Revert "debug"

This reverts commit 07bb42c2bb.
Merge branch 'master' into boooost
2026-10-26 17:43:44 +08:00 · 2026-10-25 11:58:12 -07:00 · 2026-10-25 11:53:53 -07:00 · 2026-10-22 22:20:29 -04:00 · 2026-10-22 12:50:40 -07:00 · 2026-10-22 12:49:41 -07:00
29 changed files with 1978 additions and 1022 deletions
@@ -3,9 +3,62 @@ on:
  pull_request:
    paths:
      - 'tinygrad_repo'
+      - 'openpilot/sunnypilot/modeld_v2/**'
  workflow_dispatch:

+env:
+  CI: 1
+  GIT_CONFIG_COUNT: 1
+  GIT_CONFIG_KEY_0: lfs.fetchexclude
+  GIT_CONFIG_VALUE_0: openpilot/selfdrive/modeld/models/big_driving_tinygrad.pkl
+
 jobs:
+  plain-artifact:
+    name: Plain artifact round trip and pickle converter
+    runs-on: ubuntu-24.04
+    env:
+      PYTHONPATH: ${{ github.workspace }}/tinygrad_repo:${{ github.workspace }}
+      TINYGRAD_TESTS: 1
+    steps:
+      - uses: actions/checkout@v7
+      - run: ./tools/op.sh setup
+      - name: Build openpilot
+        run: scons -j$(nproc)
+      - name: Compile, load, cache and fuse a model with the pinned tinygrad
+        env:
+          DEV: CPU
+        run: tools/op.sh test -v openpilot/sunnypilot/modeld_v2/tests/test_plain_artifact.py
+      - name: Install LLVM 20 and ROCm comgr for the amd mock, as tinygrad_repo/.github/actions/setup-tinygrad does
+        run: |
+          . /etc/os-release
+          curl -fsSL https://apt.llvm.org/llvm-snapshot.gpg.key | sudo tee /etc/apt/trusted.gpg.d/apt.llvm.org.asc > /dev/null
+          echo "deb http://apt.llvm.org/$VERSION_CODENAME/ llvm-toolchain-$VERSION_CODENAME-20 main" | sudo tee /etc/apt/sources.list.d/llvm.list
+          sudo mkdir -p /etc/apt/keyrings
+          curl -fsSL https://repo.radeon.com/rocm/rocm.gpg.key | gpg --dearmor | sudo tee /etc/apt/keyrings/rocm.gpg > /dev/null
+          echo "deb [arch=amd64 signed-by=/etc/apt/keyrings/rocm.gpg] https://repo.radeon.com/rocm/apt/7.1 $VERSION_CODENAME main" | sudo tee /etc/apt/sources.list.d/rocm.list
+          printf 'Package: *\nPin: release o=repo.radeon.com\nPin-Priority: 600\n' | sudo tee /etc/apt/preferences.d/rocm-pin-600
+          sudo apt-get -qq update && sudo apt-get -qq install -y --no-install-recommends libllvm20 clang-20 lld-20 comgr
+          printf '/opt/rocm/lib\n/opt/rocm/lib64\n' | sudo tee /etc/ld.so.conf.d/rocm.conf && sudo ldconfig
+          echo "/usr/lib/llvm-20/bin" >> "$GITHUB_PATH"
+      - name: Convert a pickled USB+AMD jit and replay it under tinygrad's amd mock
+        env:
+          DEV: MOCKUSB+AMD
+          CHECK_OOB: 0
+          GMMU: 0
+        run: tools/op.sh test -v openpilot/sunnypilot/modeld_v2/tests/test_convert_upstream_pkl.py
+      - name: Where tinygrad moved, for the helper or failure point named above
+        if: failure() && github.event_name == 'pull_request'
+        run: |
+          git fetch -q --depth=1 origin "${{ github.base_ref }}"
+          old=$(git rev-parse "origin/${{ github.base_ref }}:tinygrad_repo") new=$(git rev-parse HEAD:tinygrad_repo)
+          git -C tinygrad_repo fetch -q origin "$old" || true
+          echo "tinygrad_repo $old -> $new, in what helpers.py and plain_artifact_compiler.py read:"
+          git -C tinygrad_repo diff "$old" "$new" -- tinygrad/uop/ops.py tinygrad/engine/jit.py tinygrad/engine/realize.py tinygrad/device.py \
+            tinygrad/helpers.py tinygrad/dtype.py tinygrad/renderer/__init__.py
+          echo "and in what convert_upstream_pkl.py decodes:"
+          git -C tinygrad_repo diff --stat "$old" "$new" -- tinygrad/runtime/autogen/am/pm4_nv.py tinygrad/runtime/autogen/amd_gpu.py
+          git -C tinygrad_repo diff "$old" "$new" -- tinygrad/runtime/support/hcq2.py tinygrad/runtime/support/usb.py tinygrad/runtime/ops_amd.py
+
  generate-matrix:
    runs-on: ubuntu-latest
    outputs:
@@ -4,11 +4,10 @@

 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.

-# 351 Supported Cars
+# 345 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|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ADX 2025-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ADX 2025-26">Buy Here</a></sub></details>|||
 |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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
 |Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
@@ -17,12 +16,12 @@ A supported vehicle is one that just works when you install a comma device. All
 |Acura|RDX 2019-21|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Acura|TLX 2021-22|All|openpilot available[<sup>1,5</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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021-22">Buy Here</a></sub></details>|||
 |Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
-|Audi[<sup>13</sup>](#footnotes)|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi[<sup>13</sup>](#footnotes)|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi[<sup>13</sup>](#footnotes)|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>13</sup>](#footnotes)|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi[<sup>13</sup>](#footnotes)|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi[<sup>13</sup>](#footnotes)|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|Q3 2019-24|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
@@ -34,8 +33,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">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|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|CUPRA[<sup>13</sup>](#footnotes)|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
-|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
+|CUPRA[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>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 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
@@ -87,7 +86,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic 2022-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-26">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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" /></a>||
 |Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
@@ -95,7 +94,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2023-27|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-27">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -112,9 +111,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
 |Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
-|Honda|Pilot 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2026">Buy Here</a></sub></details>|||
-|Honda|Prelude 2026|All|openpilot available[<sup>1,5</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Prelude 2026">Buy Here</a></sub></details>|||
-|Honda|Ridgeline 2017-26|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-26">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2020">Buy Here</a></sub></details>|||
@@ -166,7 +163,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
-|Kia|Ceed Plug-in Hybrid 2021|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 B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 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 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
@@ -192,7 +188,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Optima Hybrid 2019">Buy Here</a></sub></details>|||
+|Kia|Optima Hybrid 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 H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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" /></a>||
@@ -201,7 +197,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sorento 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 A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Kia|Sportage 2023-24|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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
 |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
-|Kia|Sportage Plug-in Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Plug-in 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
@@ -230,52 +225,51 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN[<sup>13</sup>](#footnotes)|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|MAN[<sup>13</sup>](#footnotes)|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Mazda[<sup>6</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
-|Mazda[<sup>6</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda 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" /></a>||
-|Nissan[<sup>7</sup>](#footnotes)|Altima 2019-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan 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" /></a>||
-|Nissan[<sup>7</sup>](#footnotes)|Leaf IC 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|MAN[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|MAN[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda 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" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-24|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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-24">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan 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" /></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf IC 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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf IC 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Nissan[<sup>6</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</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 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 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 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1S 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 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
-|Rivian|R1T 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 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
-|Rivian|R1T 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 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
-|SEAT[<sup>13</sup>](#footnotes)|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT[<sup>13</sup>](#footnotes)|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2017-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">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)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2015-18|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2015-17|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">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 2018-19|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 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>|||
-|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 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>8</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>14,16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
-|Škoda[<sup>13</sup>](#footnotes)|Karoq 2019-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>13</sup>](#footnotes)|Kodiaq 2017-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda[<sup>13</sup>](#footnotes)|Octavia 2015-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda[<sup>13</sup>](#footnotes)|Octavia RS 2016[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda[<sup>13</sup>](#footnotes)|Octavia Scout 2017-19[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
-|Škoda[<sup>13</sup>](#footnotes)|Superb 2015-22[<sup>16</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model 3 (with HW2.5) 2019[<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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW2.5) 2019">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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla 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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW3) 2020-24[<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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
-|Tesla[<sup>11</sup>](#footnotes)|Model Y (with HW4) 2023-25[<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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">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 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1S 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">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 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/dflSSGQwYNc" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>|
+|Rivian|R1T 2025|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">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 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 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>|||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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" /></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru 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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda 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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda 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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Škoda[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-24[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-24">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2023-25[<sup>9</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 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2023-25">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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -288,8 +282,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -321,44 +315,44 @@ A supported vehicle is one that just works when you install a comma device. All
 |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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></a>||
 |Toyota|Sienna 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 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota 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" /></a>||
-|Volkswagen[<sup>13</sup>](#footnotes)|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>13</sup>](#footnotes)|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
-|Volkswagen[<sup>13</sup>](#footnotes)|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
-|Volkswagen[<sup>13</sup>](#footnotes)|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
-|Volkswagen[<sup>13</sup>](#footnotes)|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>13</sup>](#footnotes)|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
-|Volkswagen[<sup>13</sup>](#footnotes)|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
-|Volkswagen[<sup>13</sup>](#footnotes)|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
-|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>15</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>18</sup>](#footnotes)|||
-|Volkswagen[<sup>13</sup>](#footnotes)|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen[<sup>13</sup>](#footnotes)|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,17</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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" /></a>||
+|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>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 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot[<sup>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 OBD-C cable (2 ft)<br>- 1 VW MEB connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Jetta 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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>17</sup>](#footnotes)|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Taos 2022-24|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|Tiguan 2018-24|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen[<sup>12</sup>](#footnotes)|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 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen 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 `nightly-dev`. <br />
@@ -366,19 +360,18 @@ A supported vehicle is one that just works when you install a comma device. All
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
 <sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
-<sup>6</sup>Mazda vehicles <b>require</b> comma power installation. <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>Model year 2019 can have HW2.5 or HW3, and model years 2023 and 2024 can have HW3 or HW4, depending on build date and factory. 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>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <br />
-<sup>14</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>15</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>16</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>17</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>18</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>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</sup>Model years 2023 and 2024 can have either hardware type, depending on build date and factory. 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>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>11</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>12</sup>The J533 harness plugs in at the CAN gateway under the dashboard, just above the steering column. More information can be found at <a href="https://docs.howtocomma.com/docs/j533-harness-install" target="_blank">this guide</a>. <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 four 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/).
@@ -138,6 +138,9 @@ struct ModelManagerSP @0xaedffd8f31e7b55d {
    status @0 :DownloadStatus;
    progress @1 :Float32;
    eta @2 :UInt32;
+    speed @3 :Float32;
+    canceling @4 :Bool;
+    resuming @5 :Bool;
  }

  struct Chunk {
@@ -170,6 +170,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
+    {"FollowDistanceAccelBoost", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
    {"HasAcceptedTermsSP", {PERSISTENT, STRING, "0"}},
@@ -0,0 +1,101 @@
+from types import SimpleNamespace
+
+from openpilot.cereal import log
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.selfdrive.controls.lib.accel_boost import (
+  AccelBoost, ACCEL_BOOST_MAX, ACCEL_BOOST_PER_OVERRIDE, ACCEL_BOOST_RATE
+)
+
+E2E_ACCEL = 0.5
+PLANNER_ACCEL = 2.0
+RATE_PER_STEP = ACCEL_BOOST_RATE * DT_MDL
+
+
+class FakeSubMaster:
+  def __init__(self, enabled=True, gas_pressed=False, v_ego=15.0,
+               personality=log.LongitudinalPersonality.standard):
+    self._messages = {
+      'selfdriveState': SimpleNamespace(enabled=enabled, personality=personality),
+      'carState': SimpleNamespace(gasPressed=gas_pressed, vEgo=v_ego),
+    }
+
+  def __getitem__(self, key):
+    return self._messages[key]
+
+
+def run_boost(boost, sm, steps=1):
+  out = E2E_ACCEL
+  for _ in range(steps):
+    out = boost.update(sm, E2E_ACCEL, PLANNER_ACCEL, PLANNER_ACCEL)
+  return out
+
+
+class TestAccelBoost(OpenpilotTestCase):
+  def _boost_to_max(self):
+    boost = AccelBoost()
+    sm = FakeSubMaster()
+    steps = round(ACCEL_BOOST_PER_OVERRIDE / RATE_PER_STEP)
+    # Eligibility is latched on a frame without gas, then applied on the next override.
+    run_boost(boost, sm)
+    for _ in range(10):
+      sm['carState'].gasPressed = True
+      run_boost(boost, sm, steps)
+      sm['carState'].gasPressed = False
+      run_boost(boost, sm)
+    return boost
+
+  def test_no_boost_without_gas(self):
+    boost = AccelBoost()
+    sm = FakeSubMaster(gas_pressed=False)
+    out = run_boost(boost, sm)
+    self.assertEqual(boost.total_boost, 0.0)
+    self.assertAlmostEqual(out, E2E_ACCEL)
+
+  def test_boost_requires_e2e_to_be_limiting(self):
+    boost = AccelBoost()
+    sm = FakeSubMaster(gas_pressed=False)
+    # Eligibility is latched before the override, so keep the e2e plan at the planner limit here.
+    boost.update(sm, E2E_ACCEL, E2E_ACCEL, E2E_ACCEL)
+    sm['carState'].gasPressed = True
+    for _ in range(10):
+      boost.update(sm, E2E_ACCEL, E2E_ACCEL, E2E_ACCEL)
+    self.assertEqual(boost.total_boost, 0.0)
+
+  def test_per_override_cap(self):
+    boost = AccelBoost()
+    sm = FakeSubMaster(gas_pressed=False)
+    run_boost(boost, sm)
+    sm['carState'].gasPressed = True
+    run_boost(boost, sm, 1000)
+    self.assertAlmostEqual(boost.total_boost, ACCEL_BOOST_PER_OVERRIDE)
+
+  def test_max_boost(self):
+    boost = self._boost_to_max()
+    self.assertAlmostEqual(boost.total_boost, ACCEL_BOOST_MAX)
+
+  def test_boost_is_applied_to_e2e_accel(self):
+    boost = self._boost_to_max()
+    sm = FakeSubMaster(gas_pressed=True)
+    out = run_boost(boost, sm)
+    self.assertAlmostEqual(out, E2E_ACCEL + boost.total_boost)
+
+  def test_boost_does_not_depend_on_following_distance(self):
+    totals = []
+    for personality in (log.LongitudinalPersonality.relaxed,
+                        log.LongitudinalPersonality.standard,
+                        log.LongitudinalPersonality.aggressive):
+      boost = AccelBoost()
+      sm = FakeSubMaster(personality=personality)
+      steps = round(ACCEL_BOOST_PER_OVERRIDE / RATE_PER_STEP)
+      run_boost(boost, sm)
+      for _ in range(10):
+        sm['carState'].gasPressed = True
+        run_boost(boost, sm, steps)
+        sm['carState'].gasPressed = False
+        run_boost(boost, sm)
+      totals.append(boost.total_boost)
+
+    self.assertEqual(len(totals), 3)
+    for total in totals:
+      self.assertAlmostEqual(total, ACCEL_BOOST_MAX)
@@ -21,6 +21,9 @@ class TogglesLayoutMici(NavScroller):
                                                               "Use the steering wheel distance button on supported cars.")
    self._initial_cruise_speed = InitialCruiseSpeedButton()
    self._initial_cruise_speed.set_visible(lambda: ui_state.CP is not None and ui_state.has_longitudinal_control and not ui_state.CP.pcmCruise)
+    self._accel_boost_toggle = BigParamControl("extra acceleration boost", "FollowDistanceAccelBoost",
+                                               description="Adds extra acceleration on top of the stock gas-override boost.\n" +
+                                                           "The extra boost follows Following Distance: strongest when Aggressive, weakest when Relaxed.")
    is_metric_toggle = BigToggle("use metric units", initial_state=ui_state.params.get_bool("IsMetric"), toggle_callback=self._on_metric_toggle)
    ldw_toggle = BigParamControl("lane departure warnings", "IsLdwEnabled",
                                 description="Warn when you drift across a detected lane line.\n" +
@@ -40,6 +43,7 @@ class TogglesLayoutMici(NavScroller):

    self._scroller.add_widgets([
      self._personality_toggle,
+      self._accel_boost_toggle,
      self._initial_cruise_speed,
      is_metric_toggle,
      ldw_toggle,
@@ -51,6 +55,7 @@ class TogglesLayoutMici(NavScroller):

    # Toggle lists
    self._refresh_toggles = (
+      ("FollowDistanceAccelBoost", self._accel_boost_toggle),
      ("IsMetric", is_metric_toggle),
      ("IsLdwEnabled", ldw_toggle),
      ("AlwaysOnDM", always_on_dm_toggle),
@@ -92,6 +97,7 @@ class TogglesLayoutMici(NavScroller):

    if ui_state.CP is not None:
      self._personality_toggle.set_visible(ui_state.has_longitudinal_control)
+      self._accel_boost_toggle.set_visible(ui_state.has_longitudinal_control)

    # Refresh toggles from params to mirror external changes
    for key, item in self._refresh_toggles:
@@ -0,0 +1,119 @@
+"""
+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 pyray as rl
+
+from openpilot.cereal import log
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import Widget
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_boost_ext import get_accel_boost_max
+
+# The readout is wider than the side panel, so the value is right-aligned and bleeds over the camera view
+BAR_WIDTH = 24
+# Fades to white only near the profile cap, like the stock torque bar fading toward orange at high torque
+CAP_BLEND_START = 0.75
+MAX_BOOST_BLEND = 0.45
+
+COLOR_TRACK = rl.Color(255, 255, 255, 45)
+COLOR_TRACK_EDGE = rl.Color(255, 255, 255, 70)
+
+AGGRESSIVE_COLOR = rl.Color(255, 80, 60, 255)
+STANDARD_COLOR = rl.Color(0, 230, 120, 255)
+RELAXED_COLOR = rl.Color(70, 150, 255, 255)
+
+FADE_THRESHOLD = 0.01
+
+
+def lighten(color: rl.Color, amount: float) -> rl.Color:
+  """Lerp towards white in RGB, so the hue stays put the way HSV blending would not."""
+  amount = min(max(amount, 0.0), 1.0)
+  return rl.Color(int(color.r + (255 - color.r) * amount),
+                  int(color.g + (255 - color.g) * amount),
+                  int(color.b + (255 - color.b) * amount), color.a)
+
+
+def get_boost_fraction(boost: float, max_boost: float) -> float:
+  """How much of the active profile's boost budget is in use, clamped to a full bar."""
+  if max_boost <= 0.0:
+    return 0.0
+  return min(max(boost / max_boost, 0.0), 1.0)
+
+
+def get_boost_style(personality) -> tuple[rl.Color, float]:
+  if personality == log.LongitudinalPersonality.aggressive:
+    color = AGGRESSIVE_COLOR
+  elif personality == log.LongitudinalPersonality.relaxed:
+    color = RELAXED_COLOR
+  else:
+    color = STANDARD_COLOR
+
+  return color, get_accel_boost_max(personality)
+
+
+class AccelBoostIndicator(Widget):
+  def __init__(self):
+    super().__init__()
+    self._boost_filter = FirstOrderFilter(0.0, 0.15, 1 / gui_app.target_fps)
+    self._alpha_filter = FirstOrderFilter(0.0, 0.1, 1 / gui_app.target_fps)
+    # Smoothly rescale the bar when the follow distance profile changes mid-drive
+    self._max_boost_filter = FirstOrderFilter(0.0, 0.25, 1 / gui_app.target_fps)
+    self._profile_color = STANDARD_COLOR
+    self._max_boost = 0.0
+
+    self.panel_in_use = False
+
+  def _update_state(self):
+    sm = ui_state.sm
+    extra_enabled = ui_state.follow_distance_accel_boost
+    visible = (ui_state.has_longitudinal_control and sm.alive['selfdriveState'] and sm.alive['longitudinalPlan'] and
+               sm['selfdriveState'].enabled)
+    self._alpha_filter.update(1.0 if visible and extra_enabled else 0.0)
+    self._boost_filter.update(float(sm['longitudinalPlan'].accelBoost) if visible else 0.0)
+
+    if sm.alive['selfdriveState']:
+      self._profile_color, self._max_boost = get_boost_style(sm['selfdriveState'].personality)
+    self._max_boost_filter.update(self._max_boost)
+
+    self.panel_in_use = extra_enabled and ui_state.has_longitudinal_control
+
+  def _render(self, _):
+    alpha = self._alpha_filter.x
+    if alpha < FADE_THRESHOLD or self._max_boost <= 0.0:
+      return
+
+    cx = self.rect.x + self.rect.width - SIDE_PANEL_WIDTH / 2
+    bar_x = cx - BAR_WIDTH / 2
+    track_top = self.rect.y + self.rect.height * 0.08
+    track_bottom = self.rect.y + self.rect.height * 0.92
+    track_h = max(1.0, track_bottom - track_top)
+
+    # track, light enough to read on the black side panel
+    rl.draw_rectangle_rounded(rl.Rectangle(bar_x, track_top, BAR_WIDTH, track_h), 0.5, 12,
+                              rl.Color(COLOR_TRACK.r, COLOR_TRACK.g, COLOR_TRACK.b, int(COLOR_TRACK.a * alpha)))
+    rl.draw_rectangle_rounded_lines_ex(rl.Rectangle(bar_x, track_top, BAR_WIDTH, track_h), 0.5, 12, 1,
+                                       rl.Color(COLOR_TRACK_EDGE.r, COLOR_TRACK_EDGE.g, COLOR_TRACK_EDGE.b,
+                                                int(COLOR_TRACK_EDGE.a * alpha)))
+
+    # Scale to the current profile's cap, so a maxed boost fills the bar and a profile change rescales it
+    boost = max(self._boost_filter.x, 0.0)
+    ratio = get_boost_fraction(boost, self._max_boost_filter.x)
+    fill_h = ratio * track_h
+    cap_blend = max(0.0, (ratio - CAP_BLEND_START) / (1.0 - CAP_BLEND_START))
+    fill_color = lighten(self._profile_color, MAX_BOOST_BLEND * cap_blend)
+    if fill_h > 0.0:
+      # soft glow around the tip, like the confidence ball's gradient
+      tip_y = track_bottom - fill_h
+      glow = rl.Color(fill_color.r, fill_color.g, fill_color.b, int(70 * alpha))
+      rl.draw_circle_gradient(rl.Vector2(cx, tip_y), int(BAR_WIDTH * 0.9), glow, rl.BLANK)
+
+      fill = rl.Color(fill_color.r, fill_color.g, fill_color.b, int(255 * alpha))
+      if fill_h < BAR_WIDTH:
+        rl.draw_circle(int(cx), int(track_bottom - fill_h / 2), max(1, int(BAR_WIDTH / 2)), fill)
+      else:
+        rl.draw_rectangle_rounded(rl.Rectangle(bar_x, track_bottom - fill_h, BAR_WIDTH, fill_h), 0.5, 12, fill)
@@ -5,6 +5,7 @@ from opendbc.car.structs import car
 from openpilot.cereal.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
+from openpilot.selfdrive.ui.mici.onroad.accel_boost_indicator import AccelBoostIndicator
 from openpilot.selfdrive.ui.mici.onroad.alert_renderer import AlertRenderer
 from openpilot.selfdrive.ui.mici.onroad.driver_state import DriverStateRenderer
 from openpilot.selfdrive.ui.mici.onroad.hud_renderer import HudRenderer
@@ -181,6 +182,7 @@ class AugmentedRoadView(CameraView):
    self._alert_renderer = AlertRenderer()
    self._driver_state_renderer = DriverStateRenderer()
    self._confidence_ball = ConfidenceBall()
+    self._accel_boost_indicator = AccelBoostIndicator()
    self._offroad_label = UnifiedLabel("start the car to\nuse sunnypilot", 54, FontWeight.DISPLAY,
                                       text_color=rl.Color(255, 255, 255, int(255 * 0.9)),
                                       alignment=TextAlignment.CENTER,
@@ -275,7 +277,10 @@ class AugmentedRoadView(CameraView):
    if show_navigation:
      self._navigation.render(rl.Rectangle(self._content_rect.x + self._content_rect.width, self.rect.y, PANEL_WIDTH, self.rect.height))
    else:
-      self._confidence_ball.render(self.rect)
+      # The boost bar owns the side panel while the extra boost is on; the ball only shows with the feature off
+      self._accel_boost_indicator.render(self.rect)
+      if not self._accel_boost_indicator.panel_in_use:
+        self._confidence_ball.render(self.rect)

    self._bookmark_icon.render(self.rect)

@@ -0,0 +1,53 @@
+import unittest
+
+from openpilot.cereal import log
+from openpilot.selfdrive.controls.lib.accel_boost import ACCEL_BOOST_MAX
+from openpilot.selfdrive.ui.mici.onroad.accel_boost_indicator import (get_boost_style, get_boost_fraction, lighten,
+                                                                     AGGRESSIVE_COLOR, RELAXED_COLOR, STANDARD_COLOR)
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_boost_ext import (SCALE_AGGRESSIVE, SCALE_RELAXED, SCALE_STANDARD,
+                                                                        get_accel_boost_max)
+
+
+class TestAccelBoostIndicator(unittest.TestCase):
+  def test_bar_scales_with_following_distance(self):
+    for personality, color, scale in (
+        (log.LongitudinalPersonality.relaxed, RELAXED_COLOR, SCALE_RELAXED),
+        (log.LongitudinalPersonality.standard, STANDARD_COLOR, SCALE_STANDARD),
+        (log.LongitudinalPersonality.aggressive, AGGRESSIVE_COLOR, SCALE_AGGRESSIVE)):
+      bar_color, full_scale = get_boost_style(personality)
+      self.assertEqual(bar_color, color)
+      self.assertAlmostEqual(full_scale, ACCEL_BOOST_MAX * (1.0 + scale))
+
+  def test_bar_fills_at_the_active_profile_cap(self):
+    caps = [get_accel_boost_max(p) for p in (log.LongitudinalPersonality.relaxed,
+                                             log.LongitudinalPersonality.standard,
+                                             log.LongitudinalPersonality.aggressive)]
+    self.assertEqual(caps, sorted(caps))
+
+    for cap in caps:
+      self.assertAlmostEqual(get_boost_fraction(cap, cap), 1.0)
+      self.assertAlmostEqual(get_boost_fraction(0.0, cap), 0.0)
+      self.assertAlmostEqual(get_boost_fraction(cap * 0.5, cap), 0.5)
+
+    # A boost beyond the current cap (e.g. after switching to a shorter profile) still fills the bar
+    self.assertAlmostEqual(get_boost_fraction(caps[2], caps[0]), 1.0)
+    self.assertAlmostEqual(get_boost_fraction(0.0, 0.0), 0.0)
+
+  def test_cap_lighten_keeps_the_profile_hue(self):
+    # An HSV blend towards white sweeps relaxed blue through pink, so the fill lightens in RGB instead
+    relaxed = lighten(RELAXED_COLOR, 0.45)
+    aggressive = lighten(AGGRESSIVE_COLOR, 0.45)
+    self.assertGreater(relaxed.b, relaxed.r)
+    self.assertGreaterEqual(relaxed.b, relaxed.g)
+    self.assertGreater(aggressive.r, aggressive.b)
+    # lighter in RGB means the dimmest channel came up towards white
+    self.assertGreater(relaxed.r, RELAXED_COLOR.r)
+    self.assertGreater(aggressive.g, AGGRESSIVE_COLOR.g)
+
+  def test_wire_personality_picks_the_right_profile(self):
+    # Over the wire personality is a capnp DynamicEnum, which compares equal to the cereal enum but hashes differently
+    msg = log.SelfdriveState.new_message()
+    msg.personality = log.LongitudinalPersonality.aggressive
+    color, full_scale = get_boost_style(msg.personality)
+    self.assertEqual(color, AGGRESSIVE_COLOR)
+    self.assertAlmostEqual(full_scale, get_accel_boost_max(log.LongitudinalPersonality.aggressive))
@@ -30,6 +30,11 @@ ACC_NOLONG_DESCRIPTION = tr_noop("This feature can only be used with sunnypilot
 ACC_PCMCRUISE_DISABLED_DESCRIPTION = tr_noop("This feature is not supported on this platform due to vehicle limitations.")
 ONROAD_ONLY_DESCRIPTION = tr_noop("Start the vehicle to check vehicle compatibility.")

+ACCEL_BOOST_EXT_DESCRIPTION = tr_noop("Adds extra acceleration on top of the stock gas-override boost when you hold the gas pedal " +
+                                       "while sunnypilot longitudinal control is active. The extra boost follows the Following Distance setting: " +
+                                       "strongest when Aggressive, weakest when Relaxed. The stock boost remains active when this is off.")
+ACCEL_BOOST_EXT_NOLONG_DESCRIPTION = tr_noop("This feature requires sunnypilot longitudinal control to be available.")
+

 class CruiseLayout(Widget):
  def __init__(self):
@@ -76,6 +81,11 @@ class CruiseLayout(Widget):
      min_value=1, max_value=3, value_change_step=1,
      inline=True)

+    self.accel_boost_toggle = toggle_item_sp(
+      title=tr("Extra Acceleration Boost by Following Distance"),
+      description="",
+      param="FollowDistanceAccelBoost")
+
    self.sla_settings_button = simple_button_item_sp(
      button_text=lambda: tr("Speed Limit"),
      button_width=800,
@@ -86,6 +96,7 @@ class CruiseLayout(Widget):
      self.icbm_toggle,
      self.scc_v_toggle,
      self.scc_m_toggle,
+      self.accel_boost_toggle,
      self.custom_acc_toggle,
      self.custom_acc_short_increment,
      self.custom_acc_long_increment,
@@ -104,6 +115,7 @@ class CruiseLayout(Widget):
    self._scroller.show_event()
    self.icbm_toggle.show_description(True)
    self.custom_acc_toggle.show_description(True)
+    self.accel_boost_toggle.show_description(True)

  def _set_current_panel(self, panel: PanelType):
    self._current_panel = panel
@@ -148,10 +160,17 @@ class CruiseLayout(Widget):
        self.scc_v_toggle.action_item.set_enabled(False)
        self.scc_m_toggle.action_item.set_enabled(False)

+      self.accel_boost_toggle.action_item.set_enabled(has_long)
+      boost_desc = tr(ACCEL_BOOST_EXT_DESCRIPTION) if has_long else tr(ACCEL_BOOST_EXT_NOLONG_DESCRIPTION)
+      if self.accel_boost_toggle.description != boost_desc:
+        self.accel_boost_toggle.set_description(boost_desc)
+        self.accel_boost_toggle.show_description(True)
+
    else:
      has_icbm = has_long = False
      self.icbm_toggle.action_item.set_enabled(False)
      self.icbm_toggle.set_description(tr(ONROAD_ONLY_DESCRIPTION))
+      self.accel_boost_toggle.action_item.set_enabled(False)

    show_custom_acc_desc = False

@@ -235,13 +235,17 @@ class ModelsLayout(Widget):
    progress = sum(p.progress for p in progresses) / len(progresses)
    ds = custom.ModelManagerSP.DownloadStatus

+    if any(p.canceling for p in progresses):
+      return {"name": name, "downloading": True, "progress": progress, "status_text": tr("canceling...")}
    if ds.failed in statuses:
      # close.png is authored black and a tint cannot lift it, hence close2
      return {"name": name, "status_text": tr("download failed"), "text_color": rl.RED, "icon": "icons/close2.png"}
    if ds.verifying in statuses:
      return {"name": name, "downloading": True, "progress": progress, "status_text": tr("verifying")}
    if ds.downloading in statuses:
-      return {"name": name, "downloading": True, "progress": progress}
+      speed = max((p.speed for p in progresses), default=0.0)
+      status_text = f"{speed / 1024 ** 2:.1f} MB/s" if speed > 0 else "--.- MB/s"
+      return {"name": name, "downloading": True, "progress": progress, "status_text": status_text}
    if statuses <= {ds.downloaded, ds.cached}:
      return {"name": name, "text_color": ON_COLOR, "icon": "icons/checkmark.png"}
    # circled_slash is authored grey; tinting it again only darkens it
@@ -251,11 +251,13 @@ class ModelsLayoutMici(NavScroller):
      self.current_model_info.info_text.set_text(tr("download failed"))

    elif manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloading:
-      self.cancel_download_btn.set_visible(True)
+      self.cancel_download_btn.set_visible(ui_state.params.get("ModelManager_DownloadRef") is not None)
      device.set_override_interactive_timeout(5)
      progress = 0.0
      count = 0
      verifying = False
+      canceling = False
+      speed = 0.0
      for model in manager.selectedBundle.models:
        count += 1
        p = model.artifact.downloadProgress
@@ -263,11 +265,14 @@ class ModelsLayoutMici(NavScroller):
                        custom.ModelManagerSP.DownloadStatus.verifying):
          progress += p.progress
          verifying = verifying or p.status == custom.ModelManagerSP.DownloadStatus.verifying
+          canceling = canceling or p.canceling
+          speed = max(speed, p.speed)  # only one file downloads at a time, so the non-zero speed is the live one
        elif p.status in (custom.ModelManagerSP.DownloadStatus.downloaded,
                          custom.ModelManagerSP.DownloadStatus.cached):
          progress += 100.0

-      self.current_model_info.current_model_header.set_text(tr("verifying") if verifying else tr("downloading"))
+      header = tr("canceling...") if canceling else tr("verifying") if verifying else tr("downloading")
+      self.current_model_info.current_model_header.set_text(header)
      self.cancel_download_btn.set_text(tr("cancel verification") if verifying else tr("cancel download"))
      self.current_model_info.current_model_header._shimmer = True
      name_text = manager.selectedBundle.internalName.lower()
@@ -276,7 +281,10 @@ class ModelsLayoutMici(NavScroller):
      self.current_model_info.current_model_text.set_text(name_text)
      self.current_model_info.info_header.set_text(tr("progress") + self._download_progress)
      self.current_model_info.info_header._shimmer = True
-      self.current_model_info.info_text.set_text(f"{progress/count:.2f}%")
+      progress_text = f"{progress/count:.2f}%"
+      if not verifying and not canceling:
+        progress_text += f"  |  {speed / 1024 ** 2:.1f} MB/s" if speed > 0 else "  |  --.- MB/s"
+      self.current_model_info.info_text.set_text(progress_text)

    elif manager.selectedBundle and manager.selectedBundle.status == custom.ModelManagerSP.DownloadStatus.downloaded:
      self.current_model_info.info_header.set_text(tr("downloaded"))
@@ -64,6 +64,7 @@ class UIStateSP:
    self.enforce_torque_control: bool = False
    self.custom_torque_params: bool = False
    self.torque_override_enabled: bool = False
+    self.follow_distance_accel_boost: bool = False
    self._sp_initialized: bool = False

  def update(self) -> None:
@@ -177,6 +178,7 @@ class UIStateSP:
    self.enforce_torque_control = self.params.get_bool("EnforceTorqueControl")
    self.custom_torque_params = self.params.get_bool("CustomTorqueParams")
    self.torque_override_enabled = self.params.get_bool("TorqueParamsOverrideEnabled")
+    self.follow_distance_accel_boost = self.params.get_bool("FollowDistanceAccelBoost")
    self.torque_override_lat_accel_factor = float(self.params.get("TorqueParamsOverrideLatAccelFactor", return_default=True))
    self.torque_override_friction = float(self.params.get("TorqueParamsOverrideFriction", return_default=True))
    self.true_v_ego_ui = self.params.get_bool("TrueVEgoUI")
@@ -7,6 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 """
 import argparse
 import dataclasses
+import inspect
 import itertools
 import mmap
 import re
@@ -45,6 +46,11 @@ def _address(v):
  return _root(v.src[0]), add + start, size


+def _buffer(u):
+  from tinygrad.uop.ops import Ops
+  return u.buffer if u.op is Ops.BUFFER else getattr(u.arg, "buffer", None)
+
+
 def _patched(buf, topo) -> tuple[bytearray, dict]:
  from tinygrad.uop.ops import Ops
  blob, rows = bytearray(buf.max_numel() * buf.dtype.itemsize), {}
@@ -72,7 +78,7 @@ def _evaluate(u, env):
    table, index = _root(u.src[0].src[0]), _evaluate(u.src[0].src[1], env)
    return struct.unpack_from(u.dtype.fmt, table.arg, index * u.dtype.itemsize)[0] if table.op is Ops.BINARY and index is not None else None
  if u.op in GroupOp.ALU and None not in (values := [_evaluate(x, env) for x in u.src]):
-    return exec_alu(u.op, u.dtype, values, False)
+    return exec_alu(u.op, u.dtype, values, *([False] if "truncate_output" in inspect.signature(exec_alu).parameters else []))
  return None


@@ -112,7 +118,7 @@ def convert(jit, kwargs: dict, frame: dict, target) -> tuple[dict, memoryview]:
  from tinygrad.uop.ops import Ops
  submit = jit.captured._linear.src[0].without_after
  kernels, topo = submit.arg.aux.kernels, list(jit.captured._linear.toposort(enter_calls=True))
-  allocs = {str(u.tag): u for u in topo if u.op is Ops.ALLOC and u.tag is not None}
+  allocs = {str(name): u for u in topo if u.op is Ops.ALLOC and (name := getattr(u, "tag", None) or u.arg.name) is not None}
  (commands, patched), kernargs = _patched(allocs["cmdbuf_compute_0"], topo), allocs["kernargs_compute_0"]
  argument_words, pokes = _patched(kernargs, topo)[1], _input_pokes(submit, kernargs)
  sh = {name: getattr(amd_gpu, f"reg{name}") + amd_gpu.GC_BASE__INST0_SEG0 - pm4.PACKET3_SET_SH_REG_START
@@ -158,7 +164,7 @@ def convert(jit, kwargs: dict, frame: dict, target) -> tuple[dict, memoryview]:
        args.append({"input": pokes[slot][0]})
      elif slot in argument_words:
        base, at, nbytes = _address(argument_words[slot])
-        args.append({"buffer": buffers.setdefault(base, len(buffers)), "offset": at, "nbytes": nbytes or base.arg.buffer.nbytes, "dtype": u8})
+        args.append({"buffer": buffers.setdefault(base, len(buffers)), "offset": at, "nbytes": nbytes or base.max_numel() * base.dtype.itemsize, "dtype": u8})
    outs, ins = kernel[6]
    calls.append({"kind": "program", "name": re.sub(r"\x1b\[[0-9;]*m", "", kernel[1]), "lib": programs[image_alloc], "target": dataclasses.asdict(target),
                  "signature": [[f"data{i}", i, u8, [a.get("nbytes", 1)]] for i, a in enumerate(args)], "global_size": grid, "local_size": local,
@@ -166,12 +172,13 @@ def convert(jit, kwargs: dict, frame: dict, target) -> tuple[dict, memoryview]:
    needs_init |= {args[i]["buffer"] for i in ins if "buffer" in args[i] and args[i]["buffer"] not in written}
    written |= {args[i]["buffer"] for i in outs if "buffer" in args[i]}

+  assert all(_buffer(b) is not None for b, i in buffers.items() if i in needs_init), "a kernel reads a scratch before any kernel writes it"
  names = list(jit.captured.expected_names)
  inputs = [{"slot": slot, "name": names[slot] if slot < len(names) else None, "dtype": repr(u.dtype), "numel": int(u.max_numel()), "device": u.device}
            for slot, u in enumerate(_prepare_jit_inputs((), kwargs)[0])]
  header = {"input_names": names, "calls": calls, "returns": {"kind": "NoneType", "tensors": []}, "inputs": inputs,
-            "buffers": [{"nbytes": b.arg.buffer.nbytes, "device": b.arg.buffer.device, "dtype": u8}
-                        | ({"init": blob.add(b.arg.buffer.ensure_allocated().as_memoryview())} if i in needs_init else {}) for b, i in buffers.items()],
+            "buffers": [{"nbytes": bb.nbytes if (bb := _buffer(b)) else b.max_numel() * b.dtype.itemsize, "device": bb.device if bb else b.device, "dtype": u8}
+                        | ({"init": blob.add(bb.ensure_allocated().as_memoryview())} if i in needs_init else {}) for b, i in buffers.items()],
            "check": {"inputs": [[path, store(array), device] for path, array, device in frame["inputs"]],
                      "outputs": [store(array) for array in frame["outputs"]], "output_container": frame["output_container"]}}
  with sink:
@@ -250,6 +250,12 @@ def _allocate_buffers(header: dict, blob: memoryview, device_map: dict | None, s
  return buffers


+def _fields(what, /, **values):  # a tinygrad dataclass built or replaced with the fields it has today: a dropped field is fine, a new required one is not
+  known = {field.name for field in dataclasses.fields(what)}
+  values = {name: value for name, value in values.items() if name in known}
+  return what(**values) if isinstance(what, type) else dataclasses.replace(what, **values)
+
+
 def _program_uop(call: dict, lib: bytes):
  from tinygrad.helpers import Target
  from tinygrad.uop.ops import KernelInfo, Ops, ProgramInfo, UOp
@@ -257,9 +263,9 @@ def _program_uop(call: dict, lib: bytes):
  for name, compact_slot, dtype, shape in call["signature"]:
    parameter = UOp.param(call["globals"][compact_slot], _dtype(dtype), math.prod(shape))
    image = (shape[0], shape[1]) if len(shape) == 3 and shape[2] == 4 else None
-    parameters.append(parameter.replace(arg=dataclasses.replace(parameter.arg, name=name, image=image)))
-  info = ProgramInfo(global_size=tuple(call["global_size"]), local_size=tuple(call["local_size"]), vars=(), globals=tuple(call["globals"]),
-                     outs=tuple(call["outs"]), ins=tuple(call["ins"]), target=Target(**call["target"]))
+    parameters.append(parameter.replace(arg=_fields(parameter.arg, name=name, image=image)))
+  info = _fields(ProgramInfo, global_size=tuple(call["global_size"]), local_size=tuple(call["local_size"]), globals=tuple(call["globals"]),
+                 outs=tuple(call["outs"]), ins=tuple(call["ins"]), target=_fields(Target, **call["target"]))
  return UOp(Ops.PROGRAM, src=(UOp(Ops.SINK, arg=KernelInfo(name=call["name"])), UOp(Ops.LINEAR, src=tuple(parameters)),
                               UOp(Ops.SOURCE, arg=""), UOp(Ops.BINARY, arg=lib)), arg=info)

@@ -23,7 +23,7 @@ def record_kernel_linear():
  recorded, hcq_compile, compile_linear = [], realize.hcq_compile, jit.compile_linear

  def recording_compile_linear(*args, **kwargs):
-    with mock.patch.object(realize, "hcq_compile", lambda linear, *a, **k: (recorded.append(linear), hcq_compile(linear, *a, **k))[1]):
+    with mock.patch.object(realize, "hcq_compile", lambda linear, *a, **k: (linear.src and recorded.append(linear), hcq_compile(linear, *a, **k))[1]):
      return compile_linear(*args, **kwargs)

  with mock.patch.object(jit, "compile_linear", recording_compile_linear):
@@ -38,6 +38,18 @@ def capture_frame(jit, kwargs: dict, output_container: str | None = None):
  return {"inputs": inputs, "outputs": [tensor.numpy().copy() for tensor in outputs], "output_container": output_container}, result


+def kernel_signature(ast, elf) -> list:
+  from tinygrad.dtype import AddrSpace
+  if hasattr(ast, "kernel_params"):
+    if any(p.arg.addrspace is AddrSpace.ALU for p in ast.kernel_params):
+      raise ValueError(f"{elf.name} takes a variable, which plain artifacts don't support")
+    compact = {slot: i for i, slot in enumerate(ast.arg.globals)}
+    return [[p.arg.name, compact[p.arg.slot], repr(p.dtype), [int(x) for x in p._shape]] for p in ast.kernel_params]
+  if not all(isinstance(slot, int) for _, slot, _, _ in elf.signature):
+    raise ValueError("TinyELF.signature lost its slots and this tinygrad has no UOp.kernel_params: update kernel_signature")
+  return [[name, slot, repr(dtype), [int(x) for x in shape]] for name, slot, dtype, shape in elf.signature]
+
+
 def serialize_jit(jit, kernel_linear, check: dict | None = None) -> tuple[dict, memoryview]:
  from tinygrad.uop.ops import Ops
  sink = tempfile.TemporaryFile(dir=".")
@@ -51,6 +63,12 @@ def serialize_jit(jit, kernel_linear, check: dict | None = None) -> tuple[dict,
    if uop.op is Ops.PARAM:
      input_specs.setdefault(uop.arg.slot, {"dtype": repr(uop.dtype), "numel": int(uop.max_numel()), "device": uop.device})
      return {"input": uop.arg.slot}
+    root, offset = uop, 0
+    while root.op in (Ops.AFTER, Ops.BITCAST, Ops.SHRINK):
+      offset, root = offset + (root.src[1].arg * root.src[0].dtype.itemsize if root.op is Ops.SHRINK else 0), root.src[0]
+    if root.op is Ops.ALLOC:
+      base = bases.setdefault(id(root), (len(bases), root, root.dtype))
+      return {"buffer": base[0], "offset": offset, "nbytes": int(uop.max_numel()) * uop.dtype.itemsize, "dtype": repr(uop.dtype)}
    buffer = uop.buffer
    root = buffer._base if buffer._base is not None else buffer
    base = bases.setdefault(id(root), (len(bases), root, uop.base.dtype if buffer._base is None else uop.dtype))
@@ -63,7 +81,7 @@ def serialize_jit(jit, kernel_linear, check: dict | None = None) -> tuple[dict,
      elf, info = ast.to_elf(), ast.arg
      global_size, local_size = info.launch_dims({})
      calls.append({"kind": "program", "name": elf.name, "lib": blob.add(bytes(elf.lib)), "target": dataclasses.asdict(elf.target),
-                    "signature": [[name, slot, repr(dtype), [int(x) for x in shape]] for name, slot, dtype, shape in elf.signature],
+                    "signature": kernel_signature(ast, elf),
                    "global_size": [int(x) for x in global_size], "local_size": [int(x) for x in local_size],
                    "globals": list(info.globals), "outs": list(info.outs), "ins": list(info.ins), "args": arguments})
      outs, ins = info.outs, info.ins
@@ -77,7 +95,9 @@ def serialize_jit(jit, kernel_linear, check: dict | None = None) -> tuple[dict,

  ret = jit.captured.ret
  returns = {"kind": type(ret).__name__, "tensors": [describe(t.uop.base) | {"shape": [int(x) for x in t.shape]} for t in flatten(ret)]}
-  buffers = [{"nbytes": base.nbytes, "device": base.device, "dtype": repr(dtype)}
+  from tinygrad.device import Buffer
+  assert not [base for index, base, _ in bases.values() if index in needs_init and not isinstance(base, Buffer)], "a kernel reads a scratch before writing it"
+  buffers = [{"nbytes": base.nbytes if isinstance(base, Buffer) else int(base.max_numel()) * dtype.itemsize, "device": base.device, "dtype": repr(dtype)}
             | ({"init": blob.add(base.as_memoryview())} if index in needs_init else {}) for index, base, dtype in bases.values()]
  names = list(jit.captured.expected_names)
  if check is not None:
@@ -0,0 +1,121 @@
+"""
+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 re
+import sys
+import tempfile
+import unittest
+from unittest import mock
+import numpy as np
+
+os.environ.setdefault("CHECK_OOB", "0")
+os.environ.setdefault("GMMU", "0")
+if sys.platform == "darwin" and os.environ.get("DEV", "").startswith("MOCKUSB"):  # the mock's VRAM is a memfd, which macOS lacks: an unlinked file is the same
+  from tinygrad.runtime.autogen import libc
+
+  def _memfd_create(name, flags):
+    fd, path = tempfile.mkstemp()
+    os.unlink(path)
+    return fd
+  libc.memfd_create = _memfd_create
+
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.modeld_v2 import convert_upstream_pkl
+from openpilot.sunnypilot.modeld_v2.convert_upstream_pkl import convert
+from openpilot.sunnypilot.modeld_v2.helpers import PlainJit, load_model
+from openpilot.sunnypilot.modeld_v2.plain_artifact_compiler import capture_frame
+
+IMG, DESIRE, STATE, OUT = (6, 8, 8), (8,), (4, 16), (1, 32)
+
+
+class TestConvertUpstreamPkl(OpenpilotTestCase):
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    if not os.environ.get("TINYGRAD_TESTS"):
+      raise unittest.SkipTest("TINYGRAD_TESTS not set. skipping converter test")
+    from tinygrad import Device, Tensor
+    assert Device.DEFAULT == "AMD" and getattr(Device["AMD"], "is_usb", False), f"{Device.DEFAULT} is not an AMD device behind the USB bridge"
+    assert (Tensor([1, 2, 3]) * 2).tolist() == [2, 4, 6]
+    cls.tmp = tempfile.TemporaryDirectory()
+    cls.rng = np.random.default_rng(0)
+    cls.weights = Tensor(cls.rng.standard_normal((16, 32)).astype(np.float32)).realize()
+    cls.bias = Tensor(cls.rng.standard_normal((1, 32)).astype(np.float32)).realize()
+    cls.input_specs = {"input_imgs": (IMG, "uint8", Device.DEFAULT), "desire": (DESIRE, "float32", Device.DEFAULT),
+                       "features": (STATE, "float32", Device.DEFAULT)}
+    cls.output_specs = {"outputs": (OUT, "float32", Device.DEFAULT), "next_features": (STATE, "float32", Device.DEFAULT)}
+
+  @classmethod
+  def tearDownClass(cls):
+    cls.tmp.cleanup()
+    super().tearDownClass()
+
+  def model(self, input_imgs, desire, features, output_buffers):
+    from tinygrad import Tensor
+    feat = features.mean(axis=0).reshape(1, 16) + input_imgs.float().mean() + desire.sum()
+    Tensor.realize(output_buffers["outputs"].assign((feat @ self.weights + self.bias).relu()),
+                   output_buffers["next_features"].assign(features[1:].cat(feat * 2)))
+
+  def inputs(self, seed: int) -> dict:
+    from examples.openpilot.helpers import allocate_inputs
+    rng = np.random.default_rng(seed)
+
+    def initialize(arrays: dict):
+      for value in arrays.values():
+        value[...] = rng.standard_normal(value.shape) if value.dtype.kind == "f" else rng.integers(0, 256, value.shape)
+    return allocate_inputs(self.input_specs, initialize) | {"output_buffers": allocate_inputs(self.output_specs)}
+
+  def jit(self):
+    from tinygrad import TinyJit
+    run = TinyJit(self.model, prune=True)
+    kwargs = self.inputs(1)
+    run(**kwargs)
+    run(**kwargs)
+    return run
+
+  def assert_matches_eager(self, plain, seed: int):
+    fresh, expected = self.inputs(seed), self.inputs(seed)
+    plain(**fresh)
+    self.model(**expected)
+    for name in self.output_specs:
+      assert np.array_equal(fresh["output_buffers"][name].numpy(), expected["output_buffers"][name].numpy()), name
+
+  def convert(self, jit) -> tuple[dict, memoryview]:
+    from tinygrad import Device
+    kwargs = self.inputs(2)
+    frame, _ = capture_frame(jit, kwargs, "output_buffers")
+    header, blob = convert(jit, kwargs, frame, Device[Device.DEFAULT].renderer.target)
+    kernels = jit.captured._linear.src[0].without_after.arg.aux.kernels
+    assert [call["name"] for call in header["calls"]] == [re.sub(r"\x1b\[[0-9;]*m", "", kernel[1]) for kernel in kernels]
+    assert all(re.fullmatch(r"\w+", call["name"]) for call in header["calls"]), "kernel names: failure point 1"
+    assert [(tuple(call["outs"]), tuple(call["ins"])) for call in header["calls"]] == [tuple(kernel[6]) for kernel in kernels], "outs/ins: failure point 1"
+    bound = {argument["input"] for call in header["calls"] for argument in call["args"] if "input" in argument}
+    assert bound == {spec["slot"] for spec in header["inputs"]}, f"input slots bound by pokes {sorted(bound)}: failure point 4"
+    assert [spec["name"] for spec in header["inputs"]][:len(self.input_specs)] == sorted(self.input_specs)
+    return header, blob
+
+  def test_converted_jit_matches_eager(self):  # the submit decoded into plain calls, replayed against its own frame
+    jit = self.jit()
+    plain = PlainJit(*self.convert(jit))
+    self.assert_matches_eager(plain, 3)
+    self.assert_matches_eager(plain, 4)
+
+  def test_pickle_round_trip_through_main(self):
+    from examples.openpilot.helpers import dump_pickle, load_pickle
+    from tinygrad.engine.realize import lower_and_compile
+    pkl, out = os.path.join(self.tmp.name, "tiny_tinygrad.pkl"), os.path.join(self.tmp.name, "tiny_plain.pkl")
+    dump_pickle({"run": self.jit(), "input_specs": self.input_specs, "output_specs": self.output_specs, "metadata": {"name": "tiny"}}, pkl)
+
+    artifact = load_pickle(pkl, out_of_band=True)
+    artifact["run"].captured._linear = lower_and_compile(artifact["run"].captured._linear)
+    self.assert_matches_eager(PlainJit(*self.convert(artifact["run"])), 5)
+
+    with mock.patch.object(sys, "argv", ["convert_upstream_pkl", pkl, out]):
+      convert_upstream_pkl.main()
+    bundle = load_model(out, cache=False, verify=True)
+    assert bundle["metadata"] == {"name": "tiny"} and bundle["input_specs"] == self.input_specs and bundle["output_specs"] == self.output_specs
+    self.assert_matches_eager(bundle["run"], 6)
@@ -0,0 +1,162 @@
+"""
+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 dataclasses
+import functools
+import inspect
+import os
+import sys
+import tempfile
+from unittest import mock
+import numpy as np
+import unittest
+
+import openpilot.sunnypilot.modeld_v2.helpers as helpers
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.sunnypilot.modeld_v2 import compile_warp
+from openpilot.sunnypilot.modeld_v2.frame_fusion import frame_part, pack_layout
+from openpilot.sunnypilot.modeld_v2.helpers import PlainJit, cache_is_fresh, load_model, read_parts, write_bundle
+from openpilot.sunnypilot.modeld_v2.plain_artifact_compiler import capture_frame, record_kernel_linear, serialize_jit
+
+CAM_W, CAM_H, MODEL_W, MODEL_H = 32, 16, 16, 8
+FRAME = f"{CAM_W},{CAM_H},{CAM_W},{CAM_H},{CAM_H // 2},{CAM_W * CAM_H * 3 // 2}"
+FRAME_SIZE = CAM_W * CAM_H * 3 // 2
+HOST = {"desire": (8,), "traffic_convention": (2,)}
+STATE, OUT = (4, 16), (1, 32)
+
+
+def compile_jit(fn, inputs: dict, output_container: str | None = None) -> tuple[dict, memoryview]:
+  from tinygrad import TinyJit
+  run = TinyJit(fn, prune=True)
+  with record_kernel_linear() as recorded:
+    run(**inputs)
+    run(**inputs)
+    check, _ = capture_frame(run, inputs, output_container)
+  assert len(recorded) == 1, f"expected one captured kernel list, got {len(recorded)}"
+  return serialize_jit(run, recorded[0], check)
+
+
+class TestPlainArtifact(OpenpilotTestCase):
+  @classmethod
+  def setUpClass(cls):
+    super().setUpClass()
+    if not os.environ.get("TINYGRAD_TESTS"):
+      raise unittest.SkipTest("TINYGRAD_TESTS env var not set, skipping artifact test.")
+    from tinygrad import Tensor
+    cls.tmp = tempfile.TemporaryDirectory()
+    cls.rng = np.random.default_rng(0)
+    cls.weights = Tensor(cls.rng.standard_normal((16, 32)).astype(np.float32)).realize()
+    cls.bias = Tensor(cls.rng.standard_normal((1, 32)).astype(np.float32)).realize()
+
+  @classmethod
+  def tearDownClass(cls):
+    cls.tmp.cleanup()
+    super().tearDownClass()
+
+  def model(self, x, h):  # a two input, one weight model: the shape of a policy without the size
+    return ((x @ self.weights + self.bias).relu() + h.mean()).contiguous()
+
+  def tensors(self, seed: int):
+    from tinygrad import Tensor
+    rng = np.random.default_rng(seed)
+    return {"x": Tensor(rng.standard_normal((1, 16)).astype(np.float32)).realize(), "h": Tensor(rng.standard_normal((4, 16)).astype(np.float32)).realize()}
+
+  def artifact(self, name: str = "model") -> str:
+    path = os.path.join(self.tmp.name, f"{name}_tinygrad.pkl")
+    if not os.path.exists(path):
+      write_bundle(path, {"run": compile_jit(self.model, self.tensors(1))}, {"metadata": {"name": name}})
+    return path
+
+  def test_round_trip_matches_jit(self):  # compiler -> bundle -> PlainJit, replay verified, then fresh inputs bit exact with eager tinygrad
+    bundle = load_model(self.artifact(), cache=False, verify=True)
+    assert bundle["metadata"] == {"name": "model"} and isinstance(bundle["run"], PlainJit)
+    fresh = self.tensors(2)
+    assert np.array_equal(bundle["run"](**fresh).numpy(), self.model(**fresh).numpy())
+
+  def test_replay_check_catches_a_changed_kernel(self):
+    parts, extras = read_parts(self.artifact())
+    header, blob = parts["run"]
+    poisoned = dict(header, check=dict(header["check"], outputs=[header["check"]["inputs"][0][1]]))
+    with self.assertRaises(helpers.ArtifactMismatch):
+      PlainJit(poisoned, blob)
+
+  def test_cache_round_trip_holds_no_weights_and_is_rebuilt_when_stale(self):
+    path = self.artifact("cached")
+    expected = load_model(path, cache=False, verify=False)["run"](**self.tensors(3)).numpy()
+    load_model(path)
+    assert cache_is_fresh(path)
+    with open(f"{path}.cache", "rb") as file:
+      cache = file.read()
+    assert self.weights.numpy().tobytes() not in cache and len(cache) < os.path.getsize(path)
+    with mock.patch.object(helpers, "PlainJit", side_effect=AssertionError("a fresh cache must not rebuild")):
+      cached = load_model(path)
+    assert np.array_equal(cached["run"](**self.tensors(3)).numpy(), expected)
+    with mock.patch.object(helpers, "tinygrad_identity", return_value="another tinygrad"):
+      assert not cache_is_fresh(path)
+      assert isinstance(load_model(path)["run"], PlainJit)
+      assert cache_is_fresh(path)
+    assert not cache_is_fresh(path)  # keyed on the tinygrad that wrote it, so the next boot after a bump rebuilds once
+    os.utime(path)
+    with mock.patch.object(helpers, "tinygrad_identity", return_value="another tinygrad"):
+      assert not cache_is_fresh(path)
+
+  def test_fused_with_warp_matches_warp_then_model(self):
+    from tinygrad import Tensor
+    warp_path = os.path.join(self.tmp.name, "warp_tinygrad.pkl")
+    with mock.patch.object(sys, "argv", ["compile_warp", "--frame", FRAME, "--warp-to", f"{MODEL_W}x{MODEL_H}", "--output", warp_path]):
+      compile_warp.main()
+    warp = load_model(warp_path, cache=False)["run"]
+
+    def native(new_img, desire, traffic_convention, state_feat_q, output_buffers):
+      feat = state_feat_q.mean(axis=0).reshape(1, 16) + new_img.float().mean() + desire.sum() + traffic_convention[0]
+      Tensor.realize(output_buffers["outputs"].assign((feat @ self.weights + self.bias).relu()),
+                     output_buffers["next_state_feat_q"].assign(state_feat_q[1:].cat(feat * 2)))
+
+    def model_inputs(new_img):
+      return {"new_img": new_img} | {name: Tensor(np.ones(shape, np.float32) * 0.5).realize() for name, shape in HOST.items()} | \
+             {"state_feat_q": Tensor(self.rng.standard_normal(STATE).astype(np.float32)).realize(),
+              "output_buffers": {"outputs": Tensor.zeros(OUT).contiguous().realize(), "next_state_feat_q": Tensor.zeros(STATE).contiguous().realize()}}
+    frames = Tensor(self.rng.integers(0, 256, (2, FRAME_SIZE), dtype=np.uint8)).realize()
+    tfm = Tensor(np.tile(np.eye(3, dtype=np.float32), (2, 1, 1))).realize()
+    path = os.path.join(self.tmp.name, "native_tinygrad.pkl")
+    part = compile_jit(native, model_inputs(warp(input_frame=frames, M_inv=tfm).realize()), "output_buffers")
+    extras = {"input_specs": {"new_img": ((2, 6, MODEL_H // 2, MODEL_W // 2), "|u1", "CPU"), "state_feat_q": (STATE, "<f4", "CPU")}
+              | {name: (shape, "<f4", "CPU") for name, shape in HOST.items()},
+              "output_specs": {"outputs": (OUT, "<f4", "CPU"), "next_state_feat_q": (STATE, "<f4", "CPU")},
+              "metadata": {"output_shapes": {"outputs": OUT, "next_state_feat_q": STATE}}}
+    write_bundle(path, {"run": part}, extras)
+
+    fused = load_model(path, cache=False, extend=functools.partial(frame_part, warp_path))
+    assert fused["run"].input_names == ["host", "state_feat_q"]
+    offsets, packed = pack_layout(HOST, FRAME_SIZE)
+    host = np.zeros(packed, np.uint8)
+    inputs = model_inputs(None)
+    for name, shape in ({"tfm": (2, 3, 3)} | HOST).items():
+      np.ndarray(shape, np.float32, host, offsets[name])[...] = tfm.numpy() if name == "tfm" else inputs[name].numpy()
+    host[offsets["frames"]:] = frames.numpy().ravel()
+    fused["run"](host=Tensor(host, device="NPY"), state_feat_q=inputs["state_feat_q"], output_buffers=inputs["output_buffers"])
+
+    expected = model_inputs(warp(input_frame=frames, M_inv=tfm).realize()) | {k: inputs[k] for k in ("state_feat_q",)}
+    native(**expected)
+    for name in ("outputs", "next_state_feat_q"):
+      assert np.array_equal(inputs["output_buffers"][name].numpy(), expected["output_buffers"][name].numpy()), name
+
+  def test_tinygrad_api_the_loader_reads(self):
+    import tinygrad.engine.jit as jit
+    from tinygrad.device import Buffer, TinyELF
+    from tinygrad.helpers import Target
+    from tinygrad.uop.ops import ParamArg, ProgramInfo, UOp
+    fields = {cls: {f.name for f in dataclasses.fields(cls)} for cls in (ProgramInfo, ParamArg, Target)}
+    assert fields[ProgramInfo] >= {"global_size", "local_size", "globals", "outs", "ins", "target"}, "ProgramInfo changed: update helpers._program_uop"
+    assert fields[ParamArg] >= {"slot", "dtype", "name", "image"}, "ParamArg changed: update helpers._program_uop"
+    assert fields[Target] >= {"device", "renderer", "arch"}, "Target changed: update the 'target' key in plain_artifact_compiler.serialize_jit"
+    assert "signature" in getattr(TinyELF, "__annotations__", {}) or hasattr(UOp, "kernel_params"), \
+      "kernel signatures moved: update plain_artifact_compiler.serialize_jit"
+    assert callable(getattr(UOp, "param", None)) and callable(getattr(UOp, "from_buffer", None)), "UOp.param/from_buffer: update helpers.PlainJit"
+    assert callable(getattr(UOp, "store_call", None)) and callable(getattr(UOp, "call", None)), "UOp.call/store_call: update helpers.PlainJit"
+    assert callable(getattr(Buffer, "view", None)) and callable(getattr(Buffer, "ensure_allocated", None)), "Buffer.view: update helpers._upload"
+    assert callable(getattr(jit, "compile_linear", None)) and callable(getattr(jit, "_prepare_jit_inputs", None)), "engine.jit: update helpers._Jit"
+    assert "expected_names" in inspect.signature(jit.CapturedJit).parameters, "CapturedJit: update helpers.PlainJit and plain_artifact_compiler.serialize_jit"
@@ -7,7 +7,10 @@ See the LICENSE.md file in the root directory for more details.

 import asyncio
 import os
+import re
+import threading
 import time
+from concurrent.futures import ThreadPoolExecutor

 import requests
 from openpilot.common.params import Params
@@ -22,12 +25,101 @@ from openpilot.sunnypilot.models.helpers import (ACTIVE_BUNDLE_KEYS, get_active_

 # (connect, read) seconds. read is per-request inactivity, not a total cap
 DOWNLOAD_TIMEOUT = (30, 30)
+# HuggingFace throttles each connection to ~1-2 MB/s but not the connection count; 12 saturates the device link
+MAX_CONCURRENT_PIECES = 12
+PIECE_SIZE = 8 * 1024 * 1024
+PIECE_ATTEMPTS = 3
+PIECE_BACKOFF = 1.0  # seconds, growing linearly: waits 1 s then 2 s between a piece's three attempts
+TRANSIENT_HTTP_STATUS = frozenset({408, 429, 500, 502, 503, 504})
+REPORT_INTERVAL = 0.5  # seconds between progress publications
+# byte ranges count encoded bytes but iter_content yields decoded ones, so ask for an unencoded body
+NO_COMPRESSION = {"Accept-Encoding": "identity"}
+SPEED_SMOOTHING = 0.7  # weight of the previous speed sample in the published speed
+SPEED_FLOOR = 0.05 * 1024 ** 2  # bytes/s; anything slower would only display as 0.0 MB/s, so it reads as no rate


 class DownloadCancelled(Exception):
  pass


+def _is_transient(e: BaseException) -> bool:
+  if isinstance(e, requests.HTTPError):
+    return e.response is not None and e.response.status_code in TRANSIENT_HTTP_STATUS
+  return isinstance(e, (requests.ConnectionError, requests.Timeout, requests.exceptions.ChunkedEncodingError))
+
+
+class _Progress:
+  def __init__(self):
+    self._bytes = 0
+    self._lock = threading.Lock()
+
+  def add_bytes(self, n: int) -> None:
+    with self._lock:
+      self._bytes += n
+
+  def snapshot(self) -> int:
+    with self._lock:
+      return self._bytes
+
+
+def _piece_ranges(total: int, piece_size: int) -> list[tuple[int, int]]:
+  return [(start, min(start + piece_size, total)) for start in range(0, total, piece_size)]
+
+
+def _prepare_target(path: str, total: int) -> None:
+  with open(path, "wb") as f:
+    f.truncate(total)
+
+
+def _content_range_total(response: requests.Response) -> int | None:
+  if response.status_code != 206:
+    return None
+  match = re.fullmatch(r"bytes \d+-\d+/(\d+)", response.headers.get("Content-Range", ""))
+  return int(match.group(1)) if match else None
+
+
+def _probe_size(url: str) -> tuple[int, bool]:
+  with requests.get(url, headers={**NO_COMPRESSION, "Range": "bytes=0-0"}, stream=True, timeout=DOWNLOAD_TIMEOUT) as response:
+    response.raise_for_status()
+    total = _content_range_total(response)
+    if total is not None:
+      return total, True
+    return int(response.headers.get("Content-Length", 0)), False
+
+
+def _fetch_piece(url: str, path: str, index: int, start: int, end: int | None, progress: _Progress,
+                 cancel: threading.Event, block_size: int) -> None:
+  headers = {**NO_COMPRESSION, "Range": f"bytes={start}-{end - 1}"} if end is not None else NO_COMPRESSION
+  label = f"{os.path.basename(path)} piece {index}"
+  for attempt in range(PIECE_ATTEMPTS):
+    written = 0
+    try:
+      with requests.get(url, headers=headers, stream=True, timeout=DOWNLOAD_TIMEOUT) as response:
+        response.raise_for_status()
+        if end is not None and response.status_code != 206:
+          raise ValueError(f"server ignored byte range for {label}")
+        with open(path, "r+b") as f:
+          f.seek(start)
+          for block in response.iter_content(chunk_size=block_size):
+            if cancel.is_set():
+              raise DownloadCancelled("Download cancelled")
+            f.write(block)
+            written += len(block)
+            progress.add_bytes(len(block))
+          if end is None:
+            f.truncate()  # unknown length: the body defines the file size
+          if end is not None and written != end - start:
+            raise requests.exceptions.ConnectionError(f"short read: {written} of {end - start} bytes")
+      return
+    except requests.RequestException as e:
+      progress.add_bytes(-written)  # the piece restarts from scratch
+      if not _is_transient(e) or attempt == PIECE_ATTEMPTS - 1:
+        raise
+      cloudlog.warning(f"retrying {label} after {type(e).__name__}: {e}")
+      if cancel.wait(PIECE_BACKOFF * (1 + attempt)):
+        raise DownloadCancelled("Download cancelled") from None
+
+
 class ModelManagerSP:
  """Manages model downloads and status reporting"""

@@ -41,7 +133,7 @@ class ModelManagerSP:
    self.source_models: dict[str, list[custom.ModelManagerSP.ModelBundle]] = {}
    self.selected_bundle: custom.ModelManagerSP.ModelBundle = None
    self.active_bundle: custom.ModelManagerSP.ModelBundle = get_active_bundle(self.params, chestnut=self.chestnut_present)
-    self._chunk_size = 128 * 1000  # 128 KB chunks
+    self._block_size = 128 * 1000  # 128 KB network read blocks
    self._download_start_times: dict[str, float] = {}  # Track start time per model
    self._download_ref: bytes | str | None = None

@@ -56,7 +148,6 @@ class ModelManagerSP:
    self._download_ref = None

  def _sync_artifact_progress(self, source_artifact) -> None:
-    """Mirror download progress to all artifacts sharing the same filename in the selected bundle."""
    if not self.selected_bundle:
      return
    for model in self.selected_bundle.models:
@@ -65,9 +156,9 @@ class ModelManagerSP:
        artifact.downloadProgress.status = source_artifact.downloadProgress.status
        artifact.downloadProgress.progress = source_artifact.downloadProgress.progress
        artifact.downloadProgress.eta = source_artifact.downloadProgress.eta
+        artifact.downloadProgress.speed = source_artifact.downloadProgress.speed

  def _calculate_eta(self, filename: str, progress: float) -> int:
-    """Calculate ETA based on elapsed time and current progress"""
    if filename not in self._download_start_times or progress <= 0:
      return 60  # Default ETA for new downloads

@@ -75,39 +166,74 @@ class ModelManagerSP:
    if elapsed_time <= 0:
      return 60

-    # If we're at X% after Y seconds, we can estimate total time as (Y / X) * 100
    total_estimated_time = (elapsed_time / progress) * 100
    eta = total_estimated_time - elapsed_time
-
    return max(1, int(eta))  # Return at least 1 second if download is ongoing

-  async def _download_file(self, url: str, path: str, model) -> None:
-    """Downloads a file with progress tracking"""
-    self._download_start_times[model.fileName] = time.monotonic()
+  def _set_progress(self, artifact, status, progress: float, eta: int = 0, speed: float = 0.0) -> None:
+    artifact.downloadProgress.status = status
+    artifact.downloadProgress.progress = progress
+    artifact.downloadProgress.eta = eta
+    artifact.downloadProgress.speed = speed
+    self._sync_artifact_progress(artifact)
+    self._report_status()

-    with requests.get(url, stream=True, timeout=DOWNLOAD_TIMEOUT) as response:  # noqa: ASYNC210
-      response.raise_for_status()
-      total_size = int(response.headers.get("content-length", 0))
-      bytes_downloaded = 0
+  def _publish_progress(self, artifact, done_bytes: int, total: int, speed: float) -> None:
+    # held at 99 until the file passes its hash check
+    progress = min(99.0, done_bytes / total * 100) if total > 0 else 0.0
+    if speed > 0 and total > 0:
+      eta = max(1, int((total - done_bytes) / speed))
+    else:
+      eta = self._calculate_eta(artifact.fileName, progress)
+    self._set_progress(artifact, custom.ModelManagerSP.DownloadStatus.downloading, progress, eta, speed)

-      with open(path, 'wb') as f:  # noqa: ASYNC230
-        for chunk in response.iter_content(chunk_size=self._chunk_size):  # type: bytes
-          f.write(chunk)
-          bytes_downloaded += len(chunk)
+  async def _report_until_done(self, tasks: list[asyncio.Future], artifact, progress: _Progress, total: int,
+                               started: tuple[int, float]) -> None:
+    pending = set(tasks)
+    last_bytes, last_time = started
+    speed = 0.0
+    while pending:
+      done, pending = await asyncio.wait(pending, timeout=REPORT_INTERVAL)
+      for task in done:
+        task.result()  # re-raises a worker failure
+      if self._download_interrupted():
+        raise DownloadCancelled("Download cancelled")
+      now = time.monotonic()
+      done_bytes = progress.snapshot()
+      if (dt := now - last_time) > 0:
+        instant = max(0.0, (done_bytes - last_bytes) / dt)  # bytes/s this tick; clamped since retried pieces can lower the byte count
+        speed = instant if speed == 0 else SPEED_SMOOTHING * speed + (1 - SPEED_SMOOTHING) * instant
+        if speed < SPEED_FLOOR:  # a stall decays toward 0 without reaching it, and a near-0 speed overflows the eta
+          speed = 0.0
+      last_time, last_bytes = now, done_bytes
+      self._publish_progress(artifact, done_bytes, total, speed)

-          if self._download_interrupted():
-            raise DownloadCancelled("Download cancelled")
+  async def _download_file(self, url: str, path: str, artifact) -> None:
+    self._download_start_times[artifact.fileName] = time.monotonic()
+    loop = asyncio.get_running_loop()

-          if total_size > 0:
-            progress = (bytes_downloaded / total_size) * 100
-            model.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloading
-            model.downloadProgress.progress = progress
-            model.downloadProgress.eta = self._calculate_eta(model.fileName, progress)
-            self._sync_artifact_progress(model)
-            self._report_status()
+    total, ranged = await loop.run_in_executor(None, _probe_size, url)
+    pieces: list[tuple[int, int | None]] = list(_piece_ranges(total, PIECE_SIZE)) if ranged else [(0, None)]
+    await loop.run_in_executor(None, _prepare_target, path, total)
+    progress = _Progress()
+    cancel = threading.Event()
+    started = progress.snapshot(), time.monotonic()  # before any worker can land bytes

-    # Clean up start time after download completes
-    del self._download_start_times[model.fileName]
+    with ThreadPoolExecutor(max_workers=MAX_CONCURRENT_PIECES) as pool:
+      tasks = [loop.run_in_executor(pool, _fetch_piece, url, path, i, start, end, progress, cancel, self._block_size)
+               for i, (start, end) in enumerate(pieces)]
+      try:
+        await self._report_until_done(tasks, artifact, progress, total, started)
+      except BaseException as e:
+        cancel.set()
+        if isinstance(e, DownloadCancelled):
+          artifact.downloadProgress.canceling = True
+          self._set_progress(artifact, custom.ModelManagerSP.DownloadStatus.downloading, artifact.downloadProgress.progress)
+        for task in tasks:
+          task.cancel()  # drops queued pieces; running ones see the event at their next block
+        await asyncio.gather(*tasks, return_exceptions=True)
+        raise
+    del self._download_start_times[artifact.fileName]

  async def _process_artifact(self, artifact, destination_path: str) -> None:
    if not artifact.downloadUri.uri:
@@ -119,33 +245,31 @@ class ModelManagerSP:
    expected_hash = artifact.downloadUri.sha256
    filename = artifact.fileName
    full_path = os.path.join(destination_path, filename)
+    status = custom.ModelManagerSP.DownloadStatus
+    artifact.downloadProgress.canceling = False

    try:
+      self._set_progress(artifact, status.verifying, 0)
      if await verify_file(full_path, expected_hash):
-        artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
-        artifact.downloadProgress.progress = 100
-        artifact.downloadProgress.eta = 0
-        self._sync_artifact_progress(artifact)
-        self._report_status()
+        self._set_progress(artifact, status.cached, 100)
        return

+      self._set_progress(artifact, status.downloading, 0)
      await self._download_file(url, full_path, artifact)
+      self._set_progress(artifact, status.verifying, 99)
      if not await verify_file(full_path, expected_hash):
        raise ValueError(f"Hash validation failed for {filename}")

-      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.downloaded
-      artifact.downloadProgress.progress = 100
-      artifact.downloadProgress.eta = 0
-      self._sync_artifact_progress(artifact)
-      self._report_status()
+      self._set_progress(artifact, status.downloaded, 100)

    except DownloadCancelled:
      self._download_start_times.pop(artifact.fileName, None)
-      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
+      artifact.downloadProgress.status = status.failed
      artifact.downloadProgress.eta = 0
+      artifact.downloadProgress.speed = 0
      self._sync_artifact_progress(artifact)
      if self.selected_bundle:
-        self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
+        self.selected_bundle.status = status.failed
      self._report_status()
      raise

@@ -153,11 +277,12 @@ class ModelManagerSP:
      cloudlog.error(f"Error downloading {filename}: {str(e)}")
      if os.path.isfile(full_path):  # noqa: ASYNC240
        os.remove(full_path)
-      artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.failed
+      artifact.downloadProgress.status = status.failed
      artifact.downloadProgress.eta = 0
+      artifact.downloadProgress.speed = 0
      self._sync_artifact_progress(artifact)
      if self.selected_bundle:
-        self.selected_bundle.status = custom.ModelManagerSP.DownloadStatus.failed
+        self.selected_bundle.status = status.failed
      self._report_status()
      self._download_start_times.pop(artifact.fileName, None)
      raise
@@ -197,6 +322,7 @@ class ModelManagerSP:
          artifact.downloadProgress.status = custom.ModelManagerSP.DownloadStatus.cached
          artifact.downloadProgress.progress = 100
          artifact.downloadProgress.eta = 0
+          artifact.downloadProgress.speed = 0
        else:
          seen_artifacts.add(artifact.fileName)
          await self._process_artifact(artifact, destination_path)
@@ -272,12 +398,7 @@ class ModelManagerSP:
        rk.keep_time()

  def clear_model_cache(self) -> None:
-    """
-    Clears the model cache directory of all files except those in the active model bundle.
-    """
-
-    # Get list of files used by both slots' selected bundles (either may become
-    # the truly active bundle depending on hardware availability)
+    """ Clears the model cache directory of all files except those in the active model bundle."""
    active_files = []
    for source in ACTIVE_BUNDLE_KEYS:
      if selected_bundle := get_selected_bundle(self.params, source):
@@ -285,7 +406,6 @@ class ModelManagerSP:
          if model.artifact.fileName:
            active_files.append(model.artifact.fileName)

-    # Remove all files except active ones
    model_dir = Paths.model_root()
    try:
      for filename in os.listdir(model_dir):
@@ -0,0 +1,72 @@
+"""
+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.cereal import log
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.accel_boost import AccelBoost, ACCEL_BOOST_MAX
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+
+SCALE_RELAXED = 0.3
+SCALE_STANDARD = 0.5
+SCALE_AGGRESSIVE = 0.7
+
+
+def get_accel_boost_scale(personality) -> float:
+  if personality == log.LongitudinalPersonality.aggressive:
+    return SCALE_AGGRESSIVE
+  if personality == log.LongitudinalPersonality.relaxed:
+    return SCALE_RELAXED
+  return SCALE_STANDARD
+
+
+def get_accel_boost_max(personality, extra_enabled: bool = True) -> float:
+  if not extra_enabled:
+    return ACCEL_BOOST_MAX
+  return ACCEL_BOOST_MAX * (1.0 + get_accel_boost_scale(personality))
+
+
+class AccelBoostExt:
+  def __init__(self, stock: AccelBoost | None = None):
+    self._stock = stock if stock is not None else AccelBoost()
+    self._extra = AccelBoost()
+    self.params = Params()
+    self.frame = -1
+    self.enabled = self.params.get_bool("FollowDistanceAccelBoost")
+
+    self.stock_boost = 0.0
+    self.extra_boost = 0.0
+
+  @property
+  def total_boost(self) -> float:
+    return self._stock.total_boost + self.extra_boost
+
+  def _update_params(self) -> None:
+    if self.frame % int(PARAMS_UPDATE_PERIOD / DT_MDL) == 0:
+      self.enabled = self.params.get_bool("FollowDistanceAccelBoost")
+
+  def update(self, sm, output_a_target_e2e, output_a_target_mpc, a_cruise):
+    self.frame += 1
+    self._update_params()
+
+    if self.enabled and sm['selfdriveState'].enabled:
+      scale = get_accel_boost_scale(sm['selfdriveState'].personality)
+      extra_output = self._extra.update(sm, output_a_target_e2e, output_a_target_mpc, a_cruise)
+      self.extra_boost = (extra_output - output_a_target_e2e) * scale
+    else:
+      self.extra_boost = 0.0
+      self._extra.total_boost = 0.0
+      self._extra.boost_this_override = 0.0
+      self._extra.boost_eligible = False
+
+      output = self._stock.update(sm, output_a_target_e2e, output_a_target_mpc, a_cruise)
+      self.stock_boost = output - output_a_target_e2e
+      return output
+
+    target = output_a_target_e2e + self.extra_boost
+    output = self._stock.update(sm, target, output_a_target_mpc, a_cruise)
+    self.stock_boost = output - target
+    return output
@@ -9,6 +9,7 @@ from openpilot.cereal import messaging, custom
 from opendbc.car import structs
 from openpilot.common.constants import CV
 from openpilot.selfdrive.car.cruise import V_CRUISE_MAX
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_boost_ext import AccelBoostExt
 from openpilot.sunnypilot.selfdrive.controls.lib.e2e_alerts_helper import E2EAlertsHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
 from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import SpeedLimitAssist
@@ -32,6 +33,16 @@ class LongitudinalPlannerSP:

    self.output_v_target = 0.
    self.output_a_target = 0.
+    self._accel_boost: AccelBoostExt | None = None
+
+  @property
+  def accel_boost(self) -> AccelBoostExt:
+    assert self._accel_boost is not None
+    return self._accel_boost
+
+  @accel_boost.setter
+  def accel_boost(self, controller) -> None:
+    self._accel_boost = AccelBoostExt(controller)

  def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
    CS = sm['carState']
@@ -0,0 +1,237 @@
+from types import SimpleNamespace
+from unittest import mock
+
+from openpilot.cereal import log
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.test import OpenpilotTestCase
+from openpilot.selfdrive.controls.lib.accel_boost import AccelBoost, ACCEL_BOOST_MAX, ACCEL_BOOST_PER_OVERRIDE
+from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
+from openpilot.sunnypilot.selfdrive.controls.lib.accel_boost_ext import AccelBoostExt, get_accel_boost_max
+from openpilot.sunnypilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlannerSP
+
+E2E_ACCEL = 0.5
+PLANNER_ACCEL = 2.0
+STEPS_PER_OVERRIDE = round(ACCEL_BOOST_PER_OVERRIDE / (0.025 * DT_MDL))
+EXPECTED_SCALE = {
+  log.LongitudinalPersonality.relaxed: 0.3,
+  log.LongitudinalPersonality.standard: 0.5,
+  log.LongitudinalPersonality.aggressive: 0.7,
+}
+
+
+class FakeParams:
+  def __init__(self, enabled=True):
+    self.enabled = enabled
+
+  def get_bool(self, key):
+    return self.enabled
+
+
+class FakeSubMaster:
+  def __init__(self, enabled=True, gas_pressed=False, v_ego=15.0,
+               personality=log.LongitudinalPersonality.standard):
+    self._messages = {
+      'selfdriveState': SimpleNamespace(enabled=enabled, personality=personality),
+      'carState': SimpleNamespace(gasPressed=gas_pressed, vEgo=v_ego),
+    }
+
+  def __getitem__(self, key):
+    return self._messages[key]
+
+
+def update(boost, sm, e2e=E2E_ACCEL):
+  return boost.update(sm, e2e, PLANNER_ACCEL, PLANNER_ACCEL)
+
+
+class PlannerStub(LongitudinalPlannerSP):
+  def __init__(self):
+    self._accel_boost = None
+
+
+class TestAccelBoostExt(OpenpilotTestCase):
+  def setUp(self):
+    super().setUp()
+    self.params = FakeParams()
+    patcher = mock.patch("openpilot.sunnypilot.selfdrive.controls.lib.accel_boost_ext.Params", return_value=self.params)
+    patcher.start()
+    self.addCleanup(patcher.stop)
+
+  def _boost_to_max(self, personality):
+    boost = AccelBoostExt()
+    sm = FakeSubMaster(personality=personality)
+    # Eligibility is latched on a frame without gas, then applied on the next override.
+    update(boost, sm)
+    for _ in range(10):
+      sm['carState'].gasPressed = True
+      for _ in range(STEPS_PER_OVERRIDE):
+        update(boost, sm)
+      sm['carState'].gasPressed = False
+      update(boost, sm)
+    return boost, sm
+
+  def _applied_extra(self, boost, sm):
+    update(boost, sm)
+    return boost.extra_boost
+
+  def test_off_matches_stock_boost_exactly(self):
+    self.params.enabled = False
+    sm = FakeSubMaster()
+    stock = AccelBoost()
+    ext = AccelBoostExt()
+
+    stock_out = update(stock, sm)
+    ext_out = update(ext, sm)
+    self.assertAlmostEqual(ext_out, stock_out)
+
+    for _ in range(10):
+      sm['carState'].gasPressed = True
+      for _ in range(STEPS_PER_OVERRIDE):
+        stock_out = update(stock, sm)
+        ext_out = update(ext, sm)
+        self.assertAlmostEqual(ext_out, stock_out)
+      sm['carState'].gasPressed = False
+      stock_out = update(stock, sm)
+      ext_out = update(ext, sm)
+      self.assertAlmostEqual(ext_out, stock_out)
+
+    self.assertAlmostEqual(ext.total_boost, stock.total_boost)
+    self.assertAlmostEqual(ext.stock_boost, stock_out - E2E_ACCEL)
+    self.assertEqual(ext.extra_boost, 0.0)
+    self.assertEqual(ext._extra.total_boost, 0.0)
+
+  def test_no_boost_without_gas(self):
+    ext = AccelBoostExt()
+    sm = FakeSubMaster(gas_pressed=False)
+    out = update(ext, sm)
+    self.assertEqual(ext.total_boost, 0.0)
+    self.assertEqual(ext._extra.total_boost, 0.0)
+    self.assertAlmostEqual(out, E2E_ACCEL)
+
+  def test_boost_requires_e2e_to_be_limiting(self):
+    ext = AccelBoostExt()
+    sm = FakeSubMaster(gas_pressed=False)
+    ext.update(sm, E2E_ACCEL, E2E_ACCEL, E2E_ACCEL)
+    sm['carState'].gasPressed = True
+    for _ in range(10):
+      ext.update(sm, E2E_ACCEL, E2E_ACCEL, E2E_ACCEL)
+    self.assertEqual(ext.total_boost, 0.0)
+    self.assertEqual(ext.stock_boost, 0.0)
+    self.assertEqual(ext.extra_boost, 0.0)
+    self.assertEqual(ext._extra.total_boost, 0.0)
+
+  def test_extra_layer_per_override_cap(self):
+    ext = AccelBoostExt()
+    sm = FakeSubMaster(gas_pressed=False)
+    update(ext, sm)
+    sm['carState'].gasPressed = True
+    for _ in range(1000):
+      update(ext, sm)
+
+    self.assertAlmostEqual(ext._extra.total_boost, ACCEL_BOOST_PER_OVERRIDE)
+    applied = self._applied_extra(ext, sm)
+    expected = ACCEL_BOOST_PER_OVERRIDE * EXPECTED_SCALE[log.LongitudinalPersonality.standard]
+    self.assertAlmostEqual(applied, expected)
+
+  def test_extra_scales_with_following_distance(self):
+    applied = {}
+    for personality in (log.LongitudinalPersonality.relaxed,
+                        log.LongitudinalPersonality.standard,
+                        log.LongitudinalPersonality.aggressive):
+      ext, sm = self._boost_to_max(personality)
+      sm['carState'].gasPressed = True
+      applied[personality] = self._applied_extra(ext, sm)
+
+    for personality, value in applied.items():
+      self.assertAlmostEqual(value, ACCEL_BOOST_MAX * EXPECTED_SCALE[personality])
+
+    self.assertLess(applied[log.LongitudinalPersonality.relaxed], applied[log.LongitudinalPersonality.standard])
+    self.assertLess(applied[log.LongitudinalPersonality.standard], applied[log.LongitudinalPersonality.aggressive])
+
+  def test_capnp_dynamic_enum_personality_scales(self):
+    # Real SubMaster messages expose personality as a capnp DynamicEnum; equality still matches the enum value.
+    msg = log.SelfdriveState.new_message()
+    msg.personality = log.LongitudinalPersonality.aggressive
+    ext, sm = self._boost_to_max(msg.personality)
+    sm['carState'].gasPressed = True
+    applied = self._applied_extra(ext, sm)
+    self.assertAlmostEqual(applied, ACCEL_BOOST_MAX * EXPECTED_SCALE[log.LongitudinalPersonality.aggressive])
+
+  def test_extra_feeds_into_stock_last(self):
+    ext, sm = self._boost_to_max(log.LongitudinalPersonality.standard)
+    sm['carState'].gasPressed = True
+    inputs = []
+    original_update = AccelBoost.update
+
+    def spy(boost, sm_, e2e, mpc, cruise):
+      inputs.append(e2e)
+      return original_update(boost, sm_, e2e, mpc, cruise)
+
+    with mock.patch.object(AccelBoost, "update", spy):
+      out = update(ext, sm)
+
+    # First call is our extra layer on the raw target, last call is stock on the boosted target.
+    self.assertAlmostEqual(inputs[0], E2E_ACCEL)
+    self.assertAlmostEqual(inputs[-1], E2E_ACCEL + ext.extra_boost)
+    self.assertAlmostEqual(out, inputs[-1] + ext.stock_boost)
+
+  def test_extra_is_added_on_top_of_stock_boost(self):
+    ext, sm = self._boost_to_max(log.LongitudinalPersonality.aggressive)
+    sm['carState'].gasPressed = True
+    out = update(ext, sm)
+    extra = out - E2E_ACCEL - ext.stock_boost
+    self.assertAlmostEqual(ext._stock.total_boost, ACCEL_BOOST_MAX)
+    self.assertAlmostEqual(ext.total_boost, ACCEL_BOOST_MAX + ext.extra_boost)
+    self.assertAlmostEqual(ext.stock_boost, ACCEL_BOOST_MAX)
+    self.assertAlmostEqual(ext.extra_boost, ACCEL_BOOST_MAX * EXPECTED_SCALE[log.LongitudinalPersonality.aggressive])
+    self.assertAlmostEqual(extra, ext.extra_boost)
+
+  def test_sp_planner_wraps_assigned_stock_controller(self):
+    planner = PlannerStub()
+    stock = AccelBoost()
+    planner.accel_boost = stock
+
+    self.assertIsInstance(planner.accel_boost, AccelBoostExt)
+    self.assertIs(planner.accel_boost._stock, stock)
+
+  def test_wraps_existing_stock_controller(self):
+    stock = AccelBoost()
+    sm = FakeSubMaster()
+    update(stock, sm)
+    sm['carState'].gasPressed = True
+    update(stock, sm)
+
+    ext = AccelBoostExt(stock)
+    self.assertIs(ext._stock, stock)
+    self.assertAlmostEqual(ext.total_boost, stock.total_boost)
+
+  def test_boost_bar_max_matches_profile_cap(self):
+    for personality, scale in EXPECTED_SCALE.items():
+      self.assertAlmostEqual(get_accel_boost_max(personality), ACCEL_BOOST_MAX * (1.0 + scale))
+      self.assertAlmostEqual(get_accel_boost_max(personality, extra_enabled=False), ACCEL_BOOST_MAX)
+
+  def test_total_boost_is_stock_accumulated_plus_extra_applied(self):
+    ext, sm = self._boost_to_max(log.LongitudinalPersonality.aggressive)
+    sm['carState'].gasPressed = True
+    update(ext, sm)
+    self.assertAlmostEqual(ext.total_boost, ext._stock.total_boost + ext.extra_boost)
+
+  def test_turning_toggle_off_restores_stock_only(self):
+    ext, sm = self._boost_to_max(log.LongitudinalPersonality.aggressive)
+    self.assertGreater(ext._extra.total_boost, 0.0)
+
+    self.params.enabled = False
+    sm['carState'].gasPressed = True
+    # Params are re-read every PARAMS_UPDATE_PERIOD; the extra layer must clear on the next poll.
+    for _ in range(int(PARAMS_UPDATE_PERIOD / DT_MDL) + 1):
+      out = update(ext, sm)
+
+    self.assertEqual(ext._extra.total_boost, 0.0)
+    self.assertEqual(ext.extra_boost, 0.0)
+    self.assertAlmostEqual(out, E2E_ACCEL + ext.stock_boost)
+
+  def test_relaxing_following_distance_applies_immediately(self):
+    ext, sm = self._boost_to_max(log.LongitudinalPersonality.aggressive)
+    sm['selfdriveState'].personality = log.LongitudinalPersonality.relaxed
+    sm['carState'].gasPressed = True
+    applied = self._applied_extra(ext, sm)
+    self.assertAlmostEqual(applied, ACCEL_BOOST_MAX * EXPECTED_SCALE[log.LongitudinalPersonality.relaxed])
@@ -620,6 +620,19 @@
                }
              ]
            },
+            {
+              "key": "FollowDistanceAccelBoost",
+              "widget": "toggle",
+              "title": "Extra Acceleration Boost by Following Distance",
+              "description": "Adds extra acceleration on top of the stock gas-override boost. The extra boost follows the Following Distance setting, strongest when Aggressive and weakest when Relaxed. The stock boost remains active when this is off.",
+              "enablement": [
+                {
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
+                }
+              ]
+            },
            {
              "key": "IntelligentCruiseButtonManagement",
              "widget": "toggle",
@@ -30,6 +30,14 @@ sections:
      label: Relaxed
    enablement:
    - $ref: '#/macros/longitudinal'
+  - key: FollowDistanceAccelBoost
+    widget: toggle
+    title: Extra Acceleration Boost by Following Distance
+    description: Adds extra acceleration on top of the stock gas-override boost. The extra boost follows
+      the Following Distance setting, strongest when Aggressive and weakest when Relaxed. The stock boost
+      remains active when this is off.
+    enablement:
+    - $ref: '#/macros/longitudinal'
  - key: IntelligentCruiseButtonManagement
    widget: toggle
    title: Intelligent Cruise Button Management (ICBM) (Alpha)
@@ -57,7 +57,7 @@ class DownloadStatusAction(ItemAction):
    self.icon: str | None = None
    self.icon_color: rl.Color | None = None
    self._font = gui_app.font(FontWeight.NORMAL)
-    # raw progress arrives in steps, one per 128KB chunk the manager publishes
+    # raw progress arrives in steps, one per progress report from the manager
    self._progress = FirstOrderFilter(0.0, 0.5, 1 / gui_app.target_fps)
    # integrated per frame; (t * speed) % span jumps whenever the fill width changes
    self._sweep = 0.0
@@ -1,5 +1,5 @@
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-revision = 5
+revision = 3
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 [[package]]
Author	SHA1	Message	Date
rav4kumar	de56d68fa8	Revert "debug" This reverts commit `07bb42c2bb`.	2026-10-25 11:58:12 -07:00
Kumar	b914f168b4	Merge branch 'master' into boooost	2026-10-25 11:53:53 -07:00
Jason Wen	8e740e0ac6	bump opendbc	2026-10-22 22:20:29 -04:00
rav4kumar	07bb42c2bb	debug	2026-10-22 12:50:40 -07:00
rav4kumar	dd674fbc0d	ui improv	2026-10-22 12:49:41 -07:00
rav4kumar	53176484bd	early return and no offroad gate	2026-10-22 12:08:09 -07:00
rav4kumar	b2d025f543	mici: acccel boost ui	2026-10-22 11:52:46 -07:00
Kumar	35ee46abc3	Merge branch 'master' into boooost	2026-10-22 11:50:21 -07:00
James Vecellio-Grant	9d029d683d	models: self healing test for tg (#2072 ) * models: self healing test for tg * rm container * ew * set env * set var	2026-10-22 13:43:42 -04:00
James Vecellio-Grant	567cffdb3e	Merge branch 'master' into boooost	2026-10-22 08:31:06 -07:00
Amy Jeanes	f78c6c2377	models: publish the download speed and derive the eta from it (#2052 ) * models: publish the download speed and derive the eta from it Fills in DownloadProgress.speed (bytes per second, declared with the parallel downloader). The reporter measures the rate between its 0.5 s reports, smooths it, and derives the eta from the bytes remaining at that rate instead of extrapolating elapsed time. Speed is zeroed when a download ends, fails or is cancelled and for a cached artifact, and copied across artifacts that share a file like the other progress fields. The big UI's Models page shows "12.3 MB/s" next to the progress bar and the mici models panel shows it beside the percentage. Both take the max across a bundle's artifacts, not the sum, since artifacts sharing a file mirror the same transfer and only one file is ever in flight. A stall decays the smoothed speed toward 0 without ever reaching it, so below 0.05 MB/s, which would only display as "0.0 MB/s", it snaps to 0. Both UIs then show "--.- MB/s" while downloading with no rate (before the first reading or during a stall) instead of a stuck "0.0 MB/s" or nothing, and the speed recovers straight to the real rate once data flows again. The snap also keeps the eta in range: without it a stall of about 25 s drove remaining / speed past the capnp UInt32 eta, and the capnp error failed the download outright instead of leaving the stall to the read timeout and retries. A test holds a piece stalled until the published speed reaches exactly 0, and errors on that overflow without the snap. Assisted-by: Claude Code (Claude Opus 4.8) Assisted-by: Claude Code (Claude Opus 5.5) * remove unneeded comments Assisted-by: Claude Code (Claude Opus 5.5) * models: take the speed baseline before the workers start The reporter took its starting byte count after the piece workers were submitted, and starting each pool thread lets earlier workers run, so bytes landed in that gap never counted toward a speed sample. Take the baseline in _download_file before any worker exists and pass it in. The test runs every piece inline in submit, so the whole file lands before the reporter starts; with the late baseline the speed stays 0. Assisted-by: Claude Code (Claude Opus 5.5)	2026-10-21 16:13:52 -07:00
Kumar	7cf2f4cf2e	Merge branch 'master' into boooost	2026-10-21 11:29:19 -07:00
James Vecellio-Grant	1aa3a430fb	models: pin tg to @02e6981 (#2071 )	2026-10-21 11:11:24 -07:00
Amy Jeanes	ddd7b14ebc	models: download whole-file artifacts with parallel byte ranges (#2051 ) * models: download whole-file artifacts with parallel byte ranges HuggingFace's Xet CAS throttles each connection to roughly 1-2 MB/s but does not limit connection count, so the single-stream _download_file left the link idle most of the time. Replace it with a downloader that probes the size with a one-byte Range request, creates the file at its final size and streams each 8 MB piece straight to its offset from one of 12 worker threads. The file is never copied or assembled and only ever occupies its own size on disk. A server that answers the probe with 200 gets one plain stream instead. Every request sends Accept-Encoding: identity, because byte ranges count encoded bytes while requests hands back decoded ones, so a compressed response would land at the wrong offsets and fail as a short read. Workers only write bytes; a reporter coroutine on the event loop publishes progress every 0.5 s (instead of every 128 KB), re-raises the first worker failure and polls the cancel ref. Transient errors (connection, timeout, truncated body, HTTP 408/429/500/502/503/504) give a piece up to three attempts; any other HTTP error fails the download at once. The whole-file path now also publishes "verifying" while hashing before and after the transfer, and the download is hashed against the manifest exactly as before. A cancel has to wait for in-flight pieces to unwind (a blocked socket read cannot be interrupted), so the row shows "canceling..." through a new DownloadProgress.canceling flag instead of a frozen bar, and the mici cancel button hides once the ref is gone, as it already does on the big UI. DownloadProgress gains speed, canceling and resuming, appended to the capnp so older readers are unaffected. All three are declared here so the wire format lands in one place; speed and resuming are filled in by the follow-up speed and resume changes. Builds on #2050, which drops chunking and publishes models as whole files; this makes that whole-file download parallel. Measured on a comma 3X on WiFi: ~2 MB/s single stream, 17-24 MB/s steady and 30-60 MB/s peak with 12 range connections, the count picked from an on-device sweep. Disk is not the bottleneck (eMMC writes at 56-67 MB/s with fdatasync). Tests drive the real downloader against a local threaded range server: piece tiling, actual parallelism (a stalled piece does not block the others), the no-range fallback, per-piece retry, 4xx, cancel via ModelManager_DownloadRef and mid-piece, verify/cached/downloaded state, a probe failure moving past verifying, and hash mismatch cleanup. Also drops two chunk-era leftovers in the tests: a stale "no chunks" note on manifest_bundle and a one-item URL loop in the live manifest check. Assisted-by: Claude Code (Claude Opus 4.8) Assisted-by: Claude Code (Claude Opus 5.5) * remove unneeded comments * models: trim the manager tests to the regressions they catch Each remaining test is there because a deliberate break in manager.py, helpers.py or fetcher.py fails it. Tests that only re-checked what another already catches are merged into a happy-path download or a table, and checks of constants rather than behaviour are dropped. The fake server now starts per test, keeps its state in one dataclass, and can cut a response short. Against 66 deliberate breaks, every one the old tests caught still fails, and a 404 being retried, a short read and its retry, and the display flags choosing the big model without a GPU are now caught too. Assisted-by: Claude Code (Claude Opus 5.5) * Update test_manager_download.py * Update manager.py --------- Co-authored-by: James Vecellio-Grant <159560811+Discountchubbs@users.noreply.github.com>	2026-10-21 09:35:43 -07:00
rav4kumar	1b4902a8ba	test: fix boost test collection and stale profile scales	2026-10-20 11:22:54 -07:00
rav4kumar	895bfa8ea5	too much boost lol	2026-10-20 10:59:44 -07:00
rav4kumar	45051dab54	more boost and scale ui per profile	2026-10-20 10:59:44 -07:00
rav4kumar	612c79760a	lint	2026-10-20 10:59:44 -07:00
rav4kumar	af93efd608	long: add follow distance accel boost	2026-10-20 10:59:44 -07:00