb_proc]
+
+    logger.info('waiting for replay to begin (loading segments, may take a while)...')
+    wait_for_frames(procs)
+
+    logger.debug(f'letting UI warm up ({SECONDS_TO_WARM}s)...')
+    time.sleep(SECONDS_TO_WARM)
+    for proc in procs:
+      check_for_failure(proc)
+
+    ffmpeg_proc = start_proc(ffmpeg_cmd, env)
+    procs.append(ffmpeg_proc)
+    atexit.register(lambda: ffmpeg_proc.terminate())
+
+    logger.info(f'recording in progress ({duration}s)...')
+    ffmpeg_proc.wait(duration + PROC_WAIT_SECONDS)
+    for proc in procs:
+      check_for_failure(proc)
+    logger.info(f'recording complete: {Path(out).resolve()}')
+
+
+def main():
+  p = ArgumentParser(prog='clip.py', description='clip your openpilot route.', epilog='comma.ai')
+  validate_env(p)
+  route_group = p.add_mutually_exclusive_group(required=True)
+  route_group.add_argument('route', nargs='?', type=validate_route, help=f'The route (e.g. {DEMO_ROUTE} or {DEMO_ROUTE}/{DEMO_START}/{DEMO_END})')
+  route_group.add_argument('--demo', help='use the demo route', action='store_true')
+  p.add_argument('-d', '--data-dir', help='local directory where route data is stored')
+  p.add_argument('-e', '--end', help='stop clipping at <end> seconds', type=int)
+  p.add_argument('-f', '--file-size', help='target file size (Discord/GitHub support max 10MB, default is 9MB)', type=float, default=9.)
+  p.add_argument('-o', '--output', help='output clip to (.mp4)', type=validate_output_file, default=DEFAULT_OUTPUT)
+  p.add_argument('-p', '--prefix', help='openpilot prefix', default=f'clip_{randint(100, 99999)}')
+  p.add_argument('-q', '--quality', help='quality of camera (low = qcam, high = hevc)', choices=['low', 'high'], default='high')
+  p.add_argument('-s', '--start', help='start clipping at <start> seconds', type=int)
+  p.add_argument('-t', '--title', help='overlay this title on the video (e.g. "Chill driving across the Golden Gate Bridge")', type=validate_title)
+  args = parse_args(p)
+  exit_code = 1
+  try:
+    clip(
+      data_dir=args.data_dir,
+      quality=args.quality,
+      prefix=args.prefix,
+      route=args.route,
+      out=args.output,
+      start=args.start,
+      end=args.end,
+      target_mb=args.file_size,
+      title=args.title,
+    )
+    exit_code = 0
+  except KeyboardInterrupt as e:
+    logger.exception('interrupted by user', exc_info=e)
+  except Exception as e:
+    logger.exception('encountered error', exc_info=e)
+  finally:
+    atexit._run_exitfuncs()
+    sys.exit(exit_code)
+
+
+if __name__ == '__main__':
+  logging.basicConfig(level=logging.INFO, format='%(asctime)s %(name)s %(levelname)s\t%(message)s')
+  main()
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 03302364e9..f33569704a 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -63,7 +63,8 @@ function install_ubuntu_common_requirements() {
     libqt5svg5-dev \
     libqt5serialbus5-dev  \
     libqt5x11extras5-dev \
-    libqt5opengl5-dev
+    libqt5opengl5-dev \
+    xvfb
 }
 
 # Install Ubuntu 24.04 LTS packages
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index 6e5ea890dd..fb65df36a0 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -10,7 +10,7 @@ from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
-MAX_LAT_ACCEL = 2.5
+MAX_LAT_ACCEL = 3.0
 
 
 def joystickd_thread():
diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py
index 06e2345abf..a67baa8c27 100644
--- a/tools/lib/framereader.py
+++ b/tools/lib/framereader.py
@@ -209,7 +209,7 @@ class BaseFrameReader:
   def close(self):
     pass
 
-  def get(self, num, count=1, pix_fmt="yuv420p"):
+  def get(self, num, count=1, pix_fmt="rgb24"):
     raise NotImplementedError
 
 
@@ -497,7 +497,7 @@ class GOPFrameReader(BaseFrameReader):
 
       return self.frame_cache[(num, pix_fmt)]
 
-  def get(self, num, count=1, pix_fmt="yuv420p"):
+  def get(self, num, count=1, pix_fmt="rgb24"):
     assert self.frame_count is not None
 
     if num + count > self.frame_count:
@@ -523,37 +523,15 @@ class StreamFrameReader(StreamGOPReader, GOPFrameReader):
     GOPFrameReader.__init__(self, readahead, readbehind)
 
 
-def GOPFrameIterator(gop_reader, pix_fmt):
+def GOPFrameIterator(gop_reader, pix_fmt='rgb24'):
   dec = VideoStreamDecompressor(gop_reader.fn, gop_reader.vid_fmt, gop_reader.w, gop_reader.h, pix_fmt)
   yield from dec.read()
 
 
-def FrameIterator(fn, pix_fmt, **kwargs):
+def FrameIterator(fn, pix_fmt='rgb24', **kwargs):
   fr = FrameReader(fn, **kwargs)
   if isinstance(fr, GOPReader):
     yield from GOPFrameIterator(fr, pix_fmt)
   else:
     for i in range(fr.frame_count):
       yield fr.get(i, pix_fmt=pix_fmt)[0]
-
-
-class NumpyFrameReader:
-  def __init__(self, name, w, h, cache_size):
-    self.name = name
-    self.pos = -1
-    self.frames = None
-    self.w = w
-    self.h = h
-    self.cache_size = cache_size
-
-  def close(self):
-    pass
-
-  def get(self, num, count=1, pix_fmt="nv12"):
-    num -= 1
-    q = num // self.cache_size
-    if q != self.pos:
-      del self.frames
-      self.pos = q
-      self.frames = np.load(f'{self.name}_{self.pos}.npy')
-    return [self.frames[num % self.cache_size]]
diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py
index 4dc22b9524..46a0dcf3cb 100644
--- a/tools/lib/github_utils.py
+++ b/tools/lib/github_utils.py
@@ -87,8 +87,8 @@ class GithubUtils:
   def comment_on_pr(self, comment, pr_branch, commenter="", overwrite=False):
     pr_number = self.get_pr_number(pr_branch)
     data = f'{{"body": "{comment}"}}'
+    github_path = f'issues/{pr_number}/comments'
     if overwrite:
-      github_path = f'issues/{pr_number}/comments'
       r = self.api_call(github_path)
       comments = [x['id'] for x in r.json() if x['user']['login'] == commenter]
       if comments:
@@ -96,7 +96,6 @@ class GithubUtils:
         self.api_call(github_path, data=data, method=HTTPMethod.PATCH)
         return
 
-    github_path=f'issues/{pr_number}/comments'
     self.api_call(github_path, data=data, method=HTTPMethod.POST)
 
   # upload files to github and comment them on the pr
diff --git a/tools/lib/route.py b/tools/lib/route.py
index ddb8b0486e..0a4700f083 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -1,12 +1,13 @@
 import os
 import re
+import requests
 from functools import cache
 from urllib.parse import urlparse
 from collections import defaultdict
 from itertools import chain
 
 from openpilot.tools.lib.auth_config import get_token
-from openpilot.tools.lib.api import CommaApi
+from openpilot.tools.lib.api import APIError, CommaApi
 from openpilot.tools.lib.helpers import RE
 
 QLOG_FILENAMES = ['qlog', 'qlog.bz2', 'qlog.zst']
@@ -19,6 +20,7 @@ ECAMERA_FILENAMES = ['ecamera.hevc']
 
 class Route:
   def __init__(self, name, data_dir=None):
+    self._metadata = None
     self._name = RouteName(name)
     self.files = None
     if data_dir is not None:
@@ -27,6 +29,13 @@ class Route:
       self._segments = self._get_segments_remote()
     self.max_seg_number = self._segments[-1].name.segment_num
 
+  @property
+  def metadata(self):
+    if not self._metadata:
+      api = CommaApi(get_token())
+      self._metadata = api.get('v1/route/' + self.name.canonical_name)
+    return self._metadata
+
   @property
   def name(self):
     return self._name
@@ -78,6 +87,7 @@ class Route:
           url if fn in DCAMERA_FILENAMES else segments[segment_name].dcamera_path,
           url if fn in ECAMERA_FILENAMES else segments[segment_name].ecamera_path,
           url if fn in QCAMERA_FILENAMES else segments[segment_name].qcamera_path,
+          self.metadata['url'],
         )
       else:
         segments[segment_name] = Segment(
@@ -88,6 +98,7 @@ class Route:
           url if fn in DCAMERA_FILENAMES else None,
           url if fn in ECAMERA_FILENAMES else None,
           url if fn in QCAMERA_FILENAMES else None,
+          self.metadata['url'],
         )
 
     return sorted(segments.values(), key=lambda seg: seg.name.segment_num)
@@ -153,7 +164,7 @@ class Route:
       except StopIteration:
         qcamera_path = None
 
-      segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path))
+      segments.append(Segment(segment, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path, self.metadata['url']))
 
     if len(segments) == 0:
       raise ValueError(f'Could not find segments for route {self.name.canonical_name} in data directory {data_dir}')
@@ -161,8 +172,10 @@ class Route:
 
 
 class Segment:
-  def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path):
+  def __init__(self, name, log_path, qlog_path, camera_path, dcamera_path, ecamera_path, qcamera_path, url):
+    self._events = None
     self._name = SegmentName(name)
+    self.url = f'{url}/{self._name.segment_num}'
     self.log_path = log_path
     self.qlog_path = qlog_path
     self.camera_path = camera_path
@@ -174,6 +187,17 @@ class Segment:
   def name(self):
     return self._name
 
+  @property
+  def events(self):
+    if not self._events:
+      try:
+        resp = requests.get(f'{self.url}/events.json')
+        resp.raise_for_status()
+        self._events = resp.json()
+      except Exception as e:
+        raise APIError(f'error getting events for segment {self._name}') from e
+    return self._events
+
 
 class RouteName:
   def __init__(self, name_str: str):
diff --git a/tools/op.sh b/tools/op.sh
index b4508f7ef7..9142d50a18 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -52,6 +52,7 @@ function op_run_command() {
 # be default, assume openpilot dir is in current directory
 OPENPILOT_ROOT=$(pwd)
 function op_get_openpilot_dir() {
+  # First try traversing up the directory tree
   while [[ "$OPENPILOT_ROOT" != '/' ]];
   do
     if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
@@ -59,6 +60,14 @@ function op_get_openpilot_dir() {
     fi
     OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
   done
+
+  # Fallback to hardcoded directories if not found
+  for dir in "$HOME/openpilot" "/data/openpilot"; do
+    if [[ -f "$dir/launch_openpilot.sh" ]]; then
+      OPENPILOT_ROOT="$dir"
+      return 0
+    fi
+  done
 }
 
 function op_install_post_commit() {
@@ -245,7 +254,7 @@ function op_setup() {
 
 function op_auth() {
   op_before_cmd
-  op_run_command tools/lib/auth.py
+  op_run_command tools/lib/auth.py "$@"
 }
 
 function op_activate_venv() {
@@ -275,7 +284,7 @@ function op_venv() {
 
 function op_adb() {
   op_before_cmd
-  op_run_command tools/adb_shell.sh
+  op_run_command tools/scripts/adb_ssh.sh
 }
 
 function op_check() {
@@ -284,6 +293,11 @@ function op_check() {
   unset VERBOSE
 }
 
+function op_esim() {
+  op_before_cmd
+  op_run_command system/hardware/esim.py "$@"
+}
+
 function op_build() {
   CDIR=$(pwd)
   op_before_cmd
@@ -328,6 +342,11 @@ function op_sim() {
   op_run_command exec tools/sim/launch_openpilot.sh
 }
 
+function op_clip() {
+  op_before_cmd
+  op_run_command tools/clip/run.py $@
+}
+
 function op_switch() {
   REMOTE="origin"
   if [ "$#" -gt 1 ]; then
@@ -373,16 +392,12 @@ function op_default() {
   echo "  op is only a wrapper for existing scripts, tools, and commands."
   echo "  op will always show you what it will run on your system."
   echo ""
-  echo "  op will try to find your openpilot directory in the following order:"
-  echo "   1: use the directory specified with the --dir option"
-  echo "   2: use the current working directory"
-  echo "   3: go up the file tree non-recursively"
-  echo ""
   echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [System]:${NC}"
   echo -e "  ${BOLD}auth${NC}         Authenticate yourself for API use"
   echo -e "  ${BOLD}check${NC}        Check the development environment (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}esim${NC}         Manage eSIM profiles on your comma device"
   echo -e "  ${BOLD}venv${NC}         Activate the python virtual environment"
   echo -e "  ${BOLD}setup${NC}        Install openpilot dependencies"
   echo -e "  ${BOLD}build${NC}        Run the openpilot build system in the current working directory"
@@ -395,6 +410,7 @@ function op_default() {
   echo -e "  ${BOLD}juggle${NC}       Run PlotJuggler"
   echo -e "  ${BOLD}replay${NC}       Run Replay"
   echo -e "  ${BOLD}cabana${NC}       Run Cabana"
+  echo -e "  ${BOLD}clip${NC}         Run clip (linux only)"
   echo -e "  ${BOLD}adb${NC}          Run adb shell"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands [Testing]:${NC}"
@@ -438,6 +454,7 @@ function _op() {
     auth )          shift 1; op_auth "$@" ;;
     venv )          shift 1; op_venv "$@" ;;
     check )         shift 1; op_check "$@" ;;
+    esim )          shift 1; op_esim "$@" ;;
     setup )         shift 1; op_setup "$@" ;;
     build )         shift 1; op_build "$@" ;;
     juggle )        shift 1; op_juggle "$@" ;;
@@ -445,6 +462,7 @@ function _op() {
     lint )          shift 1; op_lint "$@" ;;
     test )          shift 1; op_test "$@" ;;
     replay )        shift 1; op_replay "$@" ;;
+    clip )          shift 1; op_clip "$@" ;;
     sim )           shift 1; op_sim "$@" ;;
     install )       shift 1; op_install "$@" ;;
     switch )        shift 1; op_switch "$@" ;;
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index f66782d6f3..34f33d1959 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -61,13 +61,15 @@ def start_juggler(fn=None, dbc=None, layout=None, route_or_segment_name=None, pl
   env["BASEDIR"] = BASEDIR
   env["PATH"] = f"{INSTALL_DIR}:{os.getenv('PATH', '')}"
   if dbc:
+    if os.path.exists(dbc):
+      dbc = os.path.abspath(dbc)
     env["DBC_NAME"] = dbc
 
   extra_args = ""
   if fn is not None:
-    extra_args += f" -d {fn}"
+    extra_args += f" -d {os.path.abspath(fn)}"
   if layout is not None:
-    extra_args += f" -l {layout}"
+    extra_args += f" -l {os.path.abspath(layout)}"
   if route_or_segment_name is not None:
     extra_args += f" --window_title \"{route_or_segment_name}{f' ({platform})' if platform is not None else ''}\""
 
diff --git a/tools/replay/README.md b/tools/replay/README.md
index f02090c58e..8b4afb0acc 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -64,6 +64,8 @@ Options:
   -s, --start <seconds>  start from <seconds>
   -x <speed>             playback <speed>. between 0.2 - 3
   --demo                 use a demo route instead of providing your own
+  --auto                 Auto load the route from the best available source (no video):
+                         internal, openpilotci, comma_api, car_segments, testing_closet
   --data_dir <data_dir>  local directory with routes
   --prefix <prefix>      set OPENPILOT_PREFIX
   --dcam                 load driver camera
@@ -81,7 +83,7 @@ Arguments:
                          connect.comma.ai
 ```
 
-## Visualize the Replay in the Openpilot UI
+## Visualize the Replay in the openpilot UI
 To visualize the replay within the openpilot UI, run the following commands:
 
 ```bash
diff --git a/tools/replay/consoleui.h b/tools/replay/consoleui.h
index 3d4abeb458..7731f8017f 100644
--- a/tools/replay/consoleui.h
+++ b/tools/replay/consoleui.h
@@ -12,7 +12,7 @@ public:
   ConsoleUI(Replay *replay);
   ~ConsoleUI();
   int exec();
-  inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 3.0f};
+  inline static const std::array speed_array = {0.2f, 0.5f, 1.0f, 2.0f, 4.0f, 8.0f};
 
 private:
   void initWindows();
diff --git a/tools/replay/main.cc b/tools/replay/main.cc
index b33b7fa263..38a1da292a 100644
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@@ -19,6 +19,8 @@ Options:
   -s, --start        Start from <seconds>
   -x, --playback     Playback <speed>
       --demo         Use a demo route instead of providing your own
+      --auto         Auto load the route from the best available source (no video):
+                     internal, openpilotci, comma_api, car_segments, testing_closet
   -d, --data_dir     Local directory with routes
   -p, --prefix       Set OPENPILOT_PREFIX
       --dcam         Load driver camera
@@ -39,6 +41,7 @@ struct ReplayConfig {
   std::string data_dir;
   std::string prefix;
   uint32_t flags = REPLAY_FLAG_NONE;
+  bool auto_source = false;
   int start_seconds = 0;
   int cache_segments = -1;
   float playback_speed = -1;
@@ -52,6 +55,7 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
       {"start", required_argument, nullptr, 's'},
       {"playback", required_argument, nullptr, 'x'},
       {"demo", no_argument, nullptr, 0},
+      {"auto", no_argument, nullptr, 0},
       {"data_dir", required_argument, nullptr, 'd'},
       {"prefix", required_argument, nullptr, 'p'},
       {"dcam", no_argument, nullptr, 0},
@@ -94,11 +98,9 @@ bool parseArgs(int argc, char *argv[], ReplayConfig &config) {
       case 'p': config.prefix = optarg; break;
       case 0: {
         std::string name = cli_options[option_index].name;
-        if (name == "demo") {
-          config.route = DEMO_ROUTE;
-        } else {
-          config.flags |= flag_map.at(name);
-        }
+        if (name == "demo") config.route = DEMO_ROUTE;
+        else if (name == "auto") config.auto_source = true;
+        else config.flags |= flag_map.at(name);
         break;
       }
       case 'h': std::cout << helpText; return false;
@@ -136,7 +138,7 @@ int main(int argc, char *argv[]) {
     op_prefix = std::make_unique<OpenpilotPrefix>(config.prefix);
   }
 
-  Replay replay(config.route, config.allow, config.block, nullptr, config.flags, config.data_dir);
+  Replay replay(config.route, config.allow, config.block, nullptr, config.flags, config.data_dir, config.auto_source);
   if (config.cache_segments > 0) {
     replay.setSegmentCacheLimit(config.cache_segments);
   }
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 80f586daa6..a8e5cd9d43 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -15,8 +15,8 @@ void notifyEvent(Callback &callback, Args &&...args) {
 }
 
 Replay::Replay(const std::string &route, std::vector<std::string> allow, std::vector<std::string> block,
-               SubMaster *sm, uint32_t flags, const std::string &data_dir)
-    : sm_(sm), flags_(flags), seg_mgr_(std::make_unique<SegmentManager>(route, flags, data_dir)) {
+               SubMaster *sm, uint32_t flags, const std::string &data_dir, bool auto_source)
+    : sm_(sm), flags_(flags), seg_mgr_(std::make_unique<SegmentManager>(route, flags, data_dir, auto_source)) {
   std::signal(SIGUSR1, interrupt_sleep_handler);
 
   if (!(flags_ & REPLAY_FLAG_ALL_SERVICES)) {
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 6a2c86ff02..5e868d2427 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -29,7 +29,7 @@ enum REPLAY_FLAGS {
 class Replay {
 public:
   Replay(const std::string &route, std::vector<std::string> allow, std::vector<std::string> block, SubMaster *sm = nullptr,
-         uint32_t flags = REPLAY_FLAG_NONE, const std::string &data_dir = "");
+         uint32_t flags = REPLAY_FLAG_NONE, const std::string &data_dir = "", bool auto_source = false);
   ~Replay();
   bool load();
   RouteLoadError lastRouteError() const { return route().lastError(); }
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index 7731d0daf4..ba00828267 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -10,9 +10,8 @@
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"
 
-Route::Route(const std::string &route, const std::string &data_dir) : data_dir_(data_dir) {
-  route_ = parseRoute(route);
-}
+Route::Route(const std::string &route, const std::string &data_dir, bool auto_source)
+    : route_string_(route), data_dir_(data_dir), auto_source_(auto_source) {}
 
 RouteIdentifier Route::parseRoute(const std::string &str) {
   RouteIdentifier identifier = {};
@@ -44,27 +43,62 @@ RouteIdentifier Route::parseRoute(const std::string &str) {
 }
 
 bool Route::load() {
-  err_ = RouteLoadError::None;
+  route_ = parseRoute(route_string_);
   if (route_.str.empty() || (data_dir_.empty() && route_.dongle_id.empty())) {
     rInfo("invalid route format");
     return false;
   }
 
+  // Parse the timestamp from the route identifier (only applicable for old route formats).
   struct tm tm_time = {0};
-  strptime(route_.timestamp.c_str(), "%Y-%m-%d--%H-%M-%S", &tm_time);
-  date_time_ = mktime(&tm_time);
+  if (strptime(route_.timestamp.c_str(), "%Y-%m-%d--%H-%M-%S", &tm_time)) {
+    date_time_ = mktime(&tm_time);
+  }
 
-  bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal();
-  if (ret) {
-    if (route_.begin_segment == -1) route_.begin_segment = segments_.rbegin()->first;
-    if (route_.end_segment == -1) route_.end_segment = segments_.rbegin()->first;
-    for (auto it = segments_.begin(); it != segments_.end(); /**/) {
-      if (it->first < route_.begin_segment || it->first > route_.end_segment) {
-        it = segments_.erase(it);
-      } else {
-        ++it;
+  if (!loadSegments()) {
+    rInfo("Failed to load segments");
+    return false;
+  }
+
+  return true;
+}
+
+bool Route::loadSegments() {
+  if (!auto_source_) {
+    bool ret = data_dir_.empty() ? loadFromServer() : loadFromLocal();
+    if (ret) {
+      // Trim segments
+      if (route_.begin_segment > 0) {
+        segments_.erase(segments_.begin(), segments_.lower_bound(route_.begin_segment));
+      }
+      if (route_.end_segment >= 0) {
+        segments_.erase(segments_.upper_bound(route_.end_segment), segments_.end());
       }
     }
+    return !segments_.empty();
+  }
+  return loadFromAutoSource();
+}
+
+bool Route::loadFromAutoSource() {
+  auto origin_prefix = getenv("OPENPILOT_PREFIX");
+  if (origin_prefix) {
+    setenv("OPENPILOT_PREFIX", "", 1);
+  }
+  auto cmd = util::string_format("../auto_source.py \"%s\"", route_string_.c_str());
+  auto log_files = split(util::check_output(cmd), '\n');
+  if (origin_prefix) {
+    setenv("OPENPILOT_PREFIX", origin_prefix, 1);
+  }
+
+  const static std::regex rx(R"(\/(\d+)\/)");
+  for (int i = 0; i < log_files.size(); ++i) {
+    int seg_num = i;
+    std::smatch match;
+    if (std::regex_search(log_files[i], match, rx)) {
+      seg_num = std::stoi(match[1]);
+    }
+    addFileToSegment(seg_num, log_files[i]);
   }
   return !segments_.empty();
 }
@@ -121,7 +155,7 @@ bool Route::loadFromJson(const std::string &json) {
 bool Route::loadFromLocal() {
   std::string pattern = route_.timestamp + "--";
   for (const auto &entry : std::filesystem::directory_iterator(data_dir_)) {
-    if (entry.is_directory() && entry.path().filename().string().find(pattern) == 0) {
+    if (entry.is_directory() && entry.path().filename().string().find(pattern) != std::string::npos) {
       std::string segment = entry.path().string();
       int seg_num = std::atoi(segment.substr(segment.rfind("--") + 2).c_str());
 
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 1806be5afa..0375252a19 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -40,7 +40,7 @@ struct SegmentFile {
 
 class Route {
 public:
-  Route(const std::string &route, const std::string &data_dir = {});
+  Route(const std::string &route, const std::string &data_dir = {}, bool auto_source = false);
   bool load();
   RouteLoadError lastError() const { return err_; }
   inline const std::string &name() const { return route_.str; }
@@ -52,6 +52,8 @@ public:
   static RouteIdentifier parseRoute(const std::string &str);
 
 protected:
+  bool loadSegments();
+  bool loadFromAutoSource();
   bool loadFromLocal();
   bool loadFromServer(int retries = 3);
   bool loadFromJson(const std::string &json);
@@ -59,8 +61,10 @@ protected:
   RouteIdentifier route_ = {};
   std::string data_dir_;
   std::map<int, SegmentFile> segments_;
-  std::time_t date_time_;
+  std::time_t date_time_ = 0;
   RouteLoadError err_ = RouteLoadError::None;
+  bool auto_source_ = false;
+  std::string route_string_;
 };
 
 class Segment {
diff --git a/tools/replay/seg_mgr.h b/tools/replay/seg_mgr.h
index 9158e41618..640169749e 100644
--- a/tools/replay/seg_mgr.h
+++ b/tools/replay/seg_mgr.h
@@ -20,8 +20,8 @@ public:
     bool isSegmentLoaded(int n) const { return segments.find(n) != segments.end(); }
   };
 
-  SegmentManager(const std::string &route_name, uint32_t flags, const std::string &data_dir = "")
-      : flags_(flags), route_(route_name, data_dir), event_data_(std::make_shared<EventData>()) {}
+  SegmentManager(const std::string &route_name, uint32_t flags, const std::string &data_dir = "", bool auto_source = false)
+      : flags_(flags), route_(route_name, data_dir, auto_source), event_data_(std::make_shared<EventData>()) {}
   ~SegmentManager();
 
   bool load();
diff --git a/tools/scripts/adb_ssh.sh b/tools/scripts/adb_ssh.sh
new file mode 100755
index 0000000000..43c8e07de6
--- /dev/null
+++ b/tools/scripts/adb_ssh.sh
@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+set -e
+
+# this is a little nicer than "adb shell" since
+# "adb shell" doesn't do full terminal emulation
+adb forward tcp:2222 tcp:22
+ssh comma@localhost -p 2222
diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py
index 699765eee1..45dc0aa977 100755
--- a/tools/scripts/setup_ssh_keys.py
+++ b/tools/scripts/setup_ssh_keys.py
@@ -18,6 +18,6 @@ if __name__ == "__main__":
     params.put_bool("SshEnabled", True)
     params.put("GithubSshKeys", keys.text)
     params.put("GithubUsername", username)
-    print("Setup ssh keys successfully")
+    print("Set up ssh keys successfully")
   else:
     print("Error getting public keys from github")
diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py
index bf3be5193d..69dec173ca 100644
--- a/tools/sim/bridge/common.py
+++ b/tools/sim/bridge/common.py
@@ -40,7 +40,7 @@ class SimulatorBridge(ABC):
   def __init__(self, dual_camera, high_quality):
     set_params_enabled()
     self.params = Params()
-    self.params.put_bool("ExperimentalLongitudinalEnabled", True)
+    self.params.put_bool("AlphaLongitudinalEnabled", True)
 
     self.rk = Ratekeeper(100, None)
 
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index f4b46d1f66..67ad2cc8cb 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -1,22 +1,22 @@
 # Run openpilot with webcam on PC
 
 What's needed:
-- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216))
+- Ubuntu 24.04 ([WSL2 is not supported](https://github.com/commaai/openpilot/issues/34216)) or macOS
 - GPU (recommended)
-- Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
-- [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car
-- [Panda paw](https://comma.ai/shop/products/panda-paw) or USB-A to USB-A cable to connect panda to your computer
-That's it!
+- One USB webcam, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615, NexiGo N60)
+- [Car harness](https://comma.ai/shop/products/comma-car-harness)
+- [panda](https://comma.ai/shop/panda)
+- USB-A to USB-A cable to connect panda to your computer
 
 ## Setup openpilot
 - Follow [this readme](../README.md) to install and build the requirements
-- Install OpenCL Driver
+- Install OpenCL Driver (Ubuntu)
 ```
 sudo apt install pocl-opencl-icd
 ```
 
 ## Connect the hardware
-- Connect the road facing camera first, then the driver facing camera
+- Connect the camera first
 - Connect your computer to panda
 
 ## GO
@@ -24,12 +24,12 @@ sudo apt install pocl-opencl-icd
 USE_WEBCAM=1 system/manager/manager.py
 ```
 - Start the car, then the UI should show the road webcam's view
-- Adjust and secure the webcams.
+- Adjust and secure the webcam
 - Finish calibration and engage!
 
 ## Specify Cameras
 
-Use the `ROAD_CAM`, `DRIVER_CAM`, and optional `WIDE_CAM` environment variables to specify which camera is which (ie. `DRIVER_CAM=2` uses `/dev/video2` for the driver-facing camera):
+Use the `ROAD_CAM` (default 0) and optional `DRIVER_CAM`, `WIDE_CAM` environment variables to specify which camera is which (ie. `ROAD_CAM=1` uses `/dev/video1`, on Ubuntu, for the road camera):
 ```
-USE_WEBCAM=1 ROAD_CAM=4 WIDE_CAM=6 system/manager/manager.py
+USE_WEBCAM=1 ROAD_CAM=1 system/manager/manager.py
 ```
diff --git a/tools/webcam/camerad.py b/tools/webcam/camerad.py
index a0916ed5ee..cb096dc00b 100755
--- a/tools/webcam/camerad.py
+++ b/tools/webcam/camerad.py
@@ -9,14 +9,19 @@ from cereal import messaging
 from openpilot.tools.webcam.camera import Camera
 from openpilot.common.realtime import Ratekeeper
 
+ROAD_CAM = os.getenv("ROAD_CAM", "0")
 WIDE_CAM = os.getenv("WIDE_CAM")
+DRIVER_CAM = os.getenv("DRIVER_CAM")
+
 CameraType = namedtuple("CameraType", ["msg_name", "stream_type", "cam_id"])
+
 CAMERAS = [
-  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, os.getenv("ROAD_CAM", "0")),
-  CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, os.getenv("DRIVER_CAM", "2")),
+  CameraType("roadCameraState", VisionStreamType.VISION_STREAM_ROAD, ROAD_CAM)
 ]
 if WIDE_CAM:
   CAMERAS.append(CameraType("wideRoadCameraState", VisionStreamType.VISION_STREAM_WIDE_ROAD, WIDE_CAM))
+if DRIVER_CAM:
+  CAMERAS.append(CameraType("driverCameraState", VisionStreamType.VISION_STREAM_DRIVER, DRIVER_CAM))
 
 class Camerad:
   def __init__(self):
diff --git a/uv.lock b/uv.lock
index d76f71070c..2f8cf68094 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,5 +1,5 @@
 version = 1
-revision = 1
+revision = 2
 requires-python = ">=3.11, <3.13"
 resolution-markers = [
     "python_full_version >= '3.12' and sys_platform == 'darwin'",
@@ -14,14 +14,14 @@ resolution-markers = [
 name = "aiohappyeyeballs"
 version = "2.6.1"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/26/30/f84a107a9c4331c14b2b586036f40965c128aa4fee4dda5d3d51cb14ad54/aiohappyeyeballs-2.6.1.tar.gz", hash = "sha256:c3f9d0113123803ccadfdf3f0faa505bc78e6a72d1cc4806cbd719826e943558", size = 22760 }
+sdist = { url = "https://files.pythonhosted.org/packages/26/30/f84a107a9c4331c14b2b586036f40965c128aa4fee4dda5d3d51cb14ad54/aiohappyeyeballs-2.6.1.tar.gz", hash = "sha256:c3f9d0113123803ccadfdf3f0faa505bc78e6a72d1cc4806cbd719826e943558", size = 22760, upload-time = "2025-03-12T01:42:48.764Z" }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/0f/15/5bf3b99495fb160b63f95972b81750f18f7f4e02ad051373b669d17d44f2/aiohappyeyeballs-2.6.1-py3-none-any.whl", hash = "sha256:f349ba8f4b75cb25c99c5c2d84e997e485204d2902a9597802b0371f09331fb8", size = 15265 },
+    { url = "https://files.pythonhosted.org/packages/0f/15/5bf3b99495fb160b63f95972b81750f18f7f4e02ad051373b669d17d44f2/aiohappyeyeballs-2.6.1-py3-none-any.whl", hash = "sha256:f349ba8f4b75cb25c99c5c2d84e997e485204d2902a9597802b0371f09331fb8", size = 15265, upload-time = "2025-03-12T01:42:47.083Z" },
 ]
 
 [[package]]
 name = "aiohttp"
-version = "3.11.16"
+version = "3.11.18"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -32,53 +32,53 @@ dependencies = [
     { name = "propcache" },
     { name = "yarl" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/63/e7/fa1a8c00e2c54b05dc8cb5d1439f627f7c267874e3f7bb047146116020f9/aiohttp-3.11.18.tar.gz", hash = "sha256:ae856e1138612b7e412db63b7708735cff4d38d0399f6a5435d3dac2669f558a", size = 7678653, upload-time = "2025-04-21T09:43:09.191Z" }
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