diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index af67bdbe5d86d5..53a06f6f31db77 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -1,11 +1,12 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb bash-completion
-RUN pip install ipython jupyter jupyterlab
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
+RUN python3 -m ensurepip --upgrade
+RUN pip3 install ipython jupyter jupyterlab
 
 RUN cd /tmp && \
     ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
-    curl -L -o virtualgl.deb "https://downloads.sourceforge.net/project/virtualgl/3.1/virtualgl_3.1_$ARCH.deb" && \
+    curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
     dpkg -i virtualgl.deb
 
 RUN usermod -aG video batman
diff --git a/.github/labeler.yaml b/.github/labeler.yaml
index 47d0d480a91d21..0c5d1a687afb80 100644
--- a/.github/labeler.yaml
+++ b/.github/labeler.yaml
@@ -44,7 +44,7 @@ subaru:
 
 tesla:
   - changed-files:
-    - any-glob-to-all-files: 'selfdrive/car/telsa/*'
+    - any-glob-to-all-files: 'selfdrive/car/tesla/*'
 
 toyota:
   - changed-files:
diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index cf8bdc71097165..f8d2fc3cf10bd4 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -7,7 +7,7 @@ on:
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 
 jobs:
   badges:
diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
new file mode 100644
index 00000000000000..22b87458726c5a
--- /dev/null
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -0,0 +1,101 @@
+name: weekly CI test report
+on:
+  schedule:
+    - cron: '37 9 * * 1' # 9:37AM UTC -> 2:37AM PST every monday
+  workflow_dispatch:
+    inputs:
+      ci_runs:
+        description: 'The amount of runs to trigger in CI test report'
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+  CI_RUNS: ${{ github.event.inputs.ci_runs || '50' }}
+
+jobs:
+  setup:
+    if: github.repository == 'commaai/openpilot'
+    runs-on: ubuntu-latest
+    outputs:
+      ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
+    steps:
+      - id: ci_runs_setup
+        name: CI_RUNS=${{ env.CI_RUNS }}
+        run: |
+          matrix=$(python3 -c "import json; print(json.dumps({ 'run_number' : list(range(${{ env.CI_RUNS }})) }))")
+          echo "matrix=$matrix" >> $GITHUB_OUTPUT
+
+  ci_matrix_run:
+    needs: [ setup ]
+    strategy:
+      fail-fast: false
+      matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
+    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
+    with:
+      run_number: ${{ matrix.run_number }}
+
+  report:
+    needs: [ci_matrix_run]
+    runs-on: ubuntu-latest
+    if: always()
+    steps:
+      - name: Get job results
+        uses: actions/github-script@v7
+        id: get-job-results
+        with:
+          script: |
+            const jobs = await github
+              .paginate("GET /repos/{owner}/{repo}/actions/runs/{run_id}/attempts/{attempt}/jobs", {
+                owner: "commaai",
+                repo: "${{ github.event.repository.name }}",
+                run_id: "${{ github.run_id }}",
+                attempt: "${{ github.run_attempt }}",
+              })
+            var report = {}
+            jobs.slice(1, jobs.length-1).forEach(job => {
+              if (job.conclusion === "skipped") return;
+              const jobName = job.name.split(" / ")[2];
+              const runRegex = /\((.*?)\)/;
+              const run = job.name.match(runRegex)[1];
+              report[jobName] = report[jobName] || { successes: [], failures: [], cancelled: [] };
+              switch (job.conclusion) {
+                case "success":
+                  report[jobName].successes.push({ "run_number": run, "link": job.html_url}); break;
+                case "failure":
+                  report[jobName].failures.push({ "run_number": run, "link": job.html_url }); break;
+                case "cancelled":
+                  report[jobName].cancelled.push({ "run_number": run, "link": job.html_url }); break;
+              }
+            });
+            return JSON.stringify({"jobs": report});
+
+      - name: Add job results to summary
+        env:
+          JOB_RESULTS: ${{ fromJSON(steps.get-job-results.outputs.result) }}
+        run: |
+          cat <<EOF >> template.html
+          <table>
+            <thead>
+              <tr>
+                <th></th>
+                <th>Job</th>
+                <th>✅ Passing</th>
+                <th>❌ Failure Details</th>
+              </tr>
+            </thead>
+            <tbody>
+              {% for key in jobs.keys() %}<tr>
+                <td>{% for i in range(5) %}{% if i+1 <= (5 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }}) %}🟩{% else %}🟥{% endif %}{% endfor%}</td>
+                <td>{{ key }}</td>
+                <td>{{ 100 * jobs[key]["successes"]|length // ${{ env.CI_RUNS }} }}%</td>
+                <td>{% if jobs[key]["failures"]|length > 0 %}<details>{% for failure in jobs[key]["failures"] %}<a href="{{ failure['link'] }}">Log for run #{{ failure['run_number'] }}</a><br>{% endfor %}</details>{% else %}{% endif %}</td>
+                </td>
+              </tr>{% endfor %}
+          </table>
+          EOF
+
+          pip install jinja2-cli
+          echo $JOB_RESULTS | jinja2 template.html > report.html
+          echo "# CI Test Report - ${{ env.CI_RUNS }} Runs" >> $GITHUB_STEP_SUMMARY
+          cat report.html >> $GITHUB_STEP_SUMMARY
diff --git a/.github/workflows/ci_weekly_run.yaml b/.github/workflows/ci_weekly_run.yaml
new file mode 100644
index 00000000000000..c3ce8c42da861e
--- /dev/null
+++ b/.github/workflows/ci_weekly_run.yaml
@@ -0,0 +1,21 @@
+name: weekly CI test run
+on:
+  workflow_call:
+    inputs:
+      run_number:
+        required: true
+        type: string
+
+concurrency:
+  group: ci-run-${{ inputs.run_number }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  selfdrive_tests:
+    uses: commaai/openpilot/.github/workflows/selfdrive_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}
+  tools_tests:
+    uses: commaai/openpilot/.github/workflows/tools_tests.yaml@master
+    with:
+      run_number: ${{ inputs.run_number }}
diff --git a/.github/workflows/docs.yaml b/.github/workflows/docs.yaml
index a32989f7d08852..26b60ffec27670 100644
--- a/.github/workflows/docs.yaml
+++ b/.github/workflows/docs.yaml
@@ -5,35 +5,34 @@ on:
     branches:
       - master
   pull_request:
-
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: docs-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
-env:
-  BASE_IMAGE: openpilot-base
-
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
 jobs:
   docs:
     name: build docs
     runs-on: ubuntu-latest
-    timeout-minutes: 45
+    timeout-minutes: 1
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
+
+    # Build
     - name: Build docs
       run: |
-        ${{ env.RUN }} "apt update && apt install -y doxygen && cd docs && make -j$(nproc) html"
+        # TODO: can we install just the "docs" dependency group without the normal deps?
+        pip install mkdocs
+        mkdocs build
 
+    # Push to docs.comma.ai
     - uses: actions/checkout@v4
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
@@ -48,16 +47,17 @@ jobs:
         source release/identity.sh
 
         cd openpilot-docs
-
         git checkout --orphan tmp
         git rm -rf .
 
-        cp -r ../build/docs/html/ docs/
-        cp -r ../docs/README.md .
+        # copy over docs
+        cp -r ../docs_site/ docs/
+
+        # GitHub pages config
         touch docs/.nojekyll
         echo -n docs.comma.ai > docs/CNAME
-        git add -f .
 
+        git add -f .
         git commit -m "build docs"
 
         # docs live in different repo to not bloat openpilot's full clone size
diff --git a/.github/workflows/jenkins-pr-trigger.yaml b/.github/workflows/jenkins-pr-trigger.yaml
new file mode 100644
index 00000000000000..db1d5240188ae2
--- /dev/null
+++ b/.github/workflows/jenkins-pr-trigger.yaml
@@ -0,0 +1,45 @@
+name: jenkins scan
+
+on:
+  issue_comment:
+    types: [created, edited]
+
+jobs:
+  # TODO: gc old branches in a separate job in this workflow
+  scan-comments:
+    runs-on: ubuntu-latest
+    if: ${{ github.event.issue.pull_request }}
+    steps:
+    - name: Check for trigger phrase
+      id: check_comment
+      uses: actions/github-script@v7
+      with:
+        script: |
+          const triggerPhrase = "trigger-jenkins";
+          const comment = context.payload.comment.body;
+          const commenter = context.payload.comment.user.login;
+
+          const { data: permissions } = await github.rest.repos.getCollaboratorPermissionLevel({
+            owner: context.repo.owner,
+            repo: context.repo.repo,
+            username: commenter
+          });
+
+          const hasWriteAccess = permissions.permission === 'write' || permissions.permission === 'admin';
+
+          return (hasWriteAccess && comment.includes(triggerPhrase));
+        result-encoding: json
+
+    - name: Checkout repository
+      if: steps.check_comment.outputs.result == 'true'
+      uses: actions/checkout@v4
+      with:
+        ref: refs/pull/${{ github.event.issue.number }}/head
+
+    - name: Push to tmp-jenkins branch
+      if: steps.check_comment.outputs.result == 'true'
+      run: |
+        git config --global user.name "github-actions[bot]"
+        git config --global user.email "github-actions[bot]@users.noreply.github.com"
+        git checkout -b tmp-jenkins-${{ github.event.issue.number }}
+        GIT_LFS_SKIP_PUSH=1 git push -f origin tmp-jenkins-${{ github.event.issue.number }}
diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index 0e6606112bfe68..cf35804492bd43 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -41,10 +41,11 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
-    - name: poetry lock
+    - name: uv lock
       run: |
-        pip install poetry
-        poetry lock
+        python3 -m ensurepip --upgrade
+        pip3 install uv
+        uv lock --upgrade
     - name: pre-commit autoupdate
       run: |
         git config --global --add safe.directory '*'
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 35bab255cb8c25..bfad6e1e7dda22 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -6,9 +6,15 @@ on:
       - master
   pull_request:
   workflow_dispatch:
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
 
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: selfdrive-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
@@ -19,7 +25,7 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 
@@ -62,15 +68,17 @@ jobs:
         cd $GITHUB_WORKSPACE
         cp .pre-commit-config.yaml $STRIPPED_DIR
         cp pyproject.toml $STRIPPED_DIR
-        cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
         ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
 
   build:
     strategy:
       matrix:
-        arch: ${{ fromJson('["x86_64"]') }} # TODO: Re-add build test for aarch64 once we switched to ubuntu-2404
-    runs-on: ubuntu-latest
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') ||
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8' || 'ubuntu-latest' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -87,6 +95,48 @@ jobs:
     - uses: ./.github/workflows/compile-openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
 
+  build_mac:
+    name: build macOS
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: true
+    - run: git lfs pull
+    - name: Install dependencies
+      run: ./tools/mac_setup.sh
+      env:
+        # package install has DeprecationWarnings
+        PYTHONWARNINGS: default
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - name: Getting scons cache
+      uses: 'actions/cache@v4'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-macos
+    - name: Building openpilot
+      run: . .venv/bin/activate && scons -j$(nproc)
+
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-latest
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [build]
+    steps:
+    - uses: actions/checkout@v4
+      with:
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+
   static_analysis:
     name: static analysis
     runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
@@ -123,7 +173,6 @@ jobs:
       timeout-minutes: 15
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
-                        export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
                         $PYTEST --timeout 60 -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
@@ -288,6 +337,7 @@ jobs:
             })
 
   create_ui_report:
+    # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
     runs-on: ubuntu-latest
     steps:
@@ -301,10 +351,9 @@ jobs:
         run: >
             ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
                             source selfdrive/test/setup_xvfb.sh &&
-                            export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' &&
                             python selfdrive/ui/tests/test_ui/run.py"
       - name: Upload Test Report
         uses: actions/upload-artifact@v4
         with:
-          name: report
-          path: selfdrive/ui/tests/test_ui/report
+          name: report-${{ github.event.number }}
+          path: selfdrive/ui/tests/test_ui/report_1/screenshots
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 970d62030d56f1..701675942f5f39 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -60,4 +60,4 @@ runs:
         find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
     # build our docker image
     - shell: bash
-      run: eval ${{ env.BUILD }}
\ No newline at end of file
+      run: eval ${{ env.BUILD }}
diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index 3c86b8e8549da6..a26691ea454538 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -14,7 +14,7 @@ jobs:
     steps:
       - uses: actions/stale@v9
         with:
-          exempt-milestones: true
+          exempt-all-milestones: true
 
           # pull request config
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index c2f7d86e694caf..271e4bda17f162 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -5,9 +5,14 @@ on:
     branches:
       - master
   pull_request:
-
+  workflow_call:
+    inputs:
+      run_number:
+        default: '1'
+        required: true
+        type: string
 concurrency:
-  group: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
+  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
   cancel-in-progress: true
 
 env:
@@ -16,7 +21,7 @@ env:
 
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 
 jobs:
@@ -34,17 +39,17 @@ jobs:
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run bridge test
       run: |
-        ${{ env.RUN }} "export MAPBOX_TOKEN='pk.eyJ1Ijoiam5ld2IiLCJhIjoiY2xxNW8zZXprMGw1ZzJwbzZneHd2NHljbSJ9.gV7VPRfbXFetD-1OVF0XZg' && \
-                        source selfdrive/test/setup_xvfb.sh && \
+        ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         source selfdrive/test/setup_vsound.sh && \
                         CI=1 pytest tools/sim/tests/test_metadrive_bridge.py"
 
-  test_python311:
-    name: test python3.11 support
-    runs-on: ubuntu-latest
-    timeout-minutes: 5
+  test_compatibility:
+    name: test 20.04 + 3.11
+    runs-on: ubuntu-20.04
     steps:
     - uses: actions/checkout@v4
+      with:
+        submodules: true
     - name: Installing ubuntu dependencies
       run: INSTALL_EXTRA_PACKAGES=no tools/install_ubuntu_dependencies.sh
     - name: Installing python
@@ -53,10 +58,21 @@ jobs:
         python-version: '3.11.4'
     - name: Installing pip
       run: pip install pip==24.0
-    - name: Installing poetry
-      run: pip install poetry==1.7.0
-    - name: Installing python dependencies
-      run: poetry install --no-cache --no-root
+    - name: Installing uv
+      run: pip install uv
+    - name: git LFS
+      run: git lfs pull
+    - run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
+    - name: Getting scons cache
+      uses: 'actions/cache@v4'
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        restore-keys: |
+          scons-${{ runner.arch }}-ubuntu2004-${{ env.CACHE_COMMIT_DATE }}
+          scons-${{ runner.arch }}-ubuntu2004
+    - name: Building openpilot
+      run: uv run scons -u -j$(nproc)
 
   devcontainer:
     name: devcontainer
@@ -81,6 +97,6 @@ jobs:
     - name: Test environment
       run: |
         devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
-        devcontainer exec --workspace-folder . pip install pip-install-test
+        devcontainer exec --workspace-folder . pip3 install pip-install-test
         devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
         devcontainer exec --workspace-folder . sudo touch /root/test.txt
diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
new file mode 100644
index 00000000000000..bc19e237780058
--- /dev/null
+++ b/.github/workflows/ui_preview.yaml
@@ -0,0 +1,91 @@
+name: "ui preview"
+on:
+  pull_request_target:
+    types: [assigned, opened, synchronize, reopened, edited]
+    branches:
+      - 'master'
+    paths:
+      - 'selfdrive/ui/**'
+
+env:
+  UI_JOB_NAME: "Create UI Report"
+
+jobs:
+  preview:
+    if: github.repository == 'commaai/openpilot'
+    name: preview
+    runs-on: ubuntu-latest
+    timeout-minutes: 5
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+      - name: Waiting for ui test to start
+        run: sleep 30
+
+      - name: Wait for ui report
+        uses: lewagon/wait-on-check-action@v1.3.4
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+          check-name: ${{ env.UI_JOB_NAME }}
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          allowed-conclusions: success
+          wait-interval: 20
+
+      - name: Get workflow run ID
+        id: get_run_id
+        run: |
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ github.event.pull_request.head.sha }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+
+      - name: Checkout ci-artifacts
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/ci-artifacts
+          ref: master
+
+      - name: Download artifact
+        id: download-artifact
+        uses: dawidd6/action-download-artifact@v6
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          run_id: ${{ steps.get_run_id.outputs.run_id }}
+          search_artifacts: true
+          name: report-${{ github.event.number }}
+          path: ${{ github.workspace }}/ci-artifacts
+
+      - name: Push Screenshots
+        working-directory: ${{ github.workspace }}/ci-artifacts
+        run: |
+          git checkout -b openpilot/pr-${{ github.event.number }}
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          git add ${{ github.workspace }}/ci-artifacts/*
+          git commit -m "screenshots for PR #${{ github.event.number }}"
+          git push origin openpilot/pr-${{ github.event.number }} --force
+
+      - name: Comment Screenshots on PR
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_screenshots **${{ github.run_id }}**)_ -->
+            ## UI Screenshots
+            <table>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/homescreen.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_map.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/onroad_sidebar.png"></td>
+              </tr>
+              <tr>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_network.png"></td>
+                <td><img src="https://raw.githubusercontent.com/commaai/ci-artifacts/openpilot/pr-${{ github.event.number }}/settings_device.png"></td>
+              </tr>
+            </table>
+          comment_tag: run_id_screenshots
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.gitignore b/.gitignore
index f067893c77ed9c..d66823bb506f4b 100644
--- a/.gitignore
+++ b/.gitignore
@@ -14,6 +14,8 @@ model2.png
 a.out
 .hypothesis
 
+/docs_site/
+
 *.dylib
 *.DSYM
 *.d
@@ -43,6 +45,7 @@ persist
 selfdrive/pandad/pandad
 cereal/services.h
 cereal/gen
+cereal/messaging/bridge
 selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
@@ -101,4 +104,4 @@ Pipfile
 ### VisualStudioCode Patch ###
 # Ignore all local history of files
 .history
-.ionide
\ No newline at end of file
+.ionide
diff --git a/.gitmodules b/.gitmodules
index e33902db52e476..1d5d04577e9fa9 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -10,12 +10,9 @@
 [submodule "rednose_repo"]
   path = rednose_repo
   url = ../../commaai/rednose.git
-[submodule "body"]
-  path = body
-  url = ../../commaai/body.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
   url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/geohot/tinygrad.git
+  url = https://github.com/tinygrad/tinygrad.git
diff --git a/.importlinter b/.importlinter
new file mode 100644
index 00000000000000..f77ea24b39751e
--- /dev/null
+++ b/.importlinter
@@ -0,0 +1,41 @@
+[importlinter]
+root_packages =
+    openpilot
+
+[importlinter:contract:1]
+name = Forbid imports from openpilot.selfdrive.car to openpilot.system
+type = forbidden
+source_modules =
+    openpilot.selfdrive.car
+forbidden_modules =
+    openpilot.system
+    openpilot.body
+    openpilot.docs
+    openpilot.msgq
+    openpilot.panda
+    openpilot.rednose
+    openpilot.release
+    openpilot.teleoprtc
+    openpilot.tinygrad
+ignore_imports =
+    openpilot.selfdrive.car.card -> openpilot.common.realtime
+    openpilot.selfdrive.car.card -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.events
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.logreader
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.car.card
+    openpilot.selfdrive.car.tests.test_models -> openpilot.tools.lib.route
+    openpilot.selfdrive.car.tests.test_models -> openpilot.system.hardware.hw
+    openpilot.selfdrive.car.tests.test_models -> openpilot.selfdrive.test.helpers
+    openpilot.selfdrive.car.isotp_parallel_query -> openpilot.common.swaglog
+    openpilot.selfdrive.car.fw_versions -> openpilot.common.swaglog
+    openpilot.selfdrive.car.disable_ecu -> openpilot.common.swaglog
+    openpilot.selfdrive.car.vin -> openpilot.common.swaglog
+    openpilot.selfdrive.car.ecu_addrs -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.common.swaglog
+    openpilot.selfdrive.car.car_helpers -> openpilot.system.version
+    openpilot.selfdrive.car.interfaces -> openpilot.selfdrive.controls.lib.drive_helpers
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_angle
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.longcontrol
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_torque
+    openpilot.selfdrive.car.tests.test_car_interfaces -> openpilot.selfdrive.controls.lib.latcontrol_pid
+unmatched_ignore_imports_alerting = warn
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 61b78236449c37..a7a53790886ca2 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -19,7 +19,7 @@ repos:
     -   id: check-executables-have-shebangs
     -   id: check-shebang-scripts-are-executable
     -   id: check-added-large-files
-        exclude: '(docs/CARS.md)|(poetry.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
+        exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
         args:
         - --maxkb=120
         - --enforce-all
@@ -27,13 +27,13 @@ repos:
     rev: v2.3.0
     hooks:
     -   id: codespell
-        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
+        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
         - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.4.8
+    rev: v0.5.5
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -62,6 +62,8 @@ repos:
         - --quiet
         - --force
         - -j8
+        - --library=qt
+        - --include=third_party/kaitai/kaitaistream.h
 -   repo: https://github.com/cpplint/cpplint
     rev: 1.6.1
     hooks:
@@ -90,14 +92,14 @@ repos:
         language: system
         pass_filenames: false
         files: '^selfdrive/ui/translations/'
--   repo: https://github.com/python-poetry/poetry
-    rev: '1.8.0'
-    hooks:
-    -   id: poetry-check
-        name: validate poetry lock
-        args:
-        - --lock
 -   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.28.4
+    rev: 0.29.1
     hooks:
     -   id: check-github-workflows
+-   repo: local
+    hooks:
+    -   id: import-linter
+        name: import linter
+        entry: lint-imports
+        language: system
+        pass_filenames: false
diff --git a/.vscode/launch.json b/.vscode/launch.json
index 3b3953c3f4bf56..a6b341d9eafbdd 100644
--- a/.vscode/launch.json
+++ b/.vscode/launch.json
@@ -7,7 +7,6 @@
       "description": "Select the process to debug",
       "options": [
         "selfdrive/controls/controlsd.py",
-        "selfdrive/navd/navd.py",
         "system/timed/timed.py",
         "tools/sim/run_bridge.py"
       ]
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index 5d8f958c48017d..e26a427eb1aba9 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -8,23 +8,6 @@ ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 RUN mkdir -p ${OPENPILOT_PATH}
 WORKDIR ${OPENPILOT_PATH}
 
-COPY SConstruct ${OPENPILOT_PATH}
-
-COPY ./openpilot ${OPENPILOT_PATH}/openpilot
-COPY ./third_party ${OPENPILOT_PATH}/third_party
-COPY ./site_scons ${OPENPILOT_PATH}/site_scons
-COPY ./rednose ${OPENPILOT_PATH}/rednose
-COPY ./rednose_repo/site_scons ${OPENPILOT_PATH}/rednose_repo/site_scons
-COPY ./tools ${OPENPILOT_PATH}/tools
-COPY ./release ${OPENPILOT_PATH}/release
-COPY ./common ${OPENPILOT_PATH}/common
-COPY ./opendbc ${OPENPILOT_PATH}/opendbc
-COPY ./cereal ${OPENPILOT_PATH}/cereal
-COPY ./msgq_repo ${OPENPILOT_PATH}/msgq_repo
-COPY ./msgq ${OPENPILOT_PATH}/msgq
-COPY ./panda ${OPENPILOT_PATH}/panda
-COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
-COPY ./system ${OPENPILOT_PATH}/system
-COPY ./body ${OPENPILOT_PATH}/body
+COPY . ${OPENPILOT_PATH}/
 
 RUN scons --cache-readonly -j$(nproc)
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 45b29bdcb13c6a..a5028d4347d95c 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -1,4 +1,4 @@
-FROM ubuntu:20.04
+FROM ubuntu:24.04
 
 ENV PYTHONUNBUFFERED 1
 
@@ -15,7 +15,7 @@ ENV LC_ALL en_US.UTF-8
 COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
 RUN INSTALL_EXTRA_PACKAGES=no /tmp/tools/install_ubuntu_dependencies.sh && \
     rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/9.2.1 && \
+    cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
 # Add OpenCL
@@ -30,23 +30,28 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     gcc-arm-none-eabi \
     tmux \
     vim \
-    lsb-core \
     libx11-6 \
+    wget \
   && rm -rf /var/lib/apt/lists/*
 
-ARG INTEL_DRIVER=l_opencl_p_18.1.0.015.tgz
-ARG INTEL_DRIVER_URL=https://registrationcenter-download.intel.com/akdlm/irc_nas/vcp/15532
-RUN mkdir -p /tmp/opencl-driver-intel
-
-RUN cd /tmp/opencl-driver-intel && \
-    echo INTEL_DRIVER is $INTEL_DRIVER && \
-    curl -O $INTEL_DRIVER_URL/$INTEL_DRIVER && \
-    tar -xzf $INTEL_DRIVER && \
-    for i in $(basename $INTEL_DRIVER .tgz)/rpm/*.rpm; do alien --to-deb $i; done && \
-    dpkg -i *.deb && \
-    rm -rf $INTEL_DRIVER $(basename $INTEL_DRIVER .tgz) *.deb && \
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
     mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/opencl_compilers_and_libraries_18.1.0.015/linux/compiler/lib/intel64_lin/libintelocl.so > /etc/OpenCL/vendors/intel.icd && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
     cd / && \
     rm -rf /tmp/opencl-driver-intel
 
@@ -57,26 +62,23 @@ ENV QTWEBENGINE_DISABLE_SANDBOX 1
 RUN dbus-uuidgen > /etc/machine-id
 
 ARG USER=batman
-ARG USER_UID=1000
+ARG USER_UID=1001
 RUN useradd -m -s /bin/bash -u $USER_UID $USER
 RUN usermod -aG sudo $USER
 RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
 USER $USER
 
-ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.12.4
-ENV PYENV_ROOT="/home/$USER/pyenv"
-ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
-
-COPY --chown=$USER pyproject.toml poetry.lock /tmp/
+COPY --chown=$USER pyproject.toml uv.lock /tmp/
 COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
+ENV VIRTUAL_ENV=/home/$USER/.venv
+ENV PATH="$VIRTUAL_ENV/bin:$PATH"
 RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
+    mkdir -p $VIRTUAL_ENV && \
+    cp -r /tmp/.venv/* $VIRTUAL_ENV && \
     rm -rf /tmp/* && \
-    rm -rf /home/$USER/.cache && \
-    find /home/$USER/pyenv -type d -name ".git" | xargs rm -rf && \
-    rm -rf /home/$USER/pyenv/versions/3.12.4/lib/python3.12/test
+    rm -rf /home/$USER/.cache
 
 USER root
 RUN sudo git config --global --add safe.directory /tmp/openpilot
diff --git a/Jenkinsfile b/Jenkinsfile
index 321237716b291d..d2dffeecc74a00 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -26,7 +26,6 @@ export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
-export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
 export PYTEST_ADDOPTS="-n 0"
 
@@ -83,7 +82,7 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
 
     lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1, resourceSelectStrategy: 'random') {
       docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
-        timeout(time: 20, unit: 'MINUTES') {
+        timeout(time: 35, unit: 'MINUTES') {
           retry (3) {
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
@@ -135,10 +134,8 @@ def pcStage(String stageName, Closure body) {
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
-    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
   ]) {
     env.AZURE_TOKEN = "${AZURE_TOKEN}"
-    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
   }
 }
 
diff --git a/README.md b/README.md
index db74ee6a1a2792..9772ad646f3ae6 100644
--- a/README.md
+++ b/README.md
@@ -1,9 +1,34 @@
-[![openpilot on the comma 3X](https://github.com/commaai/openpilot/assets/8762862/f09e6d29-db2d-4179-80c2-51e8d92bdb5c)](https://comma.ai/shop/comma-3x)
+<div align="center" style="text-align: center;">
+
+<h1>openpilot</h1>
+
+<p>
+  <b>openpilot is an operating system for robotics.</b>
+  <br>
+  Currently, it upgrades the driver assistance system in 275+ supported cars.
+</p>
+
+<h3>
+  <a href="https://docs.comma.ai">Docs</a>
+  <span> · </span>
+  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
+  <span> · </span>
+  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
+  <span> · </span>
+  <a href="https://discord.comma.ai">Community</a>
+  <span> · </span>
+  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
+</h3>
+
+Quick start: `curl -fsSL openpilot.comma.ai | bash`
 
-What is openpilot?
-------
+![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
+[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
+[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
+[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
 
-[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](docs/INTEGRATION.md) and [limitations](docs/LIMITATIONS.md).
+</div>
 
 <table>
   <tr>
@@ -19,7 +44,7 @@ To start using openpilot in a car
 To use openpilot in a car, you need four things:
 1. **Supported Device:** a comma 3/3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
 2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
-3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md).
+3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
 4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
 
 We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
@@ -49,18 +74,6 @@ Safety and Testing
 * panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
 * We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
 
-User Data and comma Account
-------
-
-By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
-
-openpilot is open source software: the user is free to disable data collection if they wish to do so.
-
-openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
-The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
-
-By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-
 Licensing
 ------
 
@@ -72,9 +85,14 @@ Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and i
 YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
 NO WARRANTY EXPRESSED OR IMPLIED.**
 
----
+User Data and comma Account
+------
 
-<img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
 
-![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/selfdrive_tests.yaml/badge.svg)
-[![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
+
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+The driver-facing camera is only logged if you explicitly opt-in in settings. The microphone is not recorded.
+
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
diff --git a/SConstruct b/SConstruct
index 944d650d742d99..47f2db9661ba8c 100644
--- a/SConstruct
+++ b/SConstruct
@@ -102,7 +102,6 @@ if arch == "larch64":
 
   libpath = [
     "/usr/local/lib",
-    "/usr/lib",
     "/system/vendor/lib64",
     f"#third_party/acados/{arch}/lib",
   ]
@@ -170,7 +169,6 @@ if arch != "Darwin":
   ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
 
 # Enable swaglog include in submodules
-cflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 cxxflags += ['-DSWAGLOG="\\"common/swaglog.h\\""']
 
 ccflags_option = GetOption('ccflags')
@@ -206,13 +204,10 @@ env = Environment(
     "#third_party/json11",
     "#third_party/linux/include",
     "#third_party/snpe/include",
-    "#third_party/qrcode",
     "#third_party",
     "#cereal",
     "#msgq",
     "#opendbc/can",
-    "#third_party/maplibre-native-qt/include",
-    f"#third_party/maplibre-native-qt/{arch}/include"
   ],
 
   CC='clang',
@@ -234,7 +229,7 @@ env = Environment(
   COMPILATIONDB_USE_ABSPATH=True,
   REDNOSE_ROOT="#",
   tools=["default", "cython", "compilation_db", "rednose_filter"],
-  toolpath=["#rednose_repo/site_scons/site_tools"],
+  toolpath=["#site_scons/site_tools", "#rednose_repo/site_scons/site_tools"],
 )
 
 if arch == "Darwin":
@@ -273,11 +268,12 @@ if arch == "Darwin":
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
-Export('envCython')
+np_version = SCons.Script.Value(np.__version__)
+Export('envCython', 'np_version')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "DBus", "Xml"]
 
 qt_libs = []
 if arch == "Darwin":
@@ -317,7 +313,7 @@ try:
 except SCons.Errors.UserError:
   qt_env.Tool('qt')
 
-qt_env['CPPPATH'] += qt_dirs# + ["#selfdrive/ui/qt/"]
+qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
 qt_flags = [
   "-D_REENTRANT",
   "-DQT_NO_DEBUG",
@@ -330,8 +326,7 @@ qt_flags = [
   "-DQT_MESSAGELOGCONTEXT",
 ]
 qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', f"#third_party/maplibre-native-qt/{arch}/lib"]
-qt_env['RPATH'] += [Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath]
+qt_env['LIBPATH'] += ['#selfdrive/ui', ]
 qt_env['LIBS'] = qt_libs
 
 if GetOption("clazy"):
@@ -366,7 +361,6 @@ Export('messaging')
 
 # Build other submodules
 SConscript([
-  'body/board/SConscript',
   'opendbc/can/SConscript',
   'panda/SConscript',
 ])
diff --git a/body b/body
deleted file mode 160000
index 0e74db67ae6aaa..00000000000000
--- a/body
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 0e74db67ae6aaa7c30054bd4335dcafe69a5aa72
diff --git a/cereal/car.capnp b/cereal/car.capnp
index 7f3f64c911eddb..3df23d99214ea2 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -116,6 +116,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     paramsdTemporaryError @50;
     paramsdPermanentError @119;
     actuatorsApiUnavailable @120;
+    espActive @121;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -194,6 +195,7 @@ struct CarState {
   espDisabled @32 :Bool;
   accFaulted @42 :Bool;
   carFaultedNonCritical @47 :Bool;  # some ECU is faulted, but car remains controllable
+  espActive @51 :Bool;
 
   # cruise state
   cruiseState @10 :CruiseState;
@@ -541,8 +543,8 @@ struct CarParams {
     kiBP @2 :List(Float32);
     kiV @3 :List(Float32);
     kf @6 :Float32;
-    deadzoneBP @4 :List(Float32);
-    deadzoneV @5 :List(Float32);
+    deadzoneBPDEPRECATED @4 :List(Float32);
+    deadzoneVDEPRECATED @5 :List(Float32);
   }
 
   struct LateralINDITuning {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 67c6f836a49927..d849f4840b44bd 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -137,8 +137,6 @@ struct FrameData {
   requestId @28 :UInt32;
   encodeId @1 :UInt32;
 
-  frameType @7 :FrameType;
-
   # Timestamps
   timestampEof @2 :UInt64;
   timestampSof @8 :UInt64;
@@ -158,7 +156,7 @@ struct FrameData {
 
   temperaturesC @24 :List(Float32);
 
-  enum FrameType {
+  enum FrameTypeDEPRECATED {
     unknown @0;
     neo @1;
     chffrAndroid @2;
@@ -175,6 +173,7 @@ struct FrameData {
 
   frameLengthDEPRECATED @3 :Int32;
   globalGainDEPRECATED @5 :Int32;
+  frameTypeDEPRECATED @7 :FrameTypeDEPRECATED;
   androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
   lensPosDEPRECATED @11 :Int32;
   lensSagDEPRECATED @12 :Float32;
@@ -698,7 +697,6 @@ struct ControlsState @0x97ff69c53601abf1 {
   personality @66 :LongitudinalPersonality;
 
   longControlState @30 :Car.CarControl.Actuators.LongControlState;
-  vPid @2 :Float32;
   vTargetLead @3 :Float32;
   vCruise @22 :Float32;  # actual set speed
   vCruiseCluster @63 :Float32;  # set speed to display in the UI
@@ -866,6 +864,38 @@ struct ControlsState @0x97ff69c53601abf1 {
   canMonoTimesDEPRECATED @21 :List(UInt64);
   desiredCurvatureRateDEPRECATED @62 :Float32;
   canErrorCounterDEPRECATED @57 :UInt32;
+  vPidDEPRECATED @2 :Float32;
+}
+
+struct DrivingModelData {
+  frameId @0 :UInt32;
+  frameIdExtra @1 :UInt32;
+  frameDropPerc @6 :Float32;
+
+  action @2 :ModelDataV2.Action;
+
+  laneLineMeta @3 :LaneLineMeta;
+  meta @4 :MetaData;
+
+  path @5 :PolyPath;
+
+  struct PolyPath {
+    xCoefficients @0 :List(Float32);
+    yCoefficients @1 :List(Float32);
+    zCoefficients @2 :List(Float32);
+  }
+
+  struct LaneLineMeta {
+    leftY @0 :Float32;
+    rightY @1 :Float32;
+    leftProb @2 :Float32;
+    rightProb @3 :Float32;
+  }
+
+  struct MetaData {
+    laneChangeState @0 :LaneChangeState;
+    laneChangeDirection @1 :LaneChangeDirection;
+  }
 }
 
 # All SI units and in device frame
@@ -1060,6 +1090,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   accels @32 :List(Float32);
   speeds @33 :List(Float32);
   jerks @34 :List(Float32);
+  aTarget @18 :Float32;
+  shouldStop @37: Bool;
+  allowThrottle @38: Bool;
+  allowBrake @39: Bool;
+
 
   solverExecutionTime @35 :Float32;
 
@@ -1076,7 +1111,6 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
   aCruiseDEPRECATED @17 :Float32;
   vTargetDEPRECATED @3 :Float32;
   vTargetFutureDEPRECATED @14 :Float32;
-  aTargetDEPRECATED @18 :Float32;
   vStartDEPRECATED @26 :Float32;
   aStartDEPRECATED @27 :Float32;
   vMaxDEPRECATED @20 :Float32;
@@ -1217,6 +1251,38 @@ struct LiveLocationKalman {
   }
 }
 
+
+struct LivePose {
+  # More info on reference frames:
+  # https://github.com/commaai/openpilot/tree/master/common/transformations
+  orientationNED @0 :XYZMeasurement;
+  velocityDevice @1 :XYZMeasurement;
+  accelerationDevice @2 :XYZMeasurement;
+  angularVelocityDevice @3 :XYZMeasurement;
+
+  inputsOK @4 :Bool = false;
+  posenetOK @5 :Bool = false;
+  sensorsOK @6 :Bool = false;
+
+  filterState @7 :FilterState;
+
+  struct XYZMeasurement {
+    x @0 :Float32;
+    y @1 :Float32;
+    z @2 :Float32;
+    xStd @3 :Float32;
+    yStd @4 :Float32;
+    zStd @5 :Float32;
+    valid @6 :Bool;
+  }
+
+  struct FilterState {
+    value @0 : List(Float64);
+    std @1 : List(Float64);
+    valid @2 : Bool;
+  }
+}
+
 struct ProcLog {
   cpuTimes @0 :List(CPUTimes);
   mem @1 :Mem;
@@ -2258,7 +2324,9 @@ struct Event {
     carParams @69: Car.CarParams;
     driverMonitoringState @71: DriverMonitoringState;
     liveLocationKalman @72 :LiveLocationKalman;
+    livePose @129 :LivePose;
     modelV2 @75 :ModelDataV2;
+    drivingModelData @128 :DrivingModelData;
     driverStateV2 @92 :DriverStateV2;
 
     # camera stuff, each camera state has a matching encode idx
diff --git a/cereal/messaging/.gitignore b/cereal/messaging/.gitignore
deleted file mode 100644
index dbbe8e22aee488..00000000000000
--- a/cereal/messaging/.gitignore
+++ /dev/null
@@ -1,10 +0,0 @@
-demo
-bridge
-test_runner
-*.o
-*.os
-*.d
-*.a
-*.so
-messaging_pyx.cpp
-build/
diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 4ba55cf7b9432f..9646047de37df6 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -2,7 +2,8 @@
 from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
                                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw, context
+from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
+import msgq
 
 import os
 import capnp
@@ -17,8 +18,12 @@
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
-def log_from_bytes(dat: bytes) -> capnp.lib.capnp._DynamicStructReader:
-  with log.Event.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
+def reset_context():
+  msgq.context = Context()
+
+
+def log_from_bytes(dat: bytes, struct: capnp.lib.capnp._StructModule = log.Event) -> capnp.lib.capnp._DynamicStructReader:
+  with struct.from_bytes(dat, traversal_limit_in_words=NO_TRAVERSAL_LIMIT) as msg:
     return msg
 
 
diff --git a/cereal/messaging/messaging.h b/cereal/messaging/messaging.h
index f3850130e655e2..fb9c261f2b57ea 100644
--- a/cereal/messaging/messaging.h
+++ b/cereal/messaging/messaging.h
@@ -5,20 +5,13 @@
 #include <string>
 #include <vector>
 #include <utility>
-#include <time.h>
 
 #include <capnp/serialize.h>
 
 #include "cereal/gen/cpp/log.capnp.h"
+#include "common/timing.h"
 #include "msgq/ipc.h"
 
-#ifdef __APPLE__
-#define CLOCK_BOOTTIME CLOCK_MONOTONIC
-#endif
-
-#define MSG_MULTIPLE_PUBLISHERS 100
-
-
 class SubMaster {
 public:
   SubMaster(const std::vector<const char *> &service_list, const std::vector<const char *> &poll = {},
@@ -53,10 +46,7 @@ class MessageBuilder : public capnp::MallocMessageBuilder {
 
   cereal::Event::Builder initEvent(bool valid = true) {
     cereal::Event::Builder event = initRoot<cereal::Event>();
-    struct timespec t;
-    clock_gettime(CLOCK_BOOTTIME, &t);
-    uint64_t current_time = t.tv_sec * 1000000000ULL + t.tv_nsec;
-    event.setLogMonoTime(current_time);
+    event.setLogMonoTime(nanos_since_boot());
     event.setValid(valid);
     return event;
   }
diff --git a/cereal/messaging/socketmaster.cc b/cereal/messaging/socketmaster.cc
index cd697b1f51ed20..38b9842414ebb1 100644
--- a/cereal/messaging/socketmaster.cc
+++ b/cereal/messaging/socketmaster.cc
@@ -1,4 +1,3 @@
-#include <time.h>
 #include <assert.h>
 #include <stdlib.h>
 #include <string>
@@ -7,15 +6,8 @@
 #include "cereal/services.h"
 #include "cereal/messaging/messaging.h"
 
-
 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");
 
-static inline uint64_t nanos_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000000000ULL + t.tv_nsec;
-}
-
 static inline bool inList(const std::vector<const char *> &list, const char *value) {
   for (auto &v : list) {
     if (strcmp(value, v) == 0) return true;
diff --git a/cereal/messaging/tests/test_messaging.py b/cereal/messaging/tests/test_messaging.py
old mode 100755
new mode 100644
index 429c2d3c53eb74..58fa7f7b28c093
--- a/cereal/messaging/tests/test_messaging.py
+++ b/cereal/messaging/tests/test_messaging.py
@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import os
 import capnp
 import multiprocessing
@@ -6,8 +5,8 @@
 import random
 import threading
 import time
-import unittest
 from parameterized import parameterized
+import pytest
 
 from cereal import log, car
 import cereal.messaging as messaging
@@ -28,12 +27,6 @@ def zmq_sleep(t=1):
   if "ZMQ" in os.environ:
     time.sleep(t)
 
-def zmq_expected_failure(func):
-  if "ZMQ" in os.environ:
-    return unittest.expectedFailure(func)
-  else:
-    return func
-
 
 # TODO: this should take any capnp struct and returrn a msg with random populated data
 def random_carstate():
@@ -58,12 +51,12 @@ def send_func():
   threading.Timer(delay, send_func).start()
 
 
-class TestMessaging(unittest.TestCase):
+class TestMessaging:
   def setUp(self):
     # TODO: ZMQ tests are too slow; all sleeps will need to be
     # replaced with logic to block on the necessary condition
     if "ZMQ" in os.environ:
-      raise unittest.SkipTest
+      pytest.skip()
 
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
@@ -75,9 +68,9 @@ def test_new_message(self, evt):
       msg = messaging.new_message(evt)
     except capnp.lib.capnp.KjException:
       msg = messaging.new_message(evt, random.randrange(200))
-    self.assertLess(time.monotonic() - msg.logMonoTime, 0.1)
-    self.assertFalse(msg.valid)
-    self.assertEqual(evt, msg.which())
+    assert (time.monotonic() - msg.logMonoTime) < 0.1
+    assert not msg.valid
+    assert evt == msg.which()
 
   @parameterized.expand(events)
   def test_pub_sock(self, evt):
@@ -99,8 +92,8 @@ def test_drain_sock(self, func, expected_type):
 
     # no wait and no msgs in queue
     msgs = func(sub_sock)
-    self.assertIsInstance(msgs, list)
-    self.assertEqual(len(msgs), 0)
+    assert isinstance(msgs, list)
+    assert len(msgs) == 0
 
     # no wait but msgs are queued up
     num_msgs = random.randrange(3, 10)
@@ -108,9 +101,9 @@ def test_drain_sock(self, func, expected_type):
       pub_sock.send(messaging.new_message(sock).to_bytes())
     time.sleep(0.1)
     msgs = func(sub_sock)
-    self.assertIsInstance(msgs, list)
-    self.assertTrue(all(isinstance(msg, expected_type) for msg in msgs))
-    self.assertEqual(len(msgs), num_msgs)
+    assert isinstance(msgs, list)
+    assert all(isinstance(msg, expected_type) for msg in msgs)
+    assert len(msgs) == num_msgs
 
   def test_recv_sock(self):
     sock = "carState"
@@ -120,14 +113,14 @@ def test_recv_sock(self):
 
     # no wait and no msg in queue, socket should timeout
     recvd = messaging.recv_sock(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None
 
     # no wait and one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     time.sleep(0.01)
     recvd = messaging.recv_sock(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
     # https://github.com/python/mypy/issues/13038
     assert_carstate(msg.carState, recvd.carState)
 
@@ -139,16 +132,16 @@ def test_recv_one(self):
 
     # no msg in queue, socket should timeout
     recvd = messaging.recv_one(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None
 
     # one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     recvd = messaging.recv_one(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
-  @zmq_expected_failure
+  @pytest.mark.xfail(condition="ZMQ" in os.environ, reason='ZMQ detected')
   def test_recv_one_or_none(self):
     sock = "carState"
     pub_sock = messaging.pub_sock(sock)
@@ -157,13 +150,13 @@ def test_recv_one_or_none(self):
 
     # no msg in queue, socket shouldn't block
     recvd = messaging.recv_one_or_none(sub_sock)
-    self.assertTrue(recvd is None)
+    assert recvd is None
 
     # one msg in queue
     msg = random_carstate()
     pub_sock.send(msg.to_bytes())
     recvd = messaging.recv_one_or_none(sub_sock)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
 
   def test_recv_one_retry(self):
@@ -179,7 +172,7 @@ def test_recv_one_retry(self):
       p = multiprocessing.Process(target=messaging.recv_one_retry, args=(sub_sock,))
       p.start()
       time.sleep(sock_timeout*15)
-      self.assertTrue(p.is_alive())
+      assert p.is_alive()
       p.terminate()
 
     # wait 15 socket timeouts before sending
@@ -187,9 +180,6 @@ def test_recv_one_retry(self):
     delayed_send(sock_timeout*15, pub_sock, msg.to_bytes())
     start_time = time.monotonic()
     recvd = messaging.recv_one_retry(sub_sock)
-    self.assertGreaterEqual(time.monotonic() - start_time, sock_timeout*15)
-    self.assertIsInstance(recvd, capnp._DynamicStructReader)
+    assert (time.monotonic() - start_time) >= sock_timeout*15
+    assert isinstance(recvd, capnp._DynamicStructReader)
     assert_carstate(msg.carState, recvd.carState)
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/cereal/messaging/tests/test_pub_sub_master.py b/cereal/messaging/tests/test_pub_sub_master.py
old mode 100755
new mode 100644
index 81a1cf2d57c28d..ba5b397aad3a35
--- a/cereal/messaging/tests/test_pub_sub_master.py
+++ b/cereal/messaging/tests/test_pub_sub_master.py
@@ -1,8 +1,6 @@
-#!/usr/bin/env python3
 import random
 import time
 from typing import Sized, cast
-import unittest
 
 import cereal.messaging as messaging
 from cereal.messaging.tests.test_messaging import events, random_sock, random_socks, \
@@ -10,9 +8,9 @@
                                                   zmq_sleep
 
 
-class TestSubMaster(unittest.TestCase):
+class TestSubMaster:
 
-  def setUp(self):
+  def setup_method(self):
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
     zmq_sleep(3)
@@ -21,21 +19,21 @@ def test_init(self):
     sm = messaging.SubMaster(events)
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
               sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      self.assertEqual(len(cast(Sized, p)), len(events))
+      assert len(cast(Sized, p)) == len(events)
 
   def test_init_state(self):
     socks = random_socks()
     sm = messaging.SubMaster(socks)
-    self.assertEqual(sm.frame, -1)
-    self.assertFalse(any(sm.updated.values()))
-    self.assertFalse(any(sm.alive.values()))
-    self.assertTrue(all(t == 0. for t in sm.recv_time.values()))
-    self.assertTrue(all(f == 0 for f in sm.recv_frame.values()))
-    self.assertTrue(all(t == 0 for t in sm.logMonoTime.values()))
+    assert sm.frame == -1
+    assert not any(sm.updated.values())
+    assert not any(sm.alive.values())
+    assert all(t == 0. for t in sm.recv_time.values())
+    assert all(f == 0 for f in sm.recv_frame.values())
+    assert all(t == 0 for t in sm.logMonoTime.values())
 
     for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
               sm.sock, sm.data, sm.logMonoTime, sm.valid]:
-      self.assertEqual(len(cast(Sized, p)), len(socks))
+      assert len(cast(Sized, p)) == len(socks)
 
   def test_getitem(self):
     sock = "carState"
@@ -59,8 +57,8 @@ def test_update(self):
       msg = messaging.new_message(sock)
       pub_sock.send(msg.to_bytes())
       sm.update(1000)
-      self.assertEqual(sm.frame, i)
-      self.assertTrue(all(sm.updated.values()))
+      assert sm.frame == i
+      assert all(sm.updated.values())
 
   def test_update_timeout(self):
     sock = random_sock()
@@ -70,9 +68,9 @@ def test_update_timeout(self):
       start_time = time.monotonic()
       sm.update(timeout)
       t = time.monotonic() - start_time
-      self.assertGreaterEqual(t, timeout/1000.)
-      self.assertLess(t, 5)
-      self.assertFalse(any(sm.updated.values()))
+      assert t >= timeout/1000.
+      assert t < 5
+      assert not any(sm.updated.values())
 
   def test_avg_frequency_checks(self):
     for poll in (True, False):
@@ -118,12 +116,12 @@ def test_conflate(self):
       pub_sock.send(msg.to_bytes())
       time.sleep(0.01)
     sm.update(1000)
-    self.assertEqual(sm[sock].vEgo, n)
+    assert sm[sock].vEgo == n
 
 
-class TestPubMaster(unittest.TestCase):
+class TestPubMaster:
 
-  def setUp(self):
+  def setup_method(self):
     # ZMQ pub socket takes too long to die
     # sleep to prevent multiple publishers error between tests
     zmq_sleep(3)
@@ -156,8 +154,4 @@ def test_send(self):
         if capnp:
           msg.clear_write_flag()
           msg = msg.to_bytes()
-        self.assertEqual(msg, recvd, i)
-
-
-if __name__ == "__main__":
-  unittest.main()
+        assert msg == recvd, i
diff --git a/cereal/messaging/tests/test_services.py b/cereal/messaging/tests/test_services.py
old mode 100755
new mode 100644
index 0fac379e439994..01e859a5a32ee1
--- a/cereal/messaging/tests/test_services.py
+++ b/cereal/messaging/tests/test_services.py
@@ -1,25 +1,21 @@
-#!/usr/bin/env python3
 import os
 import tempfile
 from typing import Dict
-import unittest
 from parameterized import parameterized
 
 import cereal.services as services
 from cereal.services import SERVICE_LIST
 
 
-class TestServices(unittest.TestCase):
+class TestServices:
 
   @parameterized.expand(SERVICE_LIST.keys())
   def test_services(self, s):
     service = SERVICE_LIST[s]
-    self.assertTrue(service.frequency <= 104)
+    assert service.frequency <= 104
+    assert service.decimation != 0
 
   def test_generated_header(self):
     with tempfile.NamedTemporaryFile(suffix=".h") as f:
       ret = os.system(f"python3 {services.__file__} > {f.name} && clang++ {f.name}")
-      self.assertEqual(ret, 0, "generated services header is not valid C")
-
-if __name__ == "__main__":
-  unittest.main()
+      assert ret == 0, "generated services header is not valid C"
diff --git a/cereal/services.py b/cereal/services.py
index ca9139c4317513..f7aaa377a97415 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -16,13 +16,13 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "gyroscope2": (True, 100., 100),
   "accelerometer": (True, 104., 104),
   "accelerometer2": (True, 100., 100),
-  "magnetometer": (True, 25., 25),
+  "magnetometer": (True, 25.),
   "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
   "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
-  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
+  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
@@ -38,7 +38,7 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "carState": (True, 100., 10),
   "carControl": (True, 100., 10),
   "carOutput": (True, 100., 10),
-  "longitudinalPlan": (True, 20., 5),
+  "longitudinalPlan": (True, 20., 10),
   "procLog": (True, 0.5, 15),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
@@ -47,9 +47,10 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "gnssMeasurements": (True, 10., 10),
   "clocks": (True, 0.1, 1),
   "ubloxRaw": (True, 20.),
-  "liveLocationKalman": (True, 20., 5),
+  "livePose": (True, 20., 4),
+  "liveLocationKalman": (True, 20.),
   "liveParameters": (True, 20., 5),
-  "cameraOdometry": (True, 20., 5),
+  "cameraOdometry": (True, 20., 10),
   "thumbnail": (True, 0.2, 1),
   "onroadEvents": (True, 1., 1),
   "carParams": (True, 0.02, 1),
@@ -60,7 +61,8 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "driverMonitoringState": (True, 20., 10),
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
-  "modelV2": (True, 20., 40),
+  "drivingModelData": (True, 20., 10),
+  "modelV2": (True, 20.),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
diff --git a/common/params.cc b/common/params.cc
index 2330160173ffb6..03a3cc31f12d3a 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -91,7 +91,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
     {"AlwaysOnDM", PERSISTENT},
     {"ApiCache_Device", PERSISTENT},
-    {"ApiCache_NavDestinations", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
@@ -160,11 +159,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
     {"LongitudinalPersonality", PERSISTENT},
-    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"NavPastDestinations", PERSISTENT},
-    {"NavSettingLeftSide", PERSISTENT},
-    {"NavSettingTime24h", PERSISTENT},
     {"NetworkMetered", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
@@ -192,7 +186,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"TermsVersion", PERSISTENT},
-    {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
diff --git a/docs/CARS.md b/docs/CARS.md
index 3b163dcee3da69..8fafc483f2ded3 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,19 +4,19 @@
 
 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.
 
-# 288 Supported Cars
+# 287 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Equinox 2019-22">Buy Here</a></sub></details>||
@@ -25,11 +25,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021-23">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2017|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2018|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2018">Buy Here</a></sub></details>||
-|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-24">Buy Here</a></sub></details>||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=CUPRA&model=Ateca 2018-23">Buy Here</a></sub></details>||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Dodge&model=Durango 2020-21">Buy Here</a></sub></details>||
 |Ford|Bronco Sport 2021-23|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-23">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
@@ -54,17 +53,17 @@ A supported vehicle is one that just works when you install a comma device. All
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-20">Buy Here</a></sub></details>||
 |Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
 |Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim, without HDA II) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2022-23|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 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
-|Honda|Civic Hatchback 2022-23|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 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
 |Honda|CR-V Hybrid 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-21">Buy Here</a></sub></details>||
@@ -90,9 +89,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Non-US only) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
@@ -127,7 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2022-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>||
+|Kia|EV6 (Non-US only) 2022-24[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Non-US only) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-24[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
@@ -185,8 +184,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-23">Buy Here</a></sub></details>||
 |Lincoln|Aviator Plug-in Hybrid 2020-23|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator Plug-in Hybrid 2020-23">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-24">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@@ -194,8 +193,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-24">Buy Here</a></sub></details>||
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2016-23">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
 |Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
@@ -206,15 +205,15 @@ A supported vehicle is one that just works when you install a comma device. All
 |Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
 |Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
-|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
-|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021-23[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Octavia Scout 2017-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia Scout 2017-19">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -260,42 +259,42 @@ 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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2023-24|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 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2023-24">Buy Here</a></sub></details>||
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma 3X<br>- 1 comma power v2<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2020-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 angled mount (8 degrees)<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-24">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-24">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma 3X<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. <br />
diff --git a/docs/Makefile b/docs/Makefile
deleted file mode 100644
index 09103e206ec444..00000000000000
--- a/docs/Makefile
+++ /dev/null
@@ -1,53 +0,0 @@
-# Minimal makefile for Sphinx documentation
-#
-
-OPENPILOT_ROOT = `git rev-parse --show-toplevel`
-
-# You can set these variables from the command line, and also
-# from the environment for the first two.
-SPHINXOPTS    ?=
-SPHINXBUILD   ?= sphinx-build
-DOCSDIR       = "$(OPENPILOT_ROOT)/docs"
-SOURCEDIR     = "$(OPENPILOT_ROOT)/build/docs"
-DOCSBUILDDIR  = "$(OPENPILOT_ROOT)/build/docs"
-BUILDDIR      = "$(OPENPILOT_ROOT)/build"
-
-# Put it first so that "make" without argument is like "make help".
-help:
-	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
-
-clean:
-	@echo "Cleaning build folder..."
-	rm -rf "$(BUILDDIR)"
-
-.PHONY: help Makefile
-
-# Catch-all target: route all unknown targets to Sphinx using the new
-# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
-%: Makefile
-	@echo "Cleaning build folder..."
-	rm -rf "$(BUILDDIR)"
-	mkdir -p "$(DOCSBUILDDIR)"
-
-	@echo "Copying docs & config to build folder..."
-	cp -a "$(DOCSDIR)" "$(BUILDDIR)"
-	cd "$(OPENPILOT_ROOT)" && \
-		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \
-			-not -path "*/.*" \
-			-not -path "./build/*" \
-			-not -path "./docs/*" \
-			-not -path "./xx/*" \
-			-exec cp --parents "{}" ./build/docs/ \;
-
-	@echo "Building rst files..."
-	sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \
-		../xx ../rednose_repo ../notebooks ../panda_jungle \
-		../third_party \
-		../panda/examples \
-		../scripts \
-		../selfdrive/modeld \
-		../selfdrive/debug \
-		$(shell find .. -type d -name "*test* -not -path "**.venv**" \")
-
-	@echo "Building html files..."
-	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(DOCSBUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/docs/README.md b/docs/README.md
index 838b00e7ae09c2..08dd4fa8bcca9b 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -1,3 +1,26 @@
-# openpilot-docs
+# openpilot docs
 
-These docs are autogenerated from [this folder](https://github.com/commaai/openpilot/tree/master/docs) in the main openpilot repository.
\ No newline at end of file
+This is the source for [docs.comma.ai](https://docs.comma.ai).
+The site is updated on pushes to master by this [workflow](../.github/workflows/docs.yaml).
+
+## Development
+NOTE: Those commands must be run in the root directory of openpilot, **not /docs**
+
+**1. Install the docs dependencies**
+``` bash
+pip install .[docs]
+```
+
+**2. Build the new site**
+``` bash
+mkdocs build
+```
+
+**3. Run the new site locally**
+``` bash
+mkdocs serve
+```
+
+References:
+* https://www.mkdocs.org/getting-started/
+* https://github.com/ntno/mkdocs-terminal
diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md
index 85ae8d86f46f76..10cf244fd6cc32 100644
--- a/docs/WORKFLOW.md
+++ b/docs/WORKFLOW.md
@@ -9,6 +9,7 @@ Most development happens on normal Ubuntu workstations, and not in cars or direc
 ```bash
 # get the latest stuff
 git pull
+git lfs pull
 git submodule update --init --recursive
 
 # update dependencies
@@ -22,7 +23,7 @@ scons -j8 selfdrive/ui/
 cd selfdrive/ui/ && scons -u -j8
 
 # test everything
-pytest .
+pytest
 
 # test just logging services
 cd system/loggerd && pytest .
diff --git a/docs/_static/favicon.ico b/docs/_static/favicon.ico
deleted file mode 100644
index 976929954f3dac..00000000000000
Binary files a/docs/_static/favicon.ico and /dev/null differ
diff --git a/docs/_static/logo.png b/docs/_static/logo.png
deleted file mode 100644
index 0e7577dae1d4c4..00000000000000
--- a/docs/_static/logo.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:42bc589954cad7f16cef694887dee2c819378f7dacfdddea2ff833ff65a109fd
-size 1122
diff --git a/docs/_static/robots.txt b/docs/_static/robots.txt
deleted file mode 100644
index 3bcd24fb5d5f9d..00000000000000
--- a/docs/_static/robots.txt
+++ /dev/null
@@ -1,2 +0,0 @@
-User-agent: *
-Sitemap: https://docs.comma.ai/sitemap.xml
\ No newline at end of file
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
deleted file mode 100644
index 3b89fe98747200..00000000000000
--- a/docs/c_docs.rst
+++ /dev/null
@@ -1,89 +0,0 @@
-openpilot
-==========
-
-
-opendbc
-------
-.. autodoxygenindex::
-   :project: opendbc_can
-
-
-cereal
-------
-
-messaging
-^^^^^^^^^
-.. autodoxygenindex::
-   :project: msgq_repo_msgq
-
-visionipc
-^^^^^^^^^
-.. autodoxygenindex::
-   :project: msgq_repo_msgq_visionipc
-
-
-selfdrive
----------
-
-camerad
-^^^^^^^
-.. autodoxygenindex::
-   :project: system_camerad_cameras
-
-locationd
-^^^^^^^^^
-.. autodoxygenindex::
-   :project: selfdrive_locationd
-
-ui
-^^
-
-.. autodoxygenindex::
-   :project: selfdrive_ui
-
-replay
-""""""
-.. autodoxygenindex::
-   :project: tools_replay
-
-qt
-""
-.. autodoxygenindex::
-   :project: selfdrive_ui_qt_offroad
-.. autodoxygenindex::
-   :project: selfdrive_ui_qt_maps
-
-proclogd
-^^^^^^^^
-.. autodoxygenindex::
-   :project: system_proclogd
-
-modeld
-^^^^^^
-.. autodoxygenindex::
-   :project: selfdrive_modeld_transforms
-.. autodoxygenindex::
-   :project: selfdrive_modeld_models
-.. autodoxygenindex::
-   :project: selfdrive_modeld_runners
-
-common
-^^^^^^
-.. autodoxygenindex::
-   :project: common
-
-sensorsd
-^^^^^^^^
-.. autodoxygenindex::
-   :project: system_sensord_sensors
-
-pandad
-^^^^^^
-.. autodoxygenindex::
-   :project: selfdrive_pandad
-
-
-rednose
--------
-.. autodoxygenindex::
-   :project: rednose_repo_rednose_helpers
diff --git a/docs/car-porting/brand-port.md b/docs/car-porting/brand-port.md
new file mode 100644
index 00000000000000..a3daa7a84850f3
--- /dev/null
+++ b/docs/car-porting/brand-port.md
@@ -0,0 +1,5 @@
+# Developing a car brand port
+
+A brand port is a port of openpilot to a substantially new car brand or platform within a brand.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/23331.
diff --git a/docs/car-porting/model-port.md b/docs/car-porting/model-port.md
new file mode 100644
index 00000000000000..e148a40ecb131b
--- /dev/null
+++ b/docs/car-porting/model-port.md
@@ -0,0 +1,5 @@
+# Developing a car model port
+
+A model port is a port of openpilot to a new car model within an already supported brand. Model ports are easier than brand ports because the car's existing APIs are already known.
+
+Here's an example of one: https://github.com/commaai/openpilot/pull/30672/.
diff --git a/docs/car-porting/what-is-a-car-port.md b/docs/car-porting/what-is-a-car-port.md
new file mode 100644
index 00000000000000..b918bb50e03f7e
--- /dev/null
+++ b/docs/car-porting/what-is-a-car-port.md
@@ -0,0 +1,22 @@
+# What is a car port?
+
+A car port enables openpilot support on a particular car. Each car model openpilot supports needs to be individually ported. All car ports live in `openpilot/selfdrive/car/`.
+
+The complexity of a car port varies depending on many factors including:
+* existing openpilot support for similar cars
+* architecture and APIs available in the car
+
+
+# Structure of a car port
+* `interface.py`: Interface for the car, defines the CarInterface class
+* `carstate.py`: Reads CAN from car and builds openpilot CarState message
+* `carcontroller.py`: Builds CAN messages to send to car
+* `values.py`: Limits for actuation, general constants for cars, and supported car documentation
+* `radar_interface.py`: Interface for parsing radar points from the car
+
+
+# Overiew
+
+[Jason Young](https://github.com/jyoung8607) gave a talk at COMMA_CON with an overview of the car porting process. The talk is available on YouTube:
+
+https://youtu.be/KcfzEHB6ms4?si=5szh1PX6TksOCKmM
diff --git a/docs/concepts/glossary.md b/docs/concepts/glossary.md
new file mode 100644
index 00000000000000..46e8e834d2186e
--- /dev/null
+++ b/docs/concepts/glossary.md
@@ -0,0 +1,8 @@
+# openpilot glossary
+
+* **route**:
+* **segment**: routes are split into one minute chunks called segments.
+* **panda**: this is . See the repo.
+* **onroad**:
+* **offroad**:
+* **comma 3X**:
diff --git a/system/loggerd/README.md b/docs/concepts/logs.md
similarity index 86%
rename from system/loggerd/README.md
rename to docs/concepts/logs.md
index 714e4242a04508..46ab2897df9eec 100644
--- a/system/loggerd/README.md
+++ b/docs/concepts/logs.md
@@ -1,10 +1,8 @@
-# loggerd
+# Logging
 
 openpilot records routes in one minute chunks called segments. A route starts on the rising edge of ignition and ends on the falling edge.
 
-Check out our [python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
-
-## log types
+Check out our [Python library](https://github.com/commaai/openpilot/blob/master/tools/lib/logreader.py) for reading openpilot logs. Also checkout our [tools](https://github.com/commaai/openpilot/tree/master/tools) to replay and view your data. These are the same tools we use to debug and develop openpilot.
 
 For each segment, openpilot records the following log types:
 
@@ -15,9 +13,10 @@ rlogs contain all the messages passed amongst openpilot's processes. See [cereal
 ## {f,e,d}camera.hevc
 
 Each camera stream is H.265 encoded and written to its respective file.
-* fcamera.hevc is the road camera
-* ecamera.hevc is the wide road camera
-* dcamera.hevc is the driver camera
+
+* `fcamera.hevc` is the road camera
+* `ecamera.hevc` is the wide road camera
+* `dcamera.hevc` is the driver camera
 
 ## qlog.bz2 & qcamera.ts
 
diff --git a/docs/concepts/safety.md b/docs/concepts/safety.md
new file mode 120000
index 00000000000000..f286ad4b152ffc
--- /dev/null
+++ b/docs/concepts/safety.md
@@ -0,0 +1 @@
+../SAFETY.md
\ No newline at end of file
diff --git a/docs/conf.py b/docs/conf.py
deleted file mode 100644
index 9a8d6466970777..00000000000000
--- a/docs/conf.py
+++ /dev/null
@@ -1,147 +0,0 @@
-# type: ignore
-
-# Configuration file for the Sphinx documentation builder.
-#
-# This file only contains a selection of the most common options. For a full
-# list see the documentation:
-# https://www.sphinx-doc.org/en/master/usage/configuration.html
-
-# -- Path setup --------------------------------------------------------------
-
-# If extensions (or modules to document with autodoc) are in another directory,
-# add these directories to sys.path here. If the directory is relative to the
-# documentation root, use os.path.abspath to make it absolute, like shown here.
-#
-import os
-import sys
-from os.path import exists
-
-from openpilot.common.basedir import BASEDIR
-from openpilot.system.version import get_version
-
-sys.path.insert(0, os.path.abspath('.'))
-sys.path.insert(0, os.path.abspath('..'))
-
-VERSION = get_version()
-
-
-# -- Project information -----------------------------------------------------
-
-project = 'openpilot docs'
-copyright = '2021, comma.ai' # noqa: A001
-author = 'comma.ai'
-version = VERSION
-release = VERSION
-language = 'en'
-
-
-# -- General configuration ---------------------------------------------------
-
-# Add any Sphinx extension module names here, as strings. They can be
-# extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
-# ones.
-extensions = [
-  'sphinx.ext.autodoc',   # Auto-generate docs
-  'sphinx.ext.viewcode',  # Add view code link to modules
-  'sphinx_rtd_theme',     # Read The Docs theme
-  'myst_parser',          # Markdown parsing
-  'breathe',              # Doxygen C/C++ integration
-  'sphinx_sitemap',       # sitemap generation for SEO
-]
-
-myst_html_meta = {
-  "description": "openpilot docs",
-  "keywords": "op, openpilot, docs, documentation",
-  "robots": "all,follow",
-  "googlebot": "index,follow,snippet,archive",
-  "property=og:locale": "en_US",
-  "property=og:site_name": "docs.comma.ai",
-  "property=og:url": "https://docs.comma.ai",
-  "property=og:title": "openpilot Documentation",
-  "property=og:type": "website",
-  "property=og:image:type": "image/jpeg",
-  "property=og:image:width": "400",
-  "property=og:image": "https://docs.comma.ai/_static/logo.png",
-  "property=og:image:url": "https://docs.comma.ai/_static/logo.png",
-  "property=og:image:secure_url": "https://docs.comma.ai/_static/logo.png",
-  "property=og:description": "openpilot Documentation",
-  "property=twitter:card": "summary_large_image",
-  "property=twitter:logo": "https://docs.comma.ai/_static/logo.png",
-  "property=twitter:title": "openpilot Documentation",
-  "property=twitter:description": "openpilot Documentation"
-}
-
-html_baseurl = 'https://docs.comma.ai/'
-sitemap_filename = "sitemap.xml"
-
-# Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
-
-# List of patterns, relative to source directory, that match files and
-# directories to ignore when looking for source files.
-# This pattern also affects html_static_path and html_extra_path.
-exclude_patterns = []
-
-
-# -- c docs configuration ---------------------------------------------------
-
-# Breathe Configuration
-# breathe_default_project = "c_docs"
-breathe_build_directory = f"{BASEDIR}/build/docs/html/xml"
-breathe_separate_member_pages = True
-breathe_default_members = ('members', 'private-members', 'undoc-members')
-breathe_domain_by_extension = {
-  "h": "cc",
-}
-breathe_implementation_filename_extensions = ['.c', '.cc']
-breathe_doxygen_config_options = {}
-breathe_projects_source = {}
-
-# only document files that have accompanying .cc files next to them
-print("searching for c_docs...")
-for root, _, files in os.walk(BASEDIR):
-  found = False
-  breath_src = {}
-  breathe_srcs_list = []
-
-  for file in files:
-    ccFile = os.path.join(root, file)[:-2] + ".cc"
-
-    if file.endswith(".h") and exists(ccFile):
-      f = os.path.join(root, file)
-
-      parent_dir_abs = os.path.dirname(f)
-      parent_dir = parent_dir_abs[len(BASEDIR) + 1:]
-      parent_project = parent_dir.replace('/', '_')
-      print(f"\tFOUND: {f} in {parent_project}")
-
-      breathe_srcs_list.append(file)
-      found = True
-
-    if found:
-      breath_src[parent_project] = (parent_dir_abs, breathe_srcs_list)
-      breathe_projects_source.update(breath_src)
-
-print(f"breathe_projects_source: {breathe_projects_source.keys()}")
-
-# -- Options for HTML output -------------------------------------------------
-
-# The theme to use for HTML and HTML Help pages.  See the documentation for
-# a list of builtin themes.
-#
-html_theme = 'sphinx_rtd_theme'
-html_show_copyright = True
-
-# Add any paths that contain custom static files (such as style sheets) here,
-# relative to this directory. They are copied after the builtin static files,
-# so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
-html_logo = '_static/logo.png'
-html_favicon = '_static/favicon.ico'
-html_theme_options = {
-  'logo_only': False,
-  'display_version': True,
-  'vcs_pageview_mode': 'blob',
-  'style_nav_header_background': '#000000',
-}
-html_extra_path = ['_static']
diff --git a/docs/contributing/architecture.md b/docs/contributing/architecture.md
new file mode 100644
index 00000000000000..c79bec1ac69aea
--- /dev/null
+++ b/docs/contributing/architecture.md
@@ -0,0 +1 @@
+# Architecture
diff --git a/docs/contributing/roadmap.md b/docs/contributing/roadmap.md
new file mode 100644
index 00000000000000..22622a7a9630fe
--- /dev/null
+++ b/docs/contributing/roadmap.md
@@ -0,0 +1,30 @@
+# Roadmap
+
+This is the roadmap for the next major openpilot releases. Also check out
+
+* [Milestones](https://github.com/commaai/openpilot/milestones) for minor releases
+* [Projects](https://github.com/commaai/openpilot/projects?query=is%3Aopen) for shorter-term projects not tied to releases
+* [Bounties](https://comma.ai/bounties) for paid individual issues
+
+## openpilot 0.10
+
+openpilot 0.10 will be the first release with a driving policy trained in
+a [learned simulator](https://youtu.be/EqQNZXqzFSI).
+
+* Driving model trained in a learned simlator
+* Always-on driver monitoring (behind a toggle)
+* GPS removed from the driving stack
+* 100KB qlogs
+* `master-ci` pushed after 1000 hours of hardware-in-the-loop testing
+* Car interface code moved into [opendbc](https://github.com/commaai/opendbc)
+* openpilot on PC for Linux x86, Linux arm64, and Mac (Apple Silicon)
+
+## openpilot 1.0
+
+openpilot 1.0 will feature a fully end-to-end driving policy.
+
+* End-to-end longitudinal control in Chill mode
+* Automatic Emergency Braking (AEB)
+* Driver monitoring with sleep detection
+* Rolling updates/releases pushed out by CI
+* [panda safety 1.0](https://github.com/orgs/commaai/projects/27)
diff --git a/docs/getting-started/what-is-openpilot.md b/docs/getting-started/what-is-openpilot.md
new file mode 100644
index 00000000000000..b3c56c8410d803
--- /dev/null
+++ b/docs/getting-started/what-is-openpilot.md
@@ -0,0 +1,12 @@
+# What is openpilot?
+
+[openpilot](http://github.com/commaai/openpilot) is an open source driver assistance system. Currently, openpilot performs the functions of Adaptive Cruise Control (ACC), Automated Lane Centering (ALC), Forward Collision Warning (FCW), and Lane Departure Warning (LDW) for a growing variety of [supported car makes, models, and model years](https://github.com/commaai/openpilot/blob/master/docs/CARS.md). In addition, while openpilot is engaged, a camera-based Driver Monitoring (DM) feature alerts distracted and asleep drivers. See more about [the vehicle integration](https://github.com/commaai/openpilot/blob/master/docs/INTEGRATION.md) and [limitations](https://github.com/commaai/openpilot/blob/master/docs/LIMITATIONS.md).
+
+
+## How do I use it?
+
+openpilot is designed to be used on the comma 3X.
+
+## How does it work?
+
+In short, openpilot uses the car's existing APIs for the built-in [ADAS](https://en.wikipedia.org/wiki/Advanced_driver-assistance_system) system and simply provides better acceleration, braking, and steering inputs than the stock system.
diff --git a/tools/ssh/README.md b/docs/how-to/connect-to-comma.md
similarity index 60%
rename from tools/ssh/README.md
rename to docs/how-to/connect-to-comma.md
index 588ea71579b93c..d9c0c701c8201f 100644
--- a/tools/ssh/README.md
+++ b/docs/how-to/connect-to-comma.md
@@ -1,39 +1,42 @@
-# SSH
+# connect to a comma 3/3X
 
-## Quick Start
+A comma 3/3X is a normal [Linux](https://github.com/commaai/agnos-builder) computer that exposes [SSH](https://wiki.archlinux.org/title/Secure_Shell) and a [serial console](https://wiki.archlinux.org/title/Working_with_the_serial_console).
+
+## Serial Console
+
+On both the comma three and 3X, the serial console is accessible from the main OBD-C port.
+Connect the comma 3/3X to your computer with a normal USB C cable, or use a [comma serial](https://comma.ai/shop/comma-serial) for steady 12V power.
+
+On the comma three, the serial console is exposed through a UART-to-USB chip, and `tools/serial/connect.sh` can be used to connect.
+
+On the comma 3X, the serial console is accessible through the [panda](https://github.com/commaai/panda) using the `panda/tests/som_debug.sh` script.
+
+## SSH
 
 In order to SSH into your device, you'll need a GitHub account with SSH keys. See this [GitHub article](https://docs.github.com/en/github/authenticating-to-github/connecting-to-github-with-ssh) for getting your account setup with SSH keys.
 
 * Enable SSH in your device's settings
 * Enter your GitHub username in the device's settings
 * Connect to your device
-  * Username: `comma`
-  * Port: `22` or `8022`
+    * Username: `comma`
+    * Port: `22`
 
 Here's an example command for connecting to your device using its tethered connection:<br />
 `ssh comma@192.168.43.1`
 
 For doing development work on device, it's recommended to use [SSH agent forwarding](https://docs.github.com/en/developers/overview/using-ssh-agent-forwarding).
 
-## Notes
+### Notes
 
 The public keys are only fetched from your GitHub account once. In order to update your device's authorized keys, you'll need to re-enter your GitHub username.
 
 The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
 
-See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information.
+#### ssh.comma.ai proxy
 
-# Connecting to ssh.comma.ai
-SSH into your comma device from anywhere with `ssh.comma.ai`. Requires a [comma prime subscription](https://comma.ai/connect).
+With a [comma prime subscription](https://comma.ai/connect), you can SSH into your comma device from anywhere.
 
-## Setup
-
-With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`.
-
-## Recommended .ssh/config
-
-With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.<br />
-For example: `ssh comma-ffffffffffffffff`
+With the below SSH configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`.
 
 ```
 Host comma-*
@@ -41,20 +44,21 @@ Host comma-*
   User comma
   IdentityFile ~/.ssh/my_github_key
   ProxyCommand ssh %h@ssh.comma.ai -W %h:%p
+
 Host ssh.comma.ai
   Hostname ssh.comma.ai
   Port 22
   IdentityFile ~/.ssh/my_github_key
 ```
 
-## One-off connection
+### One-off connection
 
 ```
 ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
 ```
 (Replace `ffffffffffffffff` with your dongle_id)
 
-## ssh.comma.ai host key fingerprint
+### ssh.comma.ai host key fingerprint
 
 ```
 Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4
diff --git a/docs/how-to/replay-a-drive.md b/docs/how-to/replay-a-drive.md
new file mode 100644
index 00000000000000..084b6bf825a785
--- /dev/null
+++ b/docs/how-to/replay-a-drive.md
@@ -0,0 +1,14 @@
+# Replay
+
+Replaying is a critical tool for openpilot development and debugging.
+
+## Replaying a route
+*Hardware required: none*
+
+Just run `tools/replay/replay --demo`.
+
+## Replaying CAN data
+*Hardware required: jungle and comma 3/3X*
+
+1. Connect your PC to a jungle.
+2.
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
new file mode 100644
index 00000000000000..643023fdf459f8
--- /dev/null
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -0,0 +1,98 @@
+# Turn the speed blue
+*A getting started guide for openpilot development*
+
+In 30 minutes, we'll get an openpilot development environment setup on your computer and make some changes to openpilot's UI.
+
+And if you have a comma 3/3X, we'll deploy the change to your device for testing.
+
+## 1. Setup your development environment
+
+Run this to clone openpilot and install all the dependencies:
+```bash
+curl -fsSL openpilot.comma.ai | bash
+```
+
+Navigate to openpilot folder & activate a Python virtual environment
+```bash
+cd openpilot
+source .venv/bin/activate
+```
+
+Then, compile openpilot:
+```bash
+scons -j8
+```
+
+## 2. Run replay
+
+We'll run the `replay` tool with the demo route to get data streaming for testing our UI changes.
+```bash
+# in terminal 1
+tools/replay/replay --demo
+
+# in terminal 2
+selfdrive/ui/ui
+```
+
+The openpilot UI should launch and show a replay of the demo route.
+
+If you have your own comma device, you can replace `--demo` with one of your own routes from comma connect.
+
+## 3. Make the speed blue
+
+Search for “mph” with git grep in the `ui` folder.
+```bash
+$ git grep "mph" selfdrive/ui/
+paint.cc:  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
+```
+
+The line right above contains the actual speed. Unfortunately, COLOR_BLUE isn’t defined, but a git grep of COLOR_WHITE shows it’s nvgRGBA(255, 255, 255, 255). Personally, I like a lighter blue, so I went with #8080FF.
+```bash
+$ git diff
+diff --git a/selfdrive/ui/paint.cc b/selfdrive/ui/paint.cc
+index 821d95115..cc996eaa1 100644
+--- a/selfdrive/ui/paint.cc
++++ b/selfdrive/ui/paint.cc
+@@ -175,8 +175,8 @@ static void ui_draw_vision_speed(UIState *s) {
+   const float speed = std::max(0.0, (*s->sm)["carState"].getCarState().getVEgo() * (s->scene.is_metric ? 3.6 : 2.2369363));
+   const std::string speed_str = std::to_string((int)std::nearbyint(speed));
+   nvgTextAlign(s->vg, NVG_ALIGN_CENTER | NVG_ALIGN_BASELINE);
+-  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, COLOR_WHITE, "sans-bold");
+-  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, COLOR_WHITE_ALPHA(200), "sans-regular");
++  ui_draw_text(s, s->fb_w/2, 210, speed_str.c_str(), 96 * 2.5, nvgRGBA(128, 128, 255, 255), "sans-bold");
++  ui_draw_text(s, s->fb_w/2, 290, s->scene.is_metric ? "km/h" : "mph", 36 * 2.5, nvgRGBA(128, 128, 255, 200), "sans-regular");
+ }
+
+ static void ui_draw_vision_event(UIState *s) {
+```
+
+
+## 4. Rebuild UI, and admire your work
+
+```
+scons -j8 && selfdrive/ui/ui
+```
+
+![](https://blog.comma.ai/img/blue_speed_ui.png)
+
+## 5. Push your fork to GitHub
+
+Click fork on GitHub. Then, push with:
+```bash
+git remote rm origin
+git remote add origin git@github.com:<your-github-username>/openpilot.git
+git add .
+git commit -m "Make the speed blue."
+git push --set-upstream origin master
+```
+
+## 6. Run your fork on device in your car!
+
+Uninstall openpilot from your device through the settings. Then, enter the URL for your very own installer:
+```
+installer.comma.ai/<your-github-username>/master
+```
+
+## 7. Admire your work IRL
+
+![](https://blog.comma.ai/img/c3_blue_ui.jpg)
diff --git a/docs/index.md b/docs/index.md
deleted file mode 100644
index 0fb2617a5b74ab..00000000000000
--- a/docs/index.md
+++ /dev/null
@@ -1,42 +0,0 @@
-# openpilot Documentation
-
-```{include} README.md
-```
-
-```{toctree}
-:caption: 'General'
-:maxdepth: 4
-
-CARS.md
-CONTRIBUTING.md
-INTEGRATION.md
-LIMITATIONS.md
-SAFETY.md
-```
-
-```{toctree}
-:caption: 'Overview'
-:maxdepth: 2
-
-overview.rst
-```
-
-## API Documentation
-
-- {ref}`genindex`
-- {ref}`modindex`
-- {ref}`search`
-
-```{toctree}
-:caption: 'Python API'
-:maxdepth: 2
-
-modules.rst
-```
-
-```{toctree}
-:caption: 'C/C++ API'
-:maxdepth: 4
-
-c_docs.rst
-```
\ No newline at end of file
diff --git a/docs/index.md b/docs/index.md
new file mode 120000
index 00000000000000..74ea27aeeb6b72
--- /dev/null
+++ b/docs/index.md
@@ -0,0 +1 @@
+getting-started/what-is-openpilot.md
\ No newline at end of file
diff --git a/docs/overview.rst b/docs/overview.rst
deleted file mode 100644
index 8c552077f38fc5..00000000000000
--- a/docs/overview.rst
+++ /dev/null
@@ -1,72 +0,0 @@
-openpilot
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   Debugging <selfdrive/debug/README.md>
-   system/loggerd/README.md
-   Driver Monitoring <selfdrive/monitoring/README.md>
-   Process Replay <selfdrive/test/process_replay/README.md>
-
-cereal
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   cereal/README.md
-   cereal/messaging/msgq.md
-
-models
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   models/README.md
-
-opendbc
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   opendbc/README.md
-
-panda
-=========
-
-.. toctree::
-   :maxdepth: 4
-
-   panda/README.md
-   panda/UPDATING.md
-   panda/board/README.md
-   panda/drivers/linux/README.md
-   panda/drivers/windows/README.md
-
-
-rednose
-=========
-.. toctree::
-   :maxdepth: 4
-
-   rednose_repo/README.md
-
-
-tools
-=========
-.. toctree::
-   :maxdepth: 4
-
-   tools/CTF.md
-   tools/joystick/README.md
-   tools/lib/README.md
-   tools/plotjuggler/README.md
-   tools/replay/README.md
-   tools/serial/README.md
-   Simulator <tools/sim/README.md>
-   tools/ssh/README.md
-   Webcam <tools/webcam/README.md>
-   tools/cabana/README.md
diff --git a/mkdocs.yml b/mkdocs.yml
new file mode 100644
index 00000000000000..743b8fa1b789c6
--- /dev/null
+++ b/mkdocs.yml
@@ -0,0 +1,38 @@
+site_name: openpilot docs
+repo_url: https://github.com/commaai/openpilot/
+site_url: https://docs.comma.ai
+
+exclude_docs: README.md
+
+strict: true
+docs_dir: docs
+site_dir: docs_site/
+
+theme:
+  name: readthedocs
+  navigation_depth: 3
+
+nav:
+  - Getting Started:
+    - What is openpilot?: getting-started/what-is-openpilot.md
+  - How-to:
+    - Turn the speed blue: how-to/turn-the-speed-blue.md
+    - Connect to a comma 3/3X: how-to/connect-to-comma.md
+    #- Replay a drive: how-to/replay-a-drive.md
+  - Concepts:
+    - Logs: concepts/logs.md
+    - Safety: concepts/safety.md
+  - Car Porting:
+    - What is a car port?: car-porting/what-is-a-car-port.md
+    - Porting a car brand: car-porting/brand-port.md
+    - Porting a car model: car-porting/model-port.md
+  - Contributing:
+    - Roadmap: contributing/roadmap.md
+    #- Architecture: contributing/architecture.md
+    - Contributing Guide →: https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md
+  - Links:
+    - Blog →: https://blog.comma.ai
+    - Bounties →: https://comma.ai/bounties
+    - GitHub →: https://github.com/commaai
+    - Discord →: https://discord.comma.ai
+    - X →: https://x.com/comma_ai
diff --git a/msgq_repo b/msgq_repo
index 74074d650f5d51..d7b99c4296f7a5 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 74074d650f5d516a33962c1681a2a15b1d603537
+Subproject commit d7b99c4296f7a5c098e756bad73af8ef38370261
diff --git a/opendbc b/opendbc
index 986dd5da073962..ae5801898c5aca 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 986dd5da073962bb79cc35fe89586e3d67335c55
+Subproject commit ae5801898c5aca878470b4d3d373095682b57448
diff --git a/panda b/panda
index faa18026692f77..f6375848ca393a 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit faa18026692f7714ee537261fe649dafe4882579
+Subproject commit f6375848ca393a9483921665b6a2d131d7ec9b20
diff --git a/poetry.lock b/poetry.lock
deleted file mode 100644
index 7e772276edb338..00000000000000
--- a/poetry.lock
+++ /dev/null
@@ -1,8015 +0,0 @@
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-[package.extras]
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-    {file = "yarl-1.9.4-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:ddb2a5c08a4eaaba605340fdee8fc08e406c56617566d9643ad8bf6852778fc7"},
-    {file = "yarl-1.9.4-cp39-cp39-musllinux_1_1_aarch64.whl", hash = "sha256:26a1dc6285e03f3cc9e839a2da83bcbf31dcb0d004c72d0730e755b33466c30e"},
-    {file = "yarl-1.9.4-cp39-cp39-musllinux_1_1_i686.whl", hash = "sha256:18580f672e44ce1238b82f7fb87d727c4a131f3a9d33a5e0e82b793362bf18b4"},
-    {file = "yarl-1.9.4-cp39-cp39-musllinux_1_1_ppc64le.whl", hash = "sha256:29e0f83f37610f173eb7e7b5562dd71467993495e568e708d99e9d1944f561ec"},
-    {file = "yarl-1.9.4-cp39-cp39-musllinux_1_1_s390x.whl", hash = "sha256:1f23e4fe1e8794f74b6027d7cf19dc25f8b63af1483d91d595d4a07eca1fb26c"},
-    {file = "yarl-1.9.4-cp39-cp39-musllinux_1_1_x86_64.whl", hash = "sha256:db8e58b9d79200c76956cefd14d5c90af54416ff5353c5bfd7cbe58818e26ef0"},
-    {file = "yarl-1.9.4-cp39-cp39-win32.whl", hash = "sha256:c7224cab95645c7ab53791022ae77a4509472613e839dab722a72abe5a684575"},
-    {file = "yarl-1.9.4-cp39-cp39-win_amd64.whl", hash = "sha256:824d6c50492add5da9374875ce72db7a0733b29c2394890aef23d533106e2b15"},
-    {file = "yarl-1.9.4-py3-none-any.whl", hash = "sha256:928cecb0ef9d5a7946eb6ff58417ad2fe9375762382f1bf5c55e61645f2c43ad"},
-    {file = "yarl-1.9.4.tar.gz", hash = "sha256:566db86717cf8080b99b58b083b773a908ae40f06681e87e589a976faf8246bf"},
-]
-
-[package.dependencies]
-idna = ">=2.0"
-multidict = ">=4.0"
-
-[[package]]
-name = "zipp"
-version = "3.19.2"
-description = "Backport of pathlib-compatible object wrapper for zip files"
-optional = false
-python-versions = ">=3.8"
-files = [
-    {file = "zipp-3.19.2-py3-none-any.whl", hash = "sha256:f091755f667055f2d02b32c53771a7a6c8b47e1fdbc4b72a8b9072b3eef8015c"},
-    {file = "zipp-3.19.2.tar.gz", hash = "sha256:bf1dcf6450f873a13e952a29504887c89e6de7506209e5b1bcc3460135d4de19"},
-]
-
-[package.extras]
-doc = ["furo", "jaraco.packaging (>=9.3)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)", "sphinx-lint"]
-test = ["big-O", "importlib-resources", "jaraco.functools", "jaraco.itertools", "jaraco.test", "more-itertools", "pytest (>=6,!=8.1.*)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=2.2)", "pytest-ignore-flaky", "pytest-mypy", "pytest-ruff (>=0.2.1)"]
-
-[metadata]
-lock-version = "2.0"
-python-versions = ">=3.11, <3.13"
-content-hash = "b5c62b81368f0e972fbcf0dbb88746f3ae930ebdc171ad004c926f3588d1f244"
diff --git a/pyproject.toml b/pyproject.toml
index 7b780c87f0791e..1473cf57070ea4 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,15 +1,138 @@
 [project]
 name = "openpilot"
 requires-python = ">= 3.11"
-readme = "README.md"
 license = {text = "MIT License"}
+version = "0.1.0"
+description = "an open source driver assistance system"
+authors = [
+  {name ="Vehicle Researcher", email="user@comma.ai"}
+]
+
+dependencies = [
+  # multiple users
+  "sounddevice",  # micd + soundd
+  "pyserial",     # pigeond + qcomgpsd
+  "requests",     # many one-off uses
+  "sympy",        # rednose + friends
+  "crcmod",       # cars + qcomgpsd
+  "tqdm",         # cars (fw_versions.py) on start + many one-off uses
+
+  # hardwared
+  "smbus2", # configuring amp
+
+  # core
+  "cffi",
+  "scons",
+  "pycapnp",
+  "Cython",
+  "setuptools",
+  "numpy",
+
+  # body / webrtcd
+  "aiohttp",
+  "aiortc",
+  "pyaudio",
+
+  # panda
+  "libusb1",
+  "spidev; platform_system == 'Linux'",
+
+  # modeld
+  "onnx >= 1.14.0",
+  "onnxruntime >=1.16.3; platform_system == 'Linux' and platform_machine == 'aarch64'",
+  "onnxruntime-gpu >=1.16.3; platform_system == 'Linux' and platform_machine == 'x86_64'",
+
+  # logging
+  "pyzmq",
+  "sentry-sdk",
+
+  # athena
+  "PyJWT",
+  "json-rpc",
+  "websocket_client",
+
+  # acados deps
+  "casadi @ https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl ; (python_version == '3.12' and platform_machine == 'aarch64')", # TODO: Go back to pypi casadi when they fix aarch64 for python312
+  "casadi; platform_machine != 'aarch64' or python_version != '3.12'",
+  "future-fstrings",
+
+  # these should be removed
+  "psutil",
+  "pycryptodome", # used in updated/casync, panda, body, and a test
+
+  # logreader
+  "zstandard",
+]
+
+[project.optional-dependencies]
+docs = [
+  "Jinja2",
+  "natsort",
+  "mkdocs",
+]
+
+testing = [
+  "coverage",
+  "hypothesis ==6.47.*",
+  "import-linter",
+  "mypy",
+  "pre-commit",
+  "pytest",
+  "pytest-cov",
+  "pytest-cpp",
+  "pytest-subtests",
+  "pytest-xdist",
+  "pytest-timeout",
+  "pytest-randomly",
+  "pytest-asyncio",
+  "pytest-mock",
+  "pytest-repeat",
+  "ruff"
+]
+
+dev = [
+  "av",
+  "azure-identity",
+  "azure-storage-blob",
+  "dictdiffer",
+  "flaky",
+  "inputs",
+  "lru-dict",
+  "matplotlib",
+  "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
+  "parameterized >=0.8, <0.9",
+  #"pprofile",
+  "pyautogui",
+  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
+  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
+  "pywinctl",
+  "pyprof2calltree",
+  "rerun-sdk",
+  "tabulate",
+  "types-requests",
+  "types-tabulate",
+  "hexdump",
+
+  # this is only pinned since 5.15.11 is broken
+  "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
+]
 
 [project.urls]
 Homepage = "https://comma.ai"
 
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.hatch.build.targets.wheel]
+packages = [ "." ]
+
+[tool.hatch.metadata]
+allow-direct-references = true
+
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
+addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=teleoprtc_repo/ --ignore=msgq/  -Werror --strict-config --strict-markers --durations=10 -n auto --dist=loadgroup"
 cpp_files = "test_*"
 cpp_harness = "selfdrive/test/cpp_harness.py"
 python_files = "test_*.py"
@@ -25,7 +148,6 @@ testpaths = [
   "selfdrive/controls",
   "selfdrive/locationd",
   "selfdrive/monitoring",
-  "selfdrive/navd/tests",
   "selfdrive/test/longitudinal_maneuvers",
   "selfdrive/test/process_replay/test_fuzzy.py",
   "system/updated",
@@ -76,125 +198,6 @@ warn_return_any=true
 # allow implicit optionals for default args
 implicit_optional = true
 
-
-[tool.poetry]
-name = "openpilot"
-version = "0.1.0"
-description = "an open source driver assistance system"
-authors = ["Vehicle Researcher <user@comma.ai>"]
-license = "MIT"
-readme = "README.md"
-repository = "https://github.com/commaai/openpilot"
-documentation = "https://docs.comma.ai"
-
-[tool.poetry.dependencies]
-python = ">=3.11, <3.13"
-
-# multiple users
-sounddevice = "*"  # micd + soundd
-pyserial = "*"     # pigeond + qcomgpsd
-requests = "*"     # many one-off uses
-sympy = "*"        # rednose + friends
-crcmod = "*"       # cars + qcomgpsd
-
-# hardwared
-smbus2 = "*"  # configuring amp
-
-# core
-cffi = "*"
-scons = "*"
-pycapnp = "*"
-Cython = "*"
-numpy = "*"
-
-# body / webrtcd
-aiohttp = "*"
-aiortc = "*"
-pyaudio = "*"
-
-# panda
-libusb1 = "*"
-spidev = { version = "*", platform = "linux" }
-
-# modeld
-onnx = ">=1.14.0"
-onnxruntime = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'aarch64'" }
-onnxruntime-gpu = { version = ">=1.16.3", platform = "linux", markers = "platform_machine == 'x86_64'" }
-
-# logging
-pyzmq = "*"
-sentry-sdk = "*"
-
-# athena
-PyJWT = "*"
-json-rpc = "*"
-websocket_client = "*"
-
-# acados deps
-casadi = "*"
-future-fstrings = "*"
-
-# these should be removed
-psutil = "*"
-timezonefinder = "*"  # just used for nav ETA
-pycryptodome = "*"  # used in updated/casync, panda, body, and a test
-
-[tool.poetry.group.dev.dependencies]
-av = "*"
-azure-identity = "*"
-azure-storage-blob = "*"
-breathe = "*"
-control = "*"
-coverage = "*"
-dictdiffer = "*"
-flaky = "*"
-hypothesis = "~6.47"
-inputs = "*"
-Jinja2 = "*"
-lru-dict = "*"
-matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/commaai/metadrive.git", branch = "python3.12", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
-mpld3 = "*"
-mypy = "*"
-myst-parser = "*"
-natsort = "*"
-opencv-python-headless = "*"
-parameterized = "^0.8"
-#pprofile = "*"
-polyline = "*"
-pre-commit = "*"
-pyautogui = "*"
-pyopencl = { version = "*", markers = "platform_machine != 'aarch64'" }  # broken on arm64
-pygame = "*"
-pywinctl = "*"
-pyprof2calltree = "*"
-pytest = "*"
-pytest-cov = "*"
-pytest-cpp = "*"
-pytest-subtests = "*"
-pytest-xdist = "*"
-pytest-timeout = "*"
-pytest-randomly = "*"
-pytest-asyncio = "*"
-pytest-mock = "*"
-pytest-repeat = "*"
-rerun-sdk = "*"
-ruff = "*"
-sphinx = "*"
-sphinx-rtd-theme = "*"
-sphinx-sitemap = "*"
-tabulate = "*"
-types-requests = "*"
-types-tabulate = "*"
-tqdm = "*"
-
-# this is only pinned since 5.15.11 is broken
-pyqt5 = { version = "==5.15.2", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
-
-[build-system]
-requires = ["poetry-core"]
-build-backend = "poetry.core.masonry.api"
-
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
@@ -204,7 +207,8 @@ lint.select = [
   "UP",  # pyupgrade
   "TRY302", "TRY400", "TRY401", # try/excepts
   "RUF008", "RUF100",
-  "TID251"
+  "TID251",
+  "PLR1704",
 ]
 lint.ignore = [
   "E741",
@@ -217,7 +221,7 @@ lint.ignore = [
   "UP038",   # (x, y) -> x|y for isinstance
 ]
 line-length = 160
-target-version="py311"
+target-version ="py311"
 exclude = [
   "body",
   "cereal",
@@ -229,7 +233,8 @@ exclude = [
   "teleoprtc_repo",
   "third_party",
 ]
-lint.flake8-implicit-str-concat.allow-multiline=false
+lint.flake8-implicit-str-concat.allow-multiline = false
+
 [tool.ruff.lint.flake8-tidy-imports.banned-api]
 "selfdrive".msg = "Use openpilot.selfdrive"
 "common".msg = "Use openpilot.common"
@@ -241,5 +246,6 @@ lint.flake8-implicit-str-concat.allow-multiline=false
 
 [tool.coverage.run]
 concurrency = ["multiprocessing", "thread"]
+
 [tool.ruff.format]
 quote-style = "preserve"
diff --git a/rednose_repo b/rednose_repo
index 72b3479bababc6..023a6195dbfc2f 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 72b3479bababc658f24cc7aa0dc8bb550f0474fc
+Subproject commit 023a6195dbfc2fa37dedc7383ed271fe639287c0
diff --git a/release/check-submodules.sh b/release/check-submodules.sh
index bff8d7a28fe301..5305cecd3a3889 100755
--- a/release/check-submodules.sh
+++ b/release/check-submodules.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 2000 origin master
+  git -C $submodule fetch --depth 3000 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"
diff --git a/release/release_files.py b/release/release_files.py
index 031b51737d7656..1590807435be3b 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -10,8 +10,6 @@
 # - minimizing release download size
 # - keeping the diff readable
 blacklist = [
-  "body/STL/",
-
   "panda/drivers/",
   "panda/examples/",
   "panda/tests/safety/",
@@ -23,7 +21,7 @@
   "^common/tests/",
 
   # particularly large text files
-  "poetry.lock",
+  "uv.lock",
   "third_party/catch2",
   "selfdrive/car/tests/test_models.*",
 
diff --git a/scripts/git_rewrite/rewrite-git-history.sh b/scripts/git_rewrite/rewrite-git-history.sh
new file mode 100755
index 00000000000000..5a97e6bbad0e72
--- /dev/null
+++ b/scripts/git_rewrite/rewrite-git-history.sh
@@ -0,0 +1,390 @@
+#!/bin/bash -e
+
+SRC=/tmp/openpilot/
+SRC_CLONE=/tmp/openpilot-clone/
+OUT=/tmp/openpilot-tiny/
+
+REWRITE_IGNORE_BRANCHES=(
+  dashcam3
+  devel
+  master-ci
+  nightly
+  release2
+  release3
+  release3-staging
+)
+
+VALIDATE_IGNORE_FILES=(
+  ".github/ISSUE_TEMPLATE/bug_report.md"
+  ".github/pull_request_template.md"
+)
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+LOGS_DIR=$DIR/git-rewrite-$(date +"%Y-%m-%dT%H:%M:%S%z")
+mkdir -p $LOGS_DIR
+
+GIT_REWRITE_LOG=$LOGS_DIR/git-rewrite-log.txt
+BRANCH_DIFF_LOG=$LOGS_DIR/branch-diff-log.txt
+COMMIT_DIFF_LOG=$LOGS_DIR/commit-diff-log.txt
+
+START_TIME=$(date +%s)
+exec > >(while IFS= read -r line; do
+  CURRENT_TIME=$(date +%s)
+  ELAPSED_TIME=$((CURRENT_TIME - START_TIME))
+  echo "[${ELAPSED_TIME}s] $line"
+done | tee -a "$GIT_REWRITE_LOG") 2>&1
+
+# INSTALL git-filter-repo
+if [ ! -f /tmp/git-filter-repo ]; then
+  echo "Installing git-filter-repo..."
+  curl -sSo /tmp/git-filter-repo https://raw.githubusercontent.com/newren/git-filter-repo/main/git-filter-repo
+  chmod +x /tmp/git-filter-repo
+fi
+
+# MIRROR openpilot
+if [ ! -d $SRC ]; then
+  echo "Mirroring openpilot..."
+  git clone --mirror https://github.com/commaai/openpilot.git $SRC # 4.18 GiB (488034 objects)
+
+  cd $SRC
+
+  echo "Starting size $(du -sh .)"
+
+  git remote update
+
+  # the git-filter-repo analysis is bliss - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "Pushing to openpilot-archive..."
+  # push to archive repo - in smaller parts because the 2 GB push limit - https://docs.github.com/en/get-started/using-git/troubleshooting-the-2-gb-push-limit
+  ARCHIVE_REPO=git@github.com:commaai/openpilot-archive.git
+  git push --prune $ARCHIVE_REPO +refs/heads/master:refs/heads/master # push master first so it's the default branch (when openpilot-archive is an empty repo)
+  git push --prune $ARCHIVE_REPO +refs/heads/*:refs/heads/* # 956.39 MiB (110725 objects)
+  git push --prune $ARCHIVE_REPO +refs/tags/*:refs/tags/* # 1.75 GiB (21694 objects)
+  # git push --mirror $ARCHIVE_REPO || true # fails to push refs/pull/* (deny updating a hidden ref) for pull requests
+  # we fail and continue - more reading: https://stackoverflow.com/a/34266401/639708 and https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+fi
+
+# REWRITE master and tags
+if [ ! -d $SRC_CLONE ]; then
+  echo "Cloning $SRC..."
+  GIT_LFS_SKIP_SMUDGE=1 git clone $SRC $SRC_CLONE
+
+  cd $SRC_CLONE
+
+  echo "Checking out old history..."
+
+  git checkout tags/v0.7.1 > /dev/null 2>&1
+  # checkout as main, since we need master ref later
+  git checkout -b main
+
+  echo "Creating setup commits..."
+
+  # rm these so we don't get conflicts later
+  git rm -r cereal opendbc panda selfdrive/ui/ui > /dev/null
+  git commit -m "removed conflicting files" > /dev/null
+
+  # skip-smudge to get rid of some lfs errors that it can't find the reference of some lfs files
+  # we don't care about fetching/pushing lfs right now
+  git lfs install --skip-smudge --local
+
+  # squash initial setup commits
+  git cherry-pick -n -X theirs 6c33a5c..59b3d06 > /dev/null
+  git commit -m "switching to master" > /dev/null
+
+  # squash the two commits
+  git reset --soft HEAD~2
+  git commit -m "switching to master" -m "$(git log --reverse --format=%B 6c33a5c..59b3d06)" -m "removed conflicting files" > /dev/null
+
+  # get commits we want to cherry-pick
+  # will start with the next commit after #59b3d06 tools is local now
+  COMMITS=$(git rev-list --reverse 59b3d06..master)
+
+  # we need this for logging
+  TOTAL_COMMITS=$(echo $COMMITS | wc -w | xargs)
+  CURRENT_COMMIT_NUMBER=0
+
+  # empty this file
+  > commit-map.txt
+
+  echo "Rewriting master commits..."
+
+  for COMMIT in $COMMITS; do
+      CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+      # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"\\r
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Cherry-picking commit: $COMMIT"
+
+      # set environment variables to preserve author/committer and dates
+      export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+      export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+      export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+      export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+      export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+      export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+      # cherry-pick the commit
+      if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+        # check if the failure is because of an empty commit
+        if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+          echo "Empty commit detected. Skipping commit $COMMIT"
+          git cherry-pick --skip
+          # log it was empty to the mapping file
+          echo "$COMMIT EMPTY" >> commit-map.txt
+        else
+          # handle other errors or conflicts
+          echo "Cherry-pick failed. Handling error..."
+          echo "$GIT_OUTPUT"
+          exit 1
+        fi
+      else
+        # capture the new commit hash
+        NEW_COMMIT=$(git rev-parse HEAD)
+
+        # save the old and new commit hashes to the mapping file
+        echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+        # append the old commit ID to the commit message
+        git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+      fi
+
+    # prune every 3000 commits to avoid gc errors
+    if [ $((CURRENT_COMMIT_NUMBER % 3000)) -eq 0 ]; then
+      echo "Pruning repo..."
+      git gc
+    fi
+  done
+
+  echo "Rewriting tags..."
+
+  # remove all old tags
+  git tag -l | xargs git tag -d
+
+  # read each line from the tag-commit-map.txt
+  while IFS=' ' read -r TAG OLD_COMMIT; do
+    # search for the new commit in commit-map.txt corresponding to the old commit
+    NEW_COMMIT=$(grep "^$OLD_COMMIT " "commit-map.txt" | awk '{print $2}')
+
+    # check if this is a rebased commit
+    if [ -z "$NEW_COMMIT" ]; then
+      # if not, then just use old commit hash
+      NEW_COMMIT=$OLD_COMMIT
+    fi
+
+    echo "Rewriting tag $TAG from commit $NEW_COMMIT"
+    git tag -f "$TAG" "$NEW_COMMIT"
+  done < "$DIR/tag-commit-map.txt"
+
+  # uninstall lfs since we don't want to touch (push to) lfs right now
+  # git push will also push lfs, if we don't uninstall (--local so just for this repo)
+  git lfs uninstall --local
+
+  # force push new master
+  git push --force origin main:master
+
+  # force push new tags
+  git push --force --tags
+fi
+
+# REWRITE branches based on master
+if [ ! -f "$SRC_CLONE/rewrite-branches-done" ]; then
+  cd $SRC_CLONE
+  > rewrite-branches-done
+
+  # empty file
+  > $BRANCH_DIFF_LOG
+
+  echo "Rewriting branches based on master..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # get a list of all branches except master and REWRITE_IGNORE_BRANCHES
+  BRANCHES=$(git branch -r | grep -v ' -> ' | sed 's/.*origin\///' | grep -v '^master$' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n'))
+
+  for BRANCH in $BRANCHES; do
+    # check if the branch is based on master history
+    MERGE_BASE=$(git merge-base master origin/$BRANCH) || true
+    if [ -n "$MERGE_BASE" ]; then
+      echo "Rewriting branch: $BRANCH"
+      
+      # create a new branch based on the new master
+      NEW_MERGE_BASE=$(grep "^$MERGE_BASE " "commit-map.txt" | awk '{print $2}')
+      if [ -z "$NEW_MERGE_BASE" ]; then
+        echo "Error: could not find new merge base for branch $BRANCH" >> $BRANCH_DIFF_LOG
+        continue
+      fi
+      git checkout -b ${BRANCH}_new $NEW_MERGE_BASE
+      
+      # get the range of commits unique to this branch
+      COMMITS=$(git rev-list --reverse $MERGE_BASE..origin/${BRANCH})
+      
+      HAS_ERROR=0
+
+      # simple delimiter
+      echo "BRANCH ${BRANCH}" >> commit-map.txt
+
+      for COMMIT in $COMMITS; do
+        # set environment variables to preserve author/committer and dates
+        export GIT_AUTHOR_NAME=$(git show -s --format='%an' $COMMIT)
+        export GIT_AUTHOR_EMAIL=$(git show -s --format='%ae' $COMMIT)
+        export GIT_COMMITTER_NAME=$(git show -s --format='%cn' $COMMIT)
+        export GIT_COMMITTER_EMAIL=$(git show -s --format='%ce' $COMMIT)
+        export GIT_AUTHOR_DATE=$(git show -s --format='%ad' $COMMIT)
+        export GIT_COMMITTER_DATE=$(git show -s --format='%cd' $COMMIT)
+
+        # cherry-pick the commit
+        if ! GIT_OUTPUT=$(git cherry-pick -m 1 -X theirs $COMMIT 2>&1); then
+          # check if the failure is because of an empty commit
+          if [[ "$GIT_OUTPUT" == *"The previous cherry-pick is now empty"* ]]; then
+            echo "Empty commit detected. Skipping commit $COMMIT"
+            git cherry-pick --skip
+            # log it was empty to the mapping file
+            echo "$COMMIT EMPTY" >> commit-map.txt
+          else
+            # handle other errors or conflicts
+            echo "Cherry-pick of ${BRANCH} branch failed. Removing branch upstream..." >> $BRANCH_DIFF_LOG
+            echo "$GIT_OUTPUT" > "$LOGS_DIR/branch-${BRANCH}"
+            git cherry-pick --abort
+            git push --delete origin ${BRANCH}
+            HAS_ERROR=1
+            break
+          fi
+        else
+          # capture the new commit hash
+          NEW_COMMIT=$(git rev-parse HEAD)
+
+          # save the old and new commit hashes to the mapping file
+          echo "$COMMIT $NEW_COMMIT" >> commit-map.txt
+
+          # append the old commit ID to the commit message
+          git commit --amend -m "$(git log -1 --pretty=%B)" -m "Former-commit-id: $COMMIT" > /dev/null
+        fi
+      done
+      
+      # force push the new branch
+      if [ $HAS_ERROR -eq 0 ]; then
+        # git lfs goes haywire here, so we need to install and uninstall
+        # git lfs install --skip-smudge --local
+        git lfs uninstall --local > /dev/null
+        git push -f origin ${BRANCH}_new:${BRANCH}
+      fi
+      
+      # clean up local branch
+      git checkout master > /dev/null
+      git branch -D ${BRANCH}_new > /dev/null
+    else
+      echo "Deleting branch $BRANCH as it's not based on master history" >> $BRANCH_DIFF_LOG
+      git push --delete origin ${BRANCH}
+    fi
+  done
+fi
+
+# VALIDATE cherry-pick
+if [ ! -f "$SRC_CLONE/validation-done" ]; then
+  cd $SRC_CLONE
+  > validation-done
+
+  TOTAL_COMMITS=$(grep -cve '^\s*$' commit-map.txt)
+  CURRENT_COMMIT_NUMBER=0
+  COUNT_SAME=0
+  COUNT_DIFF=0
+
+  # empty file
+  > $COMMIT_DIFF_LOG
+
+  echo "Validating commits..."
+
+  # will store raw diffs here, if exist
+  mkdir -p differences
+
+  # read each line from commit-map.txt
+  while IFS=' ' read -r OLD_COMMIT NEW_COMMIT; do
+    if [ "$NEW_COMMIT" == "EMPTY" ]; then
+      continue
+    fi
+    if [ "$OLD_COMMIT" == "BRANCH" ]; then
+      echo "Branch ${NEW_COMMIT} below:" >> $COMMIT_DIFF_LOG
+      continue
+    fi
+    CURRENT_COMMIT_NUMBER=$((CURRENT_COMMIT_NUMBER + 1))
+    # retrieve short hashes and dates for the old and new commits
+    OLD_COMMIT_SHORT=$(git rev-parse --short $OLD_COMMIT)
+    NEW_COMMIT_SHORT=$(git rev-parse --short $NEW_COMMIT)
+    OLD_DATE=$(git show -s --format='%cd' $OLD_COMMIT)
+    NEW_DATE=$(git show -s --format='%cd' $NEW_COMMIT)
+
+    # echo -ne "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"\\r
+    echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Comparing old commit $OLD_COMMIT_SHORT ($OLD_DATE) with new commit $NEW_COMMIT_SHORT ($NEW_DATE)"
+    
+    # generate lists of files and their hashes for the old and new commits, excluding ignored files
+    OLD_FILES=$(git ls-tree -r $OLD_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+    NEW_FILES=$(git ls-tree -r $NEW_COMMIT | grep -vE "$(IFS='|'; echo "${VALIDATE_IGNORE_FILES[*]}")")
+
+    # Compare the diffs
+    if diff <(echo "$OLD_FILES") <(echo "$NEW_FILES") > /dev/null; then
+      # echo "Old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT are equivalent."
+      COUNT_SAME=$((COUNT_SAME + 1))
+    else
+      echo "[$CURRENT_COMMIT_NUMBER/$TOTAL_COMMITS] Difference found between old commit $OLD_COMMIT_SHORT and new commit $NEW_COMMIT_SHORT" >> $COMMIT_DIFF_LOG
+      COUNT_DIFF=$((COUNT_DIFF + 1))
+      set +e
+      diff -u <(echo "$OLD_FILES") <(echo "$NEW_FILES") > "$LOGS_DIR/commit-$CURRENT_COMMIT_NUMBER-$OLD_COMMIT_SHORT-$NEW_COMMIT_SHORT"
+      set -e
+    fi
+  done < "commit-map.txt"
+
+  echo "Summary:" >> $COMMIT_DIFF_LOG
+  echo "Equivalent commits: $COUNT_SAME" >> $COMMIT_DIFF_LOG
+  echo "Different commits: $COUNT_DIFF" >> $COMMIT_DIFF_LOG
+fi
+
+if [ ! -d $OUT ]; then
+  cp -r $SRC $OUT
+
+  cd $OUT
+
+  # remove all non-master branches
+  # git branch | grep -v "^  master$" | grep -v "\*" | xargs git branch -D
+
+  # echo "cleaning up refs"
+  # delete pull request refs since we can't alter them anyway (https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally#error-failed-to-push-some-refs)
+  # git for-each-ref --format='%(refname)' | grep '^refs/pull/' | xargs -I {} git update-ref -d {}
+
+  echo "importing new lfs files"
+  # import "almost" everything to lfs
+  BRANCHES=$(git for-each-ref --format='%(refname)' refs/heads/ | sed 's%refs/heads/%%g' | grep -v -f <(echo "${REWRITE_IGNORE_BRANCHES[*]}" | tr ' ' '\n') | tr '\n' ' ')
+  git lfs migrate import --include="*.dlc,*.onnx,*.svg,*.png,*.gif,*.ttf,*.wav,selfdrive/car/tests/test_models_segs.txt,system/hardware/tici/updater,selfdrive/ui/qt/spinner_larch64,selfdrive/ui/qt/text_larch64,third_party/**/*.a,third_party/**/*.so,third_party/**/*.so.*,third_party/**/*.dylib,third_party/acados/*/t_renderer,third_party/qt5/larch64/bin/lrelease,third_party/qt5/larch64/bin/lupdate,third_party/catch2/include/catch2/catch.hpp,*.apk,*.apkpatch,*.jar,*.pdf,*.jpg,*.mp3,*.thneed,*.tar.gz,*.npy,*.csv,*.a,*.so*,*.dylib,*.o,*.b64,selfdrive/hardware/tici/updater,selfdrive/boardd/tests/test_boardd,selfdrive/ui/qt/spinner_aarch64,installer/updater/updater,selfdrive/debug/profiling/simpleperf/**/*,selfdrive/hardware/eon/updater,selfdrive/ui/qt/text_aarch64,selfdrive/debug/profiling/pyflame/**/*,installer/installers/installer_openpilot,installer/installers/installer_dashcam,selfdrive/ui/text/text,selfdrive/ui/android/text/text,selfdrive/ui/spinner/spinner,selfdrive/visiond/visiond,selfdrive/loggerd/loggerd,selfdrive/sensord/sensord,selfdrive/sensord/gpsd,selfdrive/ui/android/spinner/spinner,selfdrive/ui/qt/spinner,selfdrive/ui/qt/text,_stringdefs.py,dfu-util-aarch64-linux,dfu-util-aarch64,dfu-util-x86_64-linux,dfu-util-x86_64,stb_image.h,clpeak3,clwaste,apk/**/*,external/**/*,phonelibs/**/*,third_party/boringssl/**/*,flask/**/*,panda/**/*,board/**/*,messaging/**/*,opendbc/**/*,tools/cabana/chartswidget.cc,third_party/nanovg/**/*,selfdrive/controls/lib/lateral_mpc/lib_mpc_export/**/*,selfdrive/ui/paint.cc,werkzeug/**/*,pyextra/**/*,third_party/android_hardware_libhardware/**/*,selfdrive/controls/lib/lead_mpc_lib/lib_mpc_export/**/*,selfdrive/locationd/laikad.py,selfdrive/locationd/test/test_laikad.py,tools/gpstest/test_laikad.py,selfdrive/locationd/laikad_helpers.py,tools/nui/**/*,jsonrpc/**/*,selfdrive/controls/lib/longitudinal_mpc/lib_mpc_export/**/*,selfdrive/controls/lib/lateral_mpc/mpc_export/**/*,selfdrive/camerad/cameras/camera_qcom.cc,selfdrive/manager.py,selfdrive/modeld/models/driving.cc,third_party/curl/**/*,selfdrive/modeld/thneed/debug/**/*,selfdrive/modeld/thneed/include/**/*,third_party/openmax/**/*,selfdrive/controls/lib/longitudinal_mpc/mpc_export/**/*,selfdrive/controls/lib/longitudinal_mpc_model/lib_mpc_export/**/*,Pipfile,Pipfile.lock,gunicorn/**/*,*.qm,jinja2/**/*,click/**/*,dbcs/**/*,websocket/**/*" $BRANCHES
+
+  echo "reflog and gc"
+  # this is needed after lfs import
+  git reflog expire --expire=now --all
+  git gc --prune=now --aggressive
+
+  # check the git-filter-repo analysis again - can be found in the repo root/filter-repo/analysis
+  echo "Analyzing with git-filter-repo..."
+  /tmp/git-filter-repo --force --analyze
+
+  echo "New size is $(du -sh .)"
+fi
+
+cd $OUT
+
+# fetch all lfs files from https://github.com/commaai/openpilot.git
+# some lfs files are missing on gitlab, but they can be found on github
+git config lfs.url https://github.com/commaai/openpilot.git/info/lfs
+git config lfs.pushurl ssh://git@github.com/commaai/openpilot.git
+git lfs fetch --all || true
+
+# also fetch all lfs files from https://gitlab.com/commaai/openpilot-lfs.git
+git config lfs.url https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+git config lfs.pushurl ssh://git@gitlab.com/commaai/openpilot-lfs.git
+git lfs fetch --all || true
+
+# final push - will also push lfs
+# TODO: switch to git@github.com:commaai/openpilot.git when ready
+# git push --mirror git@github.com:commaai/openpilot-tiny.git
+# using this instead to ignore refs/pull/* - since this is also what --mirror does - https://blog.plataformatec.com.br/2013/05/how-to-properly-mirror-a-git-repository/
+git push --prune git@github.com:commaai/openpilot-tiny.git +refs/heads/*:refs/heads/* +refs/tags/*:refs/tags/*
diff --git a/scripts/git_rewrite/tag-commit-map.txt b/scripts/git_rewrite/tag-commit-map.txt
new file mode 100644
index 00000000000000..66b1fb00c182a0
--- /dev/null
+++ b/scripts/git_rewrite/tag-commit-map.txt
@@ -0,0 +1,82 @@
+v0.1 e94a30bec07e719c5a7b037ca1f4db8312702cce
+v0.2 449b482cc3236ccf31829830b4f6a44b2dcc06c2
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+v0.2.6 6c3afeec0fb439070b2912978b8dbb659033b1d9
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+v0.5.1 8f22f52235c48eada586795ac57edb22688e4d08
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+v0.8.15 5a7c2f90361e72e9c35e88abd2e11acdc4aba354
+v0.8.16 f41dc62a12cc0f3cb8c5453c0caa0ba21e1bd01e
+v0.9.0 58b84fb401a804967aa0dd5ee66fafa90194fd30
+v0.9.1 89f68bf0cbf53a81b0553d3816fdbe522f941fa1
+v0.9.2 c7d3b28b93faa6c955fb24bc64031512ee985ee9
+v0.9.3 8704c1ff952b5c85a44f50143bbd1a4f7b4887e2
+v0.9.4 fa310d9e2542cf497d92f007baec8fd751ffa99c
+v0.9.5 3b1e9017c560499786d8a0e46aaaeea65037acac
+v0.9.6 0b4d08fab8e35a264bc7383e878538f8083c33e5
+v0.9.7 f8cb04e4a8b032b72a909f68b808a50936184bee
diff --git a/selfdrive/SConscript b/selfdrive/SConscript
index 52898f758f2ae7..0b49e69116f395 100644
--- a/selfdrive/SConscript
+++ b/selfdrive/SConscript
@@ -2,6 +2,5 @@ SConscript(['pandad/SConscript'])
 SConscript(['controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
 SConscript(['locationd/SConscript'])
-SConscript(['navd/SConscript'])
 SConscript(['modeld/SConscript'])
 SConscript(['ui/SConscript'])
\ No newline at end of file
diff --git a/selfdrive/assets/img_map.png b/selfdrive/assets/img_map.png
deleted file mode 100644
index a8646491d721e8..00000000000000
--- a/selfdrive/assets/img_map.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:4a197665ae2a7fc05109903474d513379711f7b7f555c4148ca99d589c95baf7
-size 31990
diff --git a/selfdrive/assets/navigation/default_marker.svg b/selfdrive/assets/navigation/default_marker.svg
deleted file mode 100644
index 4b11ee7623c8a3..00000000000000
--- a/selfdrive/assets/navigation/default_marker.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:a950b541c4e676475e3571aaa806060c3309c7f44b08a59f1ada19881b42493d
-size 389
diff --git a/selfdrive/assets/navigation/direction_arrive.png b/selfdrive/assets/navigation/direction_arrive.png
deleted file mode 100644
index f8c5bdc2d81b56..00000000000000
--- a/selfdrive/assets/navigation/direction_arrive.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ae17f4c1896c88a6d520f1acdca99ab23d4ce1140a500b64bea3185041f8ecd9
-size 1246
diff --git a/selfdrive/assets/navigation/direction_arrive_left.png b/selfdrive/assets/navigation/direction_arrive_left.png
deleted file mode 100644
index 6f59ab3711cd97..00000000000000
--- a/selfdrive/assets/navigation/direction_arrive_left.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
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deleted file mode 100644
index c36e27316e1a8f..00000000000000
--- a/selfdrive/assets/navigation/icon_directions.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:935cd01600d56350cda1941cf382c7c86cd959fa7a0a574bdba8b3011a350578
-size 466
diff --git a/selfdrive/assets/navigation/icon_directions_outlined.svg b/selfdrive/assets/navigation/icon_directions_outlined.svg
deleted file mode 100644
index 356a1e74566654..00000000000000
--- a/selfdrive/assets/navigation/icon_directions_outlined.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:0e5f0b26a56397872f8ac6085a18b666fba4cdf01299f73d704cb29b22c64606
-size 780
diff --git a/selfdrive/assets/navigation/icon_favorite.svg b/selfdrive/assets/navigation/icon_favorite.svg
deleted file mode 100644
index 0eb0e43688fc38..00000000000000
--- a/selfdrive/assets/navigation/icon_favorite.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ff184bf0239c54060ffbaf465573f17cbc92bd8d3d38ce10e1bd02cdd2b21575
-size 315
diff --git a/selfdrive/assets/navigation/icon_home.svg b/selfdrive/assets/navigation/icon_home.svg
deleted file mode 100644
index ca90cc7bf6747b..00000000000000
--- a/selfdrive/assets/navigation/icon_home.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1673f8d46251a05787b60346193852991739345506dc7e9b106dfb370d3611ed
-size 489
diff --git a/selfdrive/assets/navigation/icon_recent.svg b/selfdrive/assets/navigation/icon_recent.svg
deleted file mode 100644
index 76b5a620b12b29..00000000000000
--- a/selfdrive/assets/navigation/icon_recent.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5fbce167d2005d08e8bc2113e0a9d5d3e2ed113db8e2a020df1ee14633cd3eed
-size 1279
diff --git a/selfdrive/assets/navigation/icon_settings.svg b/selfdrive/assets/navigation/icon_settings.svg
deleted file mode 100644
index 3fd31459c3f147..00000000000000
--- a/selfdrive/assets/navigation/icon_settings.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1fa72d94b5e05884129dd502babd5de78666c349bb5d12e19872fdbc9fe2100e
-size 910
diff --git a/selfdrive/assets/navigation/icon_work.svg b/selfdrive/assets/navigation/icon_work.svg
deleted file mode 100644
index dc18914a3943fa..00000000000000
--- a/selfdrive/assets/navigation/icon_work.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7ea949d3b66896ac3404d20aea9445a5cd00fefd18623f1c7160293a1de5f807
-size 364
diff --git a/selfdrive/assets/navigation/work.png b/selfdrive/assets/navigation/work.png
deleted file mode 100644
index 589087a8aa197a..00000000000000
--- a/selfdrive/assets/navigation/work.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:49aef21620a5d2666c87975b28c6eb1cc8e613c80e504d97f5278cde25872c9d
-size 5570
diff --git a/selfdrive/assets/navigation/work.svg b/selfdrive/assets/navigation/work.svg
deleted file mode 100644
index 0f6a9ba65b3291..00000000000000
--- a/selfdrive/assets/navigation/work.svg
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:d2495943fec4ab00b1df5e4e6227bbec45ec57b19b25be561d616292316212f8
-size 2188
diff --git a/selfdrive/assets/navigation/work_inactive.png b/selfdrive/assets/navigation/work_inactive.png
deleted file mode 100644
index c1ce69b0042c4b..00000000000000
--- a/selfdrive/assets/navigation/work_inactive.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:93e6a2b405bbbdf48d54fc7c37612430f6688cf8541ee59b984d6add3b8f02a7
-size 8446
diff --git a/selfdrive/assets/offroad/icon_map.png b/selfdrive/assets/offroad/icon_map.png
deleted file mode 100644
index 82c0236a48d28d..00000000000000
--- a/selfdrive/assets/offroad/icon_map.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:57a92adcf88c7223b07697f8c2b315f4f4a34b32a866284610d5250144863c6f
-size 28235
diff --git a/selfdrive/assets/offroad/icon_map_speed.png b/selfdrive/assets/offroad/icon_map_speed.png
deleted file mode 100644
index 4ed1de314b30d4..00000000000000
--- a/selfdrive/assets/offroad/icon_map_speed.png
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:7e950f121f7ed564b149dd430527c8f0ef976b6d9af66a61fb7b5ebaf7170185
-size 29822
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index 4a1df550d055f4..b685c6a4354b5d 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -11,6 +11,7 @@
 from openpilot.common.utils import Freezable
 from openpilot.selfdrive.car.docs_definitions import CarDocs
 
+DT_CTRL = 0.01  # car state and control loop timestep (s)
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
@@ -165,6 +166,27 @@ def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_fra
   return above_limit_frames, request
 
 
+def apply_center_deadzone(error, deadzone):
+  if (error > - deadzone) and (error < deadzone):
+    error = 0.
+  return error
+
+
+def rate_limit(new_value, last_value, dw_step, up_step):
+  return clip(new_value, last_value + dw_step, last_value + up_step)
+
+
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
+                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+  friction_interp = interp(
+    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
+    [-friction_threshold, friction_threshold],
+    [-torque_params.friction, torque_params.friction]
+  )
+  friction = float(friction_interp) if friction_compensation else 0.0
+  return friction
+
+
 def make_can_msg(addr, dat, bus):
   return [addr, 0, dat, bus]
 
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 259126c416deed..c45dc7f0d2d964 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,7 +1,7 @@
 import numpy as np
 
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.body import bodycan
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index f797a7ecf8143e..50564d3ed806f2 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,7 +1,6 @@
 import math
 from cereal import car
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car import DT_CTRL, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index d9ee020ba493b1..37f51b9abaf3b5 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -9,9 +9,10 @@
 from panda import ALTERNATIVE_EXPERIENCE
 
 from openpilot.common.params import Params
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 85f53f68eb4f57..c9e7e2c9ed4f05 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,6 +1,5 @@
 from opendbc.can.packer import CANPacker
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_meas_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_meas_steer_torque_limits
 from openpilot.selfdrive.car.chrysler import chryslercan
 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 5072aad5c02192..5198c661d74613 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -4,35 +4,6 @@
 Ecu = car.CarParams.Ecu
 
 FW_VERSIONS = {
-  CAR.CHRYSLER_PACIFICA_2017_HYBRID: {
-    (Ecu.combinationMeter, 0x742, None): [
-      b'68239262AH',
-      b'68239262AI',
-      b'68239262AJ',
-      b'68239263AH',
-      b'68239263AJ',
-    ],
-    (Ecu.srs, 0x744, None): [
-      b'68238840AH',
-    ],
-    (Ecu.fwdRadar, 0x753, None): [
-      b'68226356AI',
-    ],
-    (Ecu.eps, 0x75a, None): [
-      b'68288309AC',
-      b'68288309AD',
-    ],
-    (Ecu.engine, 0x7e0, None): [
-      b'68277480AV ',
-      b'68277480AX ',
-      b'68277480AZ ',
-    ],
-    (Ecu.hybrid, 0x7e2, None): [
-      b'05190175BF',
-      b'05190175BH',
-      b'05190226AK',
-    ],
-  },
   CAR.CHRYSLER_PACIFICA_2018: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68227902AF',
@@ -55,6 +26,7 @@
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672758AA',
+      b'04672758AB',
       b'68226356AF',
       b'68226356AH',
       b'68226356AI',
@@ -76,6 +48,7 @@
       b'68352654AE ',
       b'68366851AH ',
       b'68366853AE ',
+      b'68366853AG ',
       b'68372861AF ',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -89,6 +62,7 @@
       b'68277374AD',
       b'68277374AN',
       b'68367471AC',
+      b'68367471AD',
       b'68380571AB',
     ],
   },
@@ -181,26 +155,39 @@
   },
   CAR.CHRYSLER_PACIFICA_2018_HYBRID: {
     (Ecu.combinationMeter, 0x742, None): [
+      b'68239262AH',
+      b'68239262AI',
+      b'68239262AJ',
+      b'68239263AH',
+      b'68239263AJ',
       b'68358439AE',
       b'68358439AG',
     ],
     (Ecu.srs, 0x744, None): [
+      b'68238840AH',
       b'68358990AC',
       b'68405939AA',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672758AA',
+      b'68226356AI',
     ],
     (Ecu.eps, 0x75a, None): [
+      b'68288309AC',
       b'68288309AD',
       b'68525339AA',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'68277480AV ',
+      b'68277480AX ',
+      b'68277480AZ ',
       b'68366580AI ',
       b'68366580AK ',
       b'68366580AM ',
     ],
     (Ecu.hybrid, 0x7e2, None): [
+      b'05190175BF',
+      b'05190175BH',
       b'05190226AI',
       b'05190226AK',
       b'05190226AM',
@@ -232,6 +219,7 @@
       b'68540436AD',
       b'68598670AB',
       b'68598670AC',
+      b'68645752AA',
     ],
     (Ecu.eps, 0x75a, None): [
       b'68416741AA',
@@ -244,6 +232,7 @@
       b'68416680AE ',
       b'68416680AF ',
       b'68416680AG ',
+      b'68444228AC ',
       b'68444228AD ',
       b'68444228AE ',
       b'68444228AF ',
@@ -253,6 +242,7 @@
       b'68526772AD ',
       b'68526772AH ',
       b'68599493AC ',
+      b'68657433AA ',
     ],
     (Ecu.hybrid, 0x7e2, None): [
       b'05185116AF',
@@ -267,6 +257,7 @@
       b'68540977AH',
       b'68540977AK',
       b'68597647AE',
+      b'68632416AB',
     ],
   },
   CAR.JEEP_GRAND_CHEROKEE: {
@@ -290,6 +281,7 @@
     (Ecu.abs, 0x747, None): [
       b'68252642AG',
       b'68306178AD',
+      b'68336275AB',
       b'68336276AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
@@ -311,6 +303,7 @@
       b'68284456AI ',
       b'68284477AF ',
       b'68325564AH ',
+      b'68325564AI ',
       b'68325565AH ',
       b'68325565AI ',
       b'68325618AD ',
@@ -375,6 +368,7 @@
       b'68449435AE ',
       b'68496223AA ',
       b'68504959AD ',
+      b'68504959AE ',
       b'68504960AD ',
       b'68504993AC ',
     ],
@@ -396,6 +390,7 @@
       b'68294051AI',
       b'68294052AG',
       b'68294052AH',
+      b'68294059AI',
       b'68294063AG',
       b'68294063AH',
       b'68294063AI',
@@ -406,6 +401,7 @@
       b'68434858AC',
       b'68434859AC',
       b'68434860AC',
+      b'68453471AD',
       b'68453483AC',
       b'68453483AD',
       b'68453487AD',
@@ -430,10 +426,13 @@
       b'68527346AE',
       b'68527361AD',
       b'68527375AD',
+      b'68527381AD',
       b'68527381AE',
       b'68527382AE',
       b'68527383AD',
+      b'68527383AE',
       b'68527387AE',
+      b'68527397AD',
       b'68527403AC',
       b'68527403AD',
       b'68546047AF',
@@ -524,6 +523,7 @@
       b'05036066AE ',
       b'05036193AA ',
       b'05149368AA ',
+      b'05149374AA ',
       b'05149591AD ',
       b'05149591AE ',
       b'05149592AE ',
@@ -536,6 +536,7 @@
       b'05190341AD',
       b'68378695AJ ',
       b'68378696AJ ',
+      b'68378696AK ',
       b'68378701AI ',
       b'68378702AI ',
       b'68378710AL ',
@@ -553,6 +554,7 @@
       b'68455145AC ',
       b'68455145AE ',
       b'68455146AC ',
+      b'68460927AA ',
       b'68467915AC ',
       b'68467916AC ',
       b'68467936AC ',
@@ -571,6 +573,7 @@
       b'68539650AF',
       b'68539651AD',
       b'68586101AA ',
+      b'68586102AA ',
       b'68586105AB ',
       b'68629919AC ',
       b'68629922AC ',
@@ -609,6 +612,8 @@
       b'68520867AE',
       b'68520867AF',
       b'68520870AC',
+      b'68520871AC',
+      b'68528325AE',
       b'68540431AB',
       b'68540433AB',
       b'68551676AA',
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 217a1a756c5261..eb1f6703cdfa3d 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -35,8 +35,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
         ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
 
     # Chrysler
-    if candidate in (CAR.CHRYSLER_PACIFICA_2017_HYBRID, CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, \
-                     CAR.CHRYSLER_PACIFICA_2019_HYBRID, CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
+    if candidate in (CAR.CHRYSLER_PACIFICA_2018, CAR.CHRYSLER_PACIFICA_2018_HYBRID, CAR.CHRYSLER_PACIFICA_2019_HYBRID,
+                     CAR.CHRYSLER_PACIFICA_2020, CAR.DODGE_DURANGO):
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 42ea94cf86c069..c44c647fd4f667 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -32,34 +32,30 @@ class ChryslerCarSpecs(CarSpecs):
 
 class CAR(Platforms):
   # Chrysler
-  CHRYSLER_PACIFICA_2017_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017")],
-    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
-  )
   CHRYSLER_PACIFICA_2018_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2018")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2017-18")],
+    ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2),
   )
   CHRYSLER_PACIFICA_2019_HYBRID = ChryslerPlatformConfig(
-    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-23")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    [ChryslerCarDocs("Chrysler Pacifica Hybrid 2019-24")],
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2018 = ChryslerPlatformConfig(
     [ChryslerCarDocs("Chrysler Pacifica 2017-18")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
   )
   CHRYSLER_PACIFICA_2020 = ChryslerPlatformConfig(
     [
       ChryslerCarDocs("Chrysler Pacifica 2019-20"),
       ChryslerCarDocs("Chrysler Pacifica 2021-23", package="All"),
     ],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
   )
 
   # Dodge
   DODGE_DURANGO = ChryslerPlatformConfig(
     [ChryslerCarDocs("Dodge Durango 2020-21")],
-    CHRYSLER_PACIFICA_2017_HYBRID.specs,
+    CHRYSLER_PACIFICA_2018_HYBRID.specs,
   )
 
   # Jeep
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 971338e9b57196..a04653c1403c96 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -91,8 +91,8 @@ class CarHarness(EnumBase):
   subaru_d = BaseCarHarness("Subaru D connector")
   fca = BaseCarHarness("FCA connector")
   ram = BaseCarHarness("Ram connector")
-  vw = BaseCarHarness("VW connector")
-  j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  vw_a = BaseCarHarness("VW A connector")
+  vw_j533 = BaseCarHarness("VW J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
   hyundai_a = BaseCarHarness("Hyundai A connector")
   hyundai_b = BaseCarHarness("Hyundai B connector")
   hyundai_c = BaseCarHarness("Hyundai C connector")
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index e7a9fbcf2cef0d..0fd4bbd0beffac 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -10,7 +10,7 @@
 from openpilot.common.swaglog import cloudlog
 
 
-def make_tester_present_msg(addr, bus, subaddr=None):
+def _make_tester_present_msg(addr, bus, subaddr=None):
   dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
   if subaddr is not None:
     dat.insert(0, subaddr)
@@ -19,7 +19,7 @@ def make_tester_present_msg(addr, bus, subaddr=None):
   return make_can_msg(addr, bytes(dat), bus)
 
 
-def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
+def _is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subaddr: int = None) -> bool:
   # ISO-TP messages are always padded to 8 bytes
   # tester present response is always a single frame
   dat_offset = 1 if subaddr is not None else 0
@@ -33,7 +33,7 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd
   return False
 
 
-def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
+def _get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> set[EcuAddrBusType]:
   addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
   queries: set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
   responses = queries
@@ -44,7 +44,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
                   responses: set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> set[EcuAddrBusType]:
   ecu_responses: set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
   try:
-    msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
+    msgs = [_make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
 
     messaging.drain_sock_raw(logcan)
     sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
@@ -58,7 +58,7 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
             continue
 
           subaddr = None if (msg.address, None, msg.src) in responses else msg.dat[0]
-          if (msg.address, subaddr, msg.src) in responses and is_tester_present_response(msg, subaddr):
+          if (msg.address, subaddr, msg.src) in responses and _is_tester_present_response(msg, subaddr):
             if debug:
               print(f"CAN-RX: {hex(msg.address)} - 0x{bytes.hex(msg.dat)}")
               if (msg.address, subaddr, msg.src) in ecu_responses:
@@ -71,25 +71,35 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
 
 if __name__ == "__main__":
   import argparse
+  from openpilot.common.params import Params
+  from openpilot.selfdrive.car.fw_versions import set_obd_multiplexing
 
   parser = argparse.ArgumentParser(description='Get addresses of all ECUs')
   parser.add_argument('--debug', action='store_true')
   parser.add_argument('--bus', type=int, default=1)
+  parser.add_argument('--no-obd', action='store_true')
   parser.add_argument('--timeout', type=float, default=1.0)
   args = parser.parse_args()
 
   logcan = messaging.sub_sock('can')
   sendcan = messaging.pub_sock('sendcan')
 
-  time.sleep(1.0)
+  # Set up params for pandad
+  params = Params()
+  params.remove("FirmwareQueryDone")
+  params.put_bool("IsOnroad", False)
+  time.sleep(0.2)  # thread is 10 Hz
+  params.put_bool("IsOnroad", True)
+
+  set_obd_multiplexing(params, not args.no_obd)
 
   print("Getting ECU addresses ...")
-  ecu_addrs = get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
+  ecu_addrs = _get_all_ecu_addrs(logcan, sendcan, args.bus, args.timeout, debug=args.debug)
 
   print()
-  print("Found ECUs on addresses:")
+  print("Found ECUs on rx addresses:")
   for addr, subaddr, _ in ecu_addrs:
-    msg = f"  0x{hex(addr)}"
+    msg = f"  {hex(addr)}"
     if subaddr is not None:
       msg += f" (sub-address: {hex(subaddr)})"
     print(msg)
diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py
index 1128a31c293722..dc93c38246804d 100644
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@@ -130,7 +130,8 @@ def all_legacy_fingerprint_cars():
 
   # Removal of platform_str, see https://github.com/commaai/openpilot/pull/31868/
   "COMMA BODY": BODY.COMMA_BODY,
-  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID,
+  "CHRYSLER PACIFICA HYBRID 2017": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
+  "CHRYSLER_PACIFICA_2017_HYBRID": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
   "CHRYSLER PACIFICA HYBRID 2018": CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID,
   "CHRYSLER PACIFICA HYBRID 2019": CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID,
   "CHRYSLER PACIFICA 2018": CHRYSLER.CHRYSLER_PACIFICA_2018,
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 7be3b2ebe9d0d1..09bba465658beb 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -5,10 +5,10 @@
 from openpilot.selfdrive.car.ford import fordcan
 from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
+V_CRUISE_MAX = 145
 
 
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
@@ -92,6 +92,7 @@ def update(self, CC, CS, now_nanos):
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS
       stopping = CC.actuators.longControlState == LongCtrlState.stopping
+      # TODO: look into using the actuators packet to send the desired speed
       can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))
 
     ### ui ###
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 78f48ec5c46ff6..d7130681d4e24b 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -15,7 +15,7 @@ def __init__(self, CP):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
+      self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
 
     self.vehicle_sensors_valid = False
 
@@ -69,7 +69,7 @@ def update(self, cp, cp_cam):
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
-      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"])
+      gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"])
       ret.gearShifter = self.parse_gear_shifter(gear)
     elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
@@ -139,7 +139,7 @@ def get_can_parser(CP):
 
     if CP.transmissionType == TransmissionType.automatic:
       messages += [
-        ("Gear_Shift_by_Wire_FD1", 10),
+        ("PowertrainData_10", 10),
       ]
     elif CP.transmissionType == TransmissionType.manual:
       messages += [
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 2ef5d427e6fdb6..54cf865109b03c 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -22,10 +22,6 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
-    ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [0.5]
-    ret.longitudinalTuning.kiV = [0.]
-
     CAN = CanBus(fingerprint=fingerprint)
     cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
     if CAN.main >= 4:
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index b204d3b80ff0bf..013e72ad0be221 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.gm import gmcan
 from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 from openpilot.selfdrive.car.interfaces import CarControllerBase
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 2e194b12f2fa90..1d4a6066ccc3f9 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -6,11 +6,10 @@
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
-from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
 from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
 from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
-from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -53,7 +52,12 @@ def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs,
     friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
 
     def sig(val):
-      return 1 / (1 + exp(-val)) - 0.5
+      # https://timvieira.github.io/blog/post/2014/02/11/exp-normalize-trick
+      if val >= 0:
+        return 1 / (1 + exp(-val)) - 0.5
+      else:
+        z = exp(val)
+        return z / (1 + z) - 0.5
 
     # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
     # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
@@ -94,11 +98,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     else:
       ret.transmissionType = TransmissionType.automatic
 
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.15]
-
-    ret.longitudinalTuning.kpBP = [5., 35.]
-    ret.longitudinalTuning.kiBP = [0.]
+    ret.longitudinalTuning.kiBP = [5., 35.]
 
     if candidate in CAMERA_ACC_CAR:
       ret.experimentalLongitudinalAvailable = True
@@ -110,8 +110,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.minSteerSpeed = 10 * CV.KPH_TO_MS
 
       # Tuning for experimental long
-      ret.longitudinalTuning.kpV = [2.0, 1.5]
-      ret.longitudinalTuning.kiV = [0.72]
+      ret.longitudinalTuning.kiV = [2.0, 1.5]
       ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
@@ -131,8 +130,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
-      ret.longitudinalTuning.kpV = [2.4, 1.5]
-      ret.longitudinalTuning.kiV = [0.36]
+      ret.longitudinalTuning.kiV = [2.4, 1.5]
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index fe023ea17d714e..dc42c41e63d09f 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -2,12 +2,11 @@
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import DT_CTRL, rate_limit
 from openpilot.selfdrive.car.honda import hondacan
 from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
 from openpilot.selfdrive.car.interfaces import CarControllerBase
-from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 8a5b79b41e39d9..191fd8e44a159b 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -529,6 +529,7 @@
       b'28102-5MX-A900\x00\x00',
       b'28102-5MX-A910\x00\x00',
       b'28102-5MX-C001\x00\x00',
+      b'28102-5MX-C610\x00\x00',
       b'28102-5MX-C910\x00\x00',
       b'28102-5MX-D001\x00\x00',
       b'28102-5MX-D710\x00\x00',
@@ -877,7 +878,10 @@
       b'36161-T20-A070\x00\x00',
       b'36161-T20-A080\x00\x00',
       b'36161-T24-T070\x00\x00',
+      b'36161-T47-A050\x00\x00',
       b'36161-T47-A070\x00\x00',
+      b'8S102-T20-AA10\x00\x00',
+      b'8S102-T47-AA10\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T20-AB40\x00\x00',
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 43a4454b90ab4d..fdcba8bb81234b 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -72,17 +72,13 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.lateralTuning.pid.kf = 0.00006  # conservative feed-forward
 
     if candidate in HONDA_BOSCH:
-      ret.longitudinalTuning.kpV = [0.25]
-      ret.longitudinalTuning.kiV = [0.05]
       ret.longitudinalActuatorDelay = 0.5 # s
       if candidate in HONDA_BOSCH_RADARLESS:
         ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
     else:
       # default longitudinal tuning for all hondas
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.18, 0.12]
+      ret.longitudinalTuning.kiBP = [0., 5., 35.]
+      ret.longitudinalTuning.kiV = [1.2, 0.8, 0.5]
 
     eps_modified = False
     for fw in car_fw:
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index c3005c667c822e..5a78995c0a5aaf 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -141,8 +141,8 @@ class CAR(Platforms):
   )
   HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
     [
-      HondaCarDocs("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
-      HondaCarDocs("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+      HondaCarDocs("Honda Civic Hatchback 2022-24", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
     ],
     HONDA_CIVIC_BOSCH.specs,
     dbc_dict('honda_civic_ex_2022_can_generated', None),
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4038ddcca9088b..3d7768a83b6037 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,9 +1,8 @@
 from cereal import car
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
 from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
 from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 92c489cf34e257..41cb9ee4573188 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -119,6 +119,7 @@ def update(self, cp, cp_cam):
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
+    ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
     ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index d115283dd5c90d..6c7480a15d0b13 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -1,44 +1,11 @@
-# ruff: noqa: E501
 from cereal import car
 from openpilot.selfdrive.car.hyundai.values import CAR
 
 Ecu = car.CarParams.Ecu
 
-FINGERPRINTS = {
-  CAR.HYUNDAI_SANTA_FE: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8
-  },
-  {
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 764: 8, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1186: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8
-  },
-  {
-    67: 8, 68: 8, 80: 4, 160: 8, 161: 8, 272: 8, 288: 4, 339: 8, 356: 8, 357: 8, 399: 8, 544: 8, 608: 8, 672: 8, 688: 5, 704: 1, 790: 8, 809: 8, 848: 8, 880: 8, 898: 8, 900: 8, 901: 8, 904: 8, 1056: 8, 1064: 8, 1065: 8, 1072: 8, 1075: 8, 1087: 8, 1088: 8, 1151: 8, 1200: 8, 1201: 8, 1232: 4, 1264: 8, 1265: 8, 1266: 8, 1296: 8, 1306: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1348: 8, 1349: 8, 1369: 8, 1370: 8, 1371: 8, 1407: 8, 1415: 8, 1419: 8, 1440: 8, 1442: 4, 1461: 8, 1470: 8
-  }],
-  CAR.HYUNDAI_SONATA: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
-  }],
-  CAR.KIA_STINGER: [{
-    67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8
-  }],
-  CAR.GENESIS_G90: [{
-    67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8
-  }],
-  CAR.HYUNDAI_KONA_EV: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
-  }],
-  CAR.HYUNDAI_KONA_EV_2022: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
-  }],
-  CAR.KIA_NIRO_EV: [{
-    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
-  }],
-  CAR.KIA_OPTIMA_H: [{
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1236: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
-  },
-  {
-    68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8
-  }],
-}
+# The existence of SCC or RDR in the fwdRadar FW usually determines the radar's function,
+# i.e. if it sends the SCC messages or if another ECU like the camera or ADAS Driving ECU does
+
 
 FW_VERSIONS = {
   CAR.HYUNDAI_AZERA_6TH_GEN: {
@@ -204,6 +171,7 @@
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0200 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
@@ -324,6 +292,7 @@
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310GA000\x00 4TSHA100',
       b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
       b'\xf1\x00TM  MDPS R 1.00 1.06 57700-CL000 4TSHP106',
     ],
@@ -440,6 +409,7 @@
       b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
+      b'\xf1\x00ON ESC \x0b 103$\x04\x08 58910-S9360',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',
@@ -513,11 +483,13 @@
   },
   CAR.GENESIS_G80: {
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DH__ SCC F-CU-      1.00 1.01 96400-B1110         ',
       b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
       b'\xf1\x00DH__ SCC F-CUP      1.00 1.02 96400-B1120         ',
       b'\xf1\x00DH__ SCC FHCUP      1.00 1.01 96400-B1110         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DH  LKAS AT EUR LHD 1.01 1.01 95895-B1500 161014',
       b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.01 95895-B1500 161014',
       b'\xf1\x00DH  LKAS AT KOR LHD 1.01 1.02 95895-B1500 170810',
       b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
@@ -618,6 +590,7 @@
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.01 99210-L2000 191022',
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
     ],
@@ -628,6 +601,7 @@
       b'\xf1\x00OS IEB \x02 210 \x02\x14 58520-K4000',
       b'\xf1\x00OS IEB \x02 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \x03 210 \x02\x14 58520-K4000',
+      b'\xf1\x00OS IEB \x03 211 \x04\x02 58520-K4000',
       b'\xf1\x00OS IEB \x03 212 \x11\x13 58520-K4000',
       b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
     ],
@@ -709,6 +683,7 @@
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4000 191211',
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.03 95740-Q4000 180821',
+      b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.02 95740-Q4000 180705',
       b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.01 99211-Q4500 210428',
@@ -737,6 +712,7 @@
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00DEhe SCC F-CUP      1.00 1.02 99110-G5100         ',
+      b'\xf1\x00DEhe SCC FHCUP      1.00 1.02 99110-G5100         ',
       b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
     ],
   },
@@ -789,10 +765,12 @@
       b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4100         ',
     ],
     (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00JF ESC \t 17 \x16\x06# 58920-D4180',
       b'\xf1\x00JF ESC \x0f 16 \x16\x06\x17 58920-D5080',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFWGN LDWS AT USA LHD 1.00 1.02 95895-D4100 G21',
+      b'\xf1\x00JFWGN LKAS AT EUR LHD 1.00 1.01 95895-D4100 G20',
     ],
   },
   CAR.KIA_OPTIMA_G4_FL: {
@@ -982,7 +960,9 @@
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT CAN LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI010 211007',
+      b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.01 99211-GI100 240110',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI010 230110',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
@@ -990,6 +970,7 @@
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
       b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI020 230719',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.00 99211-GI100 230915',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 0ba4dcb5e3766b..ecedf3fd7c447e 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -80,12 +80,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
-      ret.longitudinalTuning.kpV = [0.1]
-      ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR)
     else:
-      ret.longitudinalTuning.kpV = [0.5]
-      ret.longitudinalTuning.kiV = [0.0]
       ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index c489ea0042717a..8ed0edd3195f7d 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -306,9 +306,9 @@ class CAR(Platforms):
   )
   HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
-      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+      HyundaiCarDocs("Hyundai Ioniq 5 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
     ],
     CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
     flags=HyundaiFlags.EV,
@@ -478,7 +478,7 @@ class CAR(Platforms):
   )
   KIA_EV6 = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Kia EV6 (Southeast Asia only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarDocs("Kia EV6 (Non-US only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
       HyundaiCarDocs("Kia EV6 (without HDA II) 2022-24", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
       HyundaiCarDocs("Kia EV6 (with HDA II) 2022-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
     ],
@@ -520,8 +520,9 @@ class CAR(Platforms):
   )
   GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig(
     [
-      HyundaiCarDocs("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-      HyundaiCarDocs("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+      # TODO: Hyundai P is likely the correct harness for HDA II for 2.5T (unsupported due to missing ADAS ECU, is that the radar?)
+      HyundaiCarDocs("Genesis GV70 (2.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Genesis GV70 (3.5T Trim, without HDA II) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
     ],
     CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6),
     flags=HyundaiFlags.RADAR_SCC,
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index dd31dce5643721..c23fe711929f61 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -13,10 +13,9 @@
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.car import DT_CTRL, apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_friction, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
-from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 from openpilot.selfdrive.pandad import can_capnp_to_list
@@ -203,13 +202,11 @@ def get_std_params(candidate):
     ret.vEgoStopping = 0.5
     ret.vEgoStarting = 0.5
     ret.stoppingControl = True
-    ret.longitudinalTuning.deadzoneBP = [0.]
-    ret.longitudinalTuning.deadzoneV = [0.]
     ret.longitudinalTuning.kf = 1.
     ret.longitudinalTuning.kpBP = [0.]
-    ret.longitudinalTuning.kpV = [1.]
+    ret.longitudinalTuning.kpV = [0.]
     ret.longitudinalTuning.kiBP = [0.]
-    ret.longitudinalTuning.kiV = [1.]
+    ret.longitudinalTuning.kiV = [0.]
     # TODO estimate car specific lag, use .15s for now
     ret.longitudinalActuatorDelay = 0.15
     ret.steerLimitTimer = 1.0
@@ -284,6 +281,8 @@ def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_
       events.add(EventName.wrongCarMode)
     if cs_out.espDisabled:
       events.add(EventName.espDisabled)
+    if cs_out.espActive:
+      events.add(EventName.espActive)
     if cs_out.stockFcw:
       events.add(EventName.stockFcw)
     if cs_out.stockAeb:
diff --git a/selfdrive/car/mazda/fingerprints.py b/selfdrive/car/mazda/fingerprints.py
index f460fe9950b0c8..c7b331b1cbdbee 100644
--- a/selfdrive/car/mazda/fingerprints.py
+++ b/selfdrive/car/mazda/fingerprints.py
@@ -16,6 +16,7 @@
       b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX85-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXFG-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 1aa4bd95eaad4f..cb0093437621e5 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -91,11 +91,6 @@ def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, doc
       ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value
 
     if ret.openpilotLongitudinalControl:
-      ret.longitudinalTuning.kpBP = [0., 5., 35.]
-      ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
-      ret.longitudinalTuning.kiBP = [0., 35.]
-      ret.longitudinalTuning.kiV = [0.54, 0.36]
-
       ret.stoppingControl = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG
 
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 09de10b54d6caf..deb0e00230a1b8 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -18,11 +18,6 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
 
-    # Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
-    ret.longitudinalTuning.kpBP = [0]
-    ret.longitudinalTuning.kpV = [0]
-    ret.longitudinalTuning.kiBP = [0]
-    ret.longitudinalTuning.kiV = [0]
     ret.longitudinalActuatorDelay = 0.5 # s
     ret.radarTimeStep = (1.0 / 8) # 8Hz
 
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index dd3a8f633d2693..0fc800a47d5b63 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -39,7 +39,7 @@ class CarTestRoute(NamedTuple):
 
   CarTestRoute("0c94aa1e1296d7c6|2021-05-05--19-48-37", CHRYSLER.JEEP_GRAND_CHEROKEE),
   CarTestRoute("91dfedae61d7bd75|2021-05-22--20-07-52", CHRYSLER.JEEP_GRAND_CHEROKEE_2019),
-  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2017_HYBRID),
+  CarTestRoute("420a8e183f1aed48|2020-03-05--07-15-29", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),  # 2017
   CarTestRoute("43a685a66291579b|2021-05-27--19-47-29", CHRYSLER.CHRYSLER_PACIFICA_2018),
   CarTestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.CHRYSLER_PACIFICA_2018_HYBRID),
   CarTestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.CHRYSLER_PACIFICA_2019_HYBRID),
@@ -225,7 +225,6 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.TOYOTA_CHR),
   CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.TOYOTA_CHR),  # hybrid
   CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.TOYOTA_CHR_TSS2),
-  CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.TOYOTA_CHR_TSS2),  # openpilot longitudinal, with smartDSU
   CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid
   CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.TOYOTA_CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.TOYOTA_PRIUS_V),
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 50e3d3e4b376d7..9e3c7d157ef223 100644
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -6,8 +6,7 @@
 from parameterized import parameterized
 
 from cereal import car, messaging
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.fw_versions import FW_VERSIONS, FW_QUERY_CONFIGS
@@ -24,7 +23,7 @@
 
 ALL_REQUESTS = {tuple(r.request) for config in FW_QUERY_CONFIGS.values() for r in config.requests}
 
-MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '40'))
+MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '60'))
 
 
 def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
@@ -63,6 +62,7 @@ def test_car_interfaces(self, car_name, data):
 
     car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
                                          experimental_long=args['experimental_long'], docs=False)
+    car_params = car_params.as_reader()
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface
@@ -76,7 +76,6 @@ def test_car_interfaces(self, car_name, data):
     # Longitudinal sanity checks
     assert len(car_params.longitudinalTuning.kpV) == len(car_params.longitudinalTuning.kpBP)
     assert len(car_params.longitudinalTuning.kiV) == len(car_params.longitudinalTuning.kiBP)
-    assert len(car_params.longitudinalTuning.deadzoneV) == len(car_params.longitudinalTuning.deadzoneBP)
 
     # Lateral sanity checks
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
index e61d197f4b7085..24eac01fcd9739 100755
--- a/selfdrive/car/tests/test_lateral_limits.py
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -5,7 +5,7 @@
 import pytest
 import sys
 
-from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.car_helpers import interfaces
 from openpilot.selfdrive.car.fingerprints import all_known_cars
 from openpilot.selfdrive.car.interfaces import get_torque_params
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index ffff334841895a..52cc5eabf169b4 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -12,14 +12,13 @@
 from cereal import messaging, log, car
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.selfdrive.car.card import Car
+from openpilot.selfdrive.car import DT_CTRL, gen_empty_fingerprint
 from openpilot.selfdrive.car.fingerprints import all_known_cars, MIGRATION
 from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
 from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags
 from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
 from openpilot.selfdrive.car.values import Platform
+from openpilot.selfdrive.car.card import Car
 from openpilot.selfdrive.pandad import can_capnp_to_list
 from openpilot.selfdrive.test.helpers import read_segment_list
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
diff --git a/selfdrive/car/torque_data/params.toml b/selfdrive/car/torque_data/params.toml
index 34cfd0e0660b07..4bb8d45c537e19 100644
--- a/selfdrive/car/torque_data/params.toml
+++ b/selfdrive/car/torque_data/params.toml
@@ -7,7 +7,6 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_VOLT" = [1.5961527626411784, 1.8422651988094612, 0.1572393918005158]
 "CHRYSLER_PACIFICA_2018" = [2.07140, 1.3366521181047952, 0.13776367250652022]
 "CHRYSLER_PACIFICA_2020" = [1.86206, 1.509076559398423, 0.14328246159386085]
-"CHRYSLER_PACIFICA_2017_HYBRID" = [1.79422, 1.06831764583744, 0.116237]
 "CHRYSLER_PACIFICA_2018_HYBRID" = [2.08887, 1.2943025830995154, 0.114818]
 "CHRYSLER_PACIFICA_2019_HYBRID" = [1.90120, 1.1958788168371808, 0.131520]
 "GENESIS_G70" = [3.8520195946707947, 2.354697063349854, 0.06830285485626221]
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 8315f24ae48d8b..e02293da4e1f29 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -4,9 +4,9 @@
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import mean
 from openpilot.common.filter_simple import FirstOrderFilter
-from openpilot.common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
+from openpilot.selfdrive.car import DT_CTRL
 from openpilot.selfdrive.car.interfaces import CarStateBase
 from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
@@ -132,8 +132,7 @@ def update(self, cp, cp_cam):
     cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
 
     if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
-        self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
+      self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
       ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
@@ -167,13 +166,11 @@ def update(self, cp, cp_cam):
     if self.CP.carFingerprint not in UNSUPPORTED_DSU_CAR:
       self.pcm_follow_distance = cp.vl["PCM_CRUISE_2"]["PCM_FOLLOW_DISTANCE"]
 
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       # distance button is wired to the ACC module (camera or radar)
       self.prev_distance_button = self.distance_button
       if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
         self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
-      else:
-        self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
 
     return ret
 
@@ -208,12 +205,9 @@ def get_can_parser(CP):
       messages.append(("BSM", 1))
 
     if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
-      if not CP.flags & ToyotaFlags.SMART_DSU.value:
-        messages += [
-          ("ACC_CONTROL", 33),
-        ]
       messages += [
         ("PCS_HUD", 1),
+        ("ACC_CONTROL", 33),
       ]
 
     if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
@@ -221,11 +215,6 @@ def get_can_parser(CP):
         ("PRE_COLLISION", 33),
       ]
 
-    if CP.flags & ToyotaFlags.SMART_DSU and not CP.flags & ToyotaFlags.RADAR_CAN_FILTER:
-      messages += [
-        ("SDSU", 100),
-      ]
-
     return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 0866a4d43ca863..a7ea14f203a37b 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -160,12 +160,14 @@
       b'8821F0607200    ',
       b'8821F0608000    ',
       b'8821F0608200    ',
+      b'8821F0608300    ',
       b'8821F0609000    ',
       b'8821F0609100    ',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152606210\x00\x00\x00\x00\x00\x00',
       b'F152606230\x00\x00\x00\x00\x00\x00',
+      b'F152606260\x00\x00\x00\x00\x00\x00',
       b'F152606270\x00\x00\x00\x00\x00\x00',
       b'F152606290\x00\x00\x00\x00\x00\x00',
       b'F152606410\x00\x00\x00\x00\x00\x00',
@@ -205,6 +207,7 @@
       b'8821F0607200    ',
       b'8821F0608000    ',
       b'8821F0608200    ',
+      b'8821F0608300    ',
       b'8821F0609000    ',
       b'8821F0609100    ',
     ],
@@ -234,6 +237,7 @@
       b'\x01F152606390\x00\x00\x00\x00\x00\x00',
       b'\x01F152606400\x00\x00\x00\x00\x00\x00',
       b'\x01F152606431\x00\x00\x00\x00\x00\x00',
+      b'\x01F152633E11\x00\x00\x00\x00\x00\x00',
       b'F152633310\x00\x00\x00\x00\x00\x00',
       b'F152633D00\x00\x00\x00\x00\x00\x00',
       b'F152633D60\x00\x00\x00\x00\x00\x00',
@@ -251,6 +255,7 @@
       b'\x018966306T4000\x00\x00\x00\x00',
       b'\x018966306T4100\x00\x00\x00\x00',
       b'\x018966306V1000\x00\x00\x00\x00',
+      b'\x018966333Z1000\x00\x00\x00\x00',
       b'\x01896633T20000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -266,6 +271,7 @@
       b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F3305300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
@@ -436,6 +442,7 @@
       b'\x01896630ZU8000\x00\x00\x00\x00',
       b'\x01896630ZU9000\x00\x00\x00\x00',
       b'\x01896630ZX4000\x00\x00\x00\x00',
+      b'\x01896630ZX7100\x00\x00\x00\x00',
       b'\x018966312L8000\x00\x00\x00\x00',
       b'\x018966312M0000\x00\x00\x00\x00',
       b'\x018966312M9000\x00\x00\x00\x00',
@@ -511,6 +518,7 @@
       b'\x018965B1254000\x00\x00\x00\x00',
       b'\x018965B1255000\x00\x00\x00\x00',
       b'\x018965B1256000\x00\x00\x00\x00',
+      b'\x018965B1270000\x00\x00\x00\x00',
       b'8965B12361\x00\x00\x00\x00\x00\x00',
       b'8965B12451\x00\x00\x00\x00\x00\x00',
       b'8965B16011\x00\x00\x00\x00\x00\x00',
@@ -642,6 +650,7 @@
     (Ecu.dsu, 0x791, None): [
       b'881510E01100\x00\x00\x00\x00',
       b'881510E01200\x00\x00\x00\x00',
+      b'881510E02100\x00\x00\x00\x00',
       b'881510E02200\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -796,6 +805,7 @@
       b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F5303300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
@@ -848,6 +858,7 @@
       b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4701003\x00\x00\x00\x00',
       b'\x038966347A3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4707001\x00\x00\x00\x00',
       b'\x038966347B6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
+      b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
       b'\x038966347B7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710001\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
@@ -1142,6 +1153,7 @@
   },
   CAR.TOYOTA_RAV4_TSS2_2023: {
     (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260R440\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
       b'\x01F15260R50000\x00\x00\x00\x00',
       b'\x01F15260R51000\x00\x00\x00\x00',
@@ -1163,6 +1175,7 @@
       b'\x01896634AE1001\x00\x00\x00\x00',
       b'\x01896634AF0000\x00\x00\x00\x00',
       b'\x01896634AJ2000\x00\x00\x00\x00',
+      b'\x01896634AJ3000\x00\x00\x00\x00',
       b'\x01896634AL5000\x00\x00\x00\x00',
       b'\x01896634AL6000\x00\x00\x00\x00',
       b'\x01896634AL8000\x00\x00\x00\x00',
@@ -1486,6 +1499,7 @@
       b'\x01896630EA6300\x00\x00\x00\x00',
       b'\x018966348R1300\x00\x00\x00\x00',
       b'\x018966348R8500\x00\x00\x00\x00',
+      b'\x018966348R9300\x00\x00\x00\x00',
       b'\x018966348W1300\x00\x00\x00\x00',
       b'\x018966348W2300\x00\x00\x00\x00',
     ],
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 3ea05f9fef57b9..6487257bbc7b1b 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -44,18 +44,9 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
 
     stop_and_go = candidate in TSS2_CAR
 
-    # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
-    # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs
-    if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
-      ret.flags |= ToyotaFlags.SMART_DSU.value
-
-    if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR:
-      ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value
-
     # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
-    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
-                                        and not (ret.flags & ToyotaFlags.SMART_DSU)
+    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR)
 
     if candidate == CAR.TOYOTA_PRIUS:
       stop_and_go = True
@@ -98,7 +89,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU.
     #  For now, don't list stop and go functionality in the docs
     if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU:
-      stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs)
+      stop_and_go = stop_and_go or (ret.enableDsu and not docs)
 
     ret.centerToFront = ret.wheelbase * 0.44
 
@@ -110,28 +101,20 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     # TODO: make an adas dbc file for dsu-less models
     ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
 
-    # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
     # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle
-    use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
     if candidate in (RADAR_ACC_CAR | NO_DSU_CAR):
-      ret.experimentalLongitudinalAvailable = use_sdsu or candidate in RADAR_ACC_CAR
+      ret.experimentalLongitudinalAvailable = candidate in RADAR_ACC_CAR
 
-      if not use_sdsu:
-        # Disabling radar is only supported on TSS2 radar-ACC cars
-        if experimental_long and candidate in RADAR_ACC_CAR:
-          ret.flags |= ToyotaFlags.DISABLE_RADAR.value
-      else:
-        use_sdsu = use_sdsu and experimental_long
+      # Disabling radar is only supported on TSS2 radar-ACC cars
+      if experimental_long and candidate in RADAR_ACC_CAR:
+        ret.flags |= ToyotaFlags.DISABLE_RADAR.value
 
     # openpilot longitudinal enabled by default:
-    #  - non-(TSS2 radar ACC cars) w/ smartDSU installed
     #  - cars w/ DSU disconnected
     #  - TSS2 cars with camera sending ACC_CONTROL where we can block it
     # openpilot longitudinal behind experimental long toggle:
-    #  - TSS2 radar ACC cars w/ smartDSU installed
-    #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
-    #  - TSS-P DSU-less cars w/ CAN filter installed (no radar parser yet)
-    ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
+    #  - TSS2 radar ACC cars (disables radar)
+    ret.openpilotLongitudinalControl = ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
     if not ret.openpilotLongitudinalControl:
@@ -142,28 +125,21 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.minEnableSpeed = -1. if stop_and_go else MIN_ACC_SPEED
 
     tune = ret.longitudinalTuning
-    tune.deadzoneBP = [0., 9.]
-    tune.deadzoneV = [.0, .15]
     if candidate in TSS2_CAR:
-      tune.kpBP = [0., 5., 20.]
-      tune.kpV = [1.3, 1.0, 0.7]
-      tune.kiBP = [0., 5., 12., 20., 27.]
-      tune.kiV = [.35, .23, .20, .17, .1]
-      if candidate in TSS2_CAR:
-        ret.vEgoStopping = 0.25
-        ret.vEgoStarting = 0.25
-        ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+      tune.kpV = [0.0]
+      tune.kiV = [0.5]
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
+      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
     else:
-      tune.kpBP = [0., 5., 35.]
-      tune.kiBP = [0., 35.]
-      tune.kpV = [3.6, 2.4, 1.5]
-      tune.kiV = [0.54, 0.36]
+      tune.kiBP = [0., 5., 35.]
+      tune.kiV = [3.6, 2.4, 1.5]
 
     return ret
 
   @staticmethod
   def init(CP, logcan, sendcan):
-    # disable radar if alpha longitudinal toggled on radar-ACC car without CAN filter/smartDSU
+    # disable radar if alpha longitudinal toggled on radar-ACC car
     if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
       disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
@@ -172,7 +148,7 @@ def init(CP, logcan, sendcan):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
+    if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
       ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
     # events
diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
index 0217a0fbc1957c..75e3ea70378d87 100644
--- a/selfdrive/car/toyota/tests/test_toyota.py
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -12,7 +12,8 @@
 
 
 def check_fw_version(fw_version: bytes) -> bool:
-  return b'?' not in fw_version
+  # TODO: just use the FW patterns, need to support all chunks
+  return b'?' not in fw_version and b'!' not in fw_version
 
 
 class TestToyotaInterfaces:
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 2e781ad0aa5827..8022e8b3abdbf7 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -44,9 +44,7 @@ def __init__(self, CP):
 class ToyotaFlags(IntFlag):
   # Detected flags
   HYBRID = 1
-  SMART_DSU = 2
   DISABLE_RADAR = 4
-  RADAR_CAN_FILTER = 1024
 
   # Static flags
   TSS2 = 8
@@ -56,7 +54,7 @@ class ToyotaFlags(IntFlag):
   # these cars use the Lane Tracing Assist (LTA) message for lateral control
   ANGLE_CONTROL = 128
   NO_STOP_TIMER = 256
-  # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU
+  # these cars are speculated to allow stop and go when the DSU is unplugged
   SNG_WITHOUT_DSU = 512
 
 
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index a4e0c8946ae10f..8e8652d3bec8c1 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -2,8 +2,7 @@
 from opendbc.can.packer import CANPacker
 from openpilot.common.numpy_fast import clip
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import DT_CTRL, apply_driver_steer_torque_limits
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
 from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index fea530b29bdd8c..71bdb2cfd4eaad 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -574,6 +574,7 @@
       b'\xf1\x8704E906024AP\xf1\x891461',
       b'\xf1\x8704E906027NB\xf1\x899504',
       b'\xf1\x8704L906026EJ\xf1\x893661',
+      b'\xf1\x8704L906026EJ\xf1\x893916',
       b'\xf1\x8704L906027G \xf1\x899893',
       b'\xf1\x8705E906018BS\xf1\x890914',
       b'\xf1\x875N0906259  \xf1\x890002',
@@ -604,6 +605,7 @@
       b'\xf1\x870DD300046K \xf1\x892302',
       b'\xf1\x870DL300011N \xf1\x892001',
       b'\xf1\x870DL300011N \xf1\x892012',
+      b'\xf1\x870DL300011N \xf1\x892014',
       b'\xf1\x870DL300012M \xf1\x892107',
       b'\xf1\x870DL300012P \xf1\x892103',
       b'\xf1\x870DL300013A \xf1\x893005',
@@ -617,6 +619,7 @@
       b'\xf1\x875Q0959655AG\xf1\x890336\xf1\x82\x1316143231313500314617011730179333423100',
       b'\xf1\x875Q0959655AG\xf1\x890338\xf1\x82\x1316143231313500314617011730179333423100',
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x1331310031333334313132573732379333313100',
+      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1311140031333300314232583632369333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
       b'\xf1\x875Q0959655BM\xf1\x890403\xf1\x82\x1316143231313500314641011750179333423100',
@@ -636,6 +639,7 @@
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
+      b'\xf1\x875QF909144  \xf1\x895572\xf1\x82\x0571A60833A1',
       b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A60634A1',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1',
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 91cd300e9220b2..77e56875bf2490 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -96,8 +96,6 @@ def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, doc
     ret.stopAccel = -0.55
     ret.vEgoStarting = 0.1
     ret.vEgoStopping = 0.5
-    ret.longitudinalTuning.kpV = [0.1]
-    ret.longitudinalTuning.kiV = [0.0]
     ret.autoResumeSng = ret.minEnableSpeed == -1
 
     return ret
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 8b58769b3fd87a..69dd63fefd07a9 100644
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -188,7 +188,7 @@ class Footnote(Enum):
 @dataclass
 class VWCarDocs(CarDocs):
   package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
-  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.j533]))
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.vw_j533]))
 
   def init_make(self, CP: car.CarParams):
     self.footnotes.append(Footnote.VW_EXP_LONG)
@@ -196,7 +196,7 @@ def init_make(self, CP: car.CarParams):
       self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
 
     if CP.carFingerprint in (CAR.VOLKSWAGEN_CRAFTER_MK2, CAR.VOLKSWAGEN_TRANSPORTER_T61):
-      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.j533])
+      self.car_parts = CarParts([Device.threex_angled_mount, CarHarness.vw_j533])
 
     if abs(CP.minSteerSpeed - CarControllerParams.DEFAULT_MIN_STEER_SPEED) < 1e-3:
       self.min_steer_speed = 0
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 4f5bd194056ba7..583cbaea1f63e1 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -64,9 +64,7 @@ def __init__(self, CI=None):
 
     if CI is None:
       cloudlog.info("controlsd is waiting for CarParams")
-      with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
-        # TODO: this shouldn't need to be a builder
-        self.CP = msg.as_builder()
+      self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
       cloudlog.info("controlsd got CarParams")
 
       # Uses car interface helper functions, altering state won't be considered by card for actuation
@@ -563,13 +561,12 @@ def state_control(self, CS):
     if not CC.latActive:
       self.LaC.reset()
     if not CC.longActive:
-      self.LoC.reset(v_pid=CS.vEgo)
+      self.LoC.reset()
 
     if not self.joystick_mode:
       # accel PID loop
       pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
-      t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
-      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
+      actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
 
       # Steering PID loop and lateral MPC
       self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
@@ -752,7 +749,6 @@ def publish_logs(self, CS, start_time, CC, lac_log):
     controlsState.state = self.state
     controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
-    controlsState.vPid = float(self.LoC.v_pid)
     controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
     controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
     controlsState.upAccelCmd = float(self.LoC.pid.p)
@@ -835,7 +831,7 @@ def controlsd_thread(self):
       while True:
         self.step()
         self.rk.monitor_time()
-    except SystemExit:
+    finally:
       e.set()
       t.join()
 
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 6a5b22f6868726..4c111a4fd1b45a 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -2,7 +2,7 @@
 
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
@@ -13,7 +13,7 @@
 V_CRUISE_UNSET = 255
 V_CRUISE_INITIAL = 40
 V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
-IMPERIAL_INCREMENT = 1.6  # should be CV.MPH_TO_KPH, but this causes rounding errors
+IMPERIAL_INCREMENT = round(CV.MPH_TO_KPH, 1)  # round here to avoid rounding errors incrementing set speed
 
 MIN_SPEED = 1.0
 CONTROL_N = 17
@@ -141,26 +141,6 @@ def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
     self.v_cruise_cluster_kph = self.v_cruise_kph
 
 
-def apply_deadzone(error, deadzone):
-  if error > deadzone:
-    error -= deadzone
-  elif error < - deadzone:
-    error += deadzone
-  else:
-    error = 0.
-  return error
-
-
-def apply_center_deadzone(error, deadzone):
-  if (error > - deadzone) and (error < deadzone):
-    error = 0.
-  return error
-
-
-def rate_limit(new_value, last_value, dw_step, up_step):
-  return clip(new_value, last_value + dw_step, last_value + up_step)
-
-
 def clip_curvature(v_ego, prev_curvature, new_curvature):
   v_ego = max(MIN_SPEED, v_ego)
   max_curvature_rate = MAX_LATERAL_JERK / (v_ego**2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
@@ -171,17 +151,6 @@ def clip_curvature(v_ego, prev_curvature, new_curvature):
   return safe_desired_curvature
 
 
-def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
-                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
-  friction_interp = interp(
-    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
-    [-friction_threshold, friction_threshold],
-    [-torque_params.friction, torque_params.friction]
-  )
-  friction = float(friction_interp) if friction_compensation else 0.0
-  return friction
-
-
 def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
   # ToDo: Try relative error, and absolute speed
   if len(modelV2.temporalPose.trans):
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index b01818d704bf22..588e638c957261 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -831,6 +831,11 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
     ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
   },
 
+  EventName.espActive: {
+    ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Active"),
+    ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Active"),
+  },
+
   EventName.controlsMismatch: {
     ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
     ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 34b0d471241750..decff2ec054283 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -25,7 +25,7 @@
 class LatControlTorque(LatControl):
   def __init__(self, CP, CI):
     super().__init__(CP, CI)
-    self.torque_params = CP.lateralTuning.torque
+    self.torque_params = CP.lateralTuning.torque.as_builder()
     self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
                              k_f=self.torque_params.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 46dd267308f997..7ece5ca7e69cc7 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'pandad_python')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'pandad_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -88,3 +88,4 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index a619c47634cd11..efeb76c4a86dbb 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,7 +1,7 @@
 from cereal import car
-from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip
 from openpilot.common.realtime import DT_CTRL
-from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
 from openpilot.selfdrive.controls.lib.pid import PIDController
 from openpilot.selfdrive.modeld.constants import ModelConstants
 
@@ -10,18 +10,10 @@
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
-                             v_target_1sec, brake_pressed, cruise_standstill):
-  accelerating = v_target_1sec > v_target
-  planned_stop = (v_target < CP.vEgoStopping and
-                  v_target_1sec < CP.vEgoStopping and
-                  not accelerating)
-  stay_stopped = (v_ego < CP.vEgoStopping and
-                  (brake_pressed or cruise_standstill))
-  stopping_condition = planned_stop or stay_stopped
-
-  starting_condition = (v_target_1sec > CP.vEgoStarting and
-                        accelerating and
+def long_control_state_trans(CP, active, long_control_state, v_ego,
+                             should_stop, brake_pressed, cruise_standstill):
+  stopping_condition = should_stop
+  starting_condition = (not should_stop and
                         not cruise_standstill and
                         not brake_pressed)
   started_condition = v_ego > CP.vEgoStarting
@@ -30,10 +22,14 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
     long_control_state = LongCtrlState.off
 
   else:
-    if long_control_state in (LongCtrlState.off, LongCtrlState.pid):
-      long_control_state = LongCtrlState.pid
-      if stopping_condition:
+    if long_control_state == LongCtrlState.off:
+      if not starting_condition:
         long_control_state = LongCtrlState.stopping
+      else:
+        if starting_condition and CP.startingState:
+          long_control_state = LongCtrlState.starting
+        else:
+          long_control_state = LongCtrlState.pid
 
     elif long_control_state == LongCtrlState.stopping:
       if starting_condition and CP.startingState:
@@ -41,86 +37,52 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
       elif starting_condition:
         long_control_state = LongCtrlState.pid
 
-    elif long_control_state == LongCtrlState.starting:
+    elif long_control_state in [LongCtrlState.starting, LongCtrlState.pid]:
       if stopping_condition:
         long_control_state = LongCtrlState.stopping
       elif started_condition:
         long_control_state = LongCtrlState.pid
-
   return long_control_state
 
-
 class LongControl:
   def __init__(self, CP):
     self.CP = CP
-    self.long_control_state = LongCtrlState.off  # initialized to off
+    self.long_control_state = LongCtrlState.off
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                              k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
-    self.v_pid = 0.0
     self.last_output_accel = 0.0
 
-  def reset(self, v_pid):
-    """Reset PID controller and change setpoint"""
+  def reset(self):
     self.pid.reset()
-    self.v_pid = v_pid
 
-  def update(self, active, CS, long_plan, accel_limits, t_since_plan):
+  def update(self, active, CS, a_target, should_stop, accel_limits):
     """Update longitudinal control. This updates the state machine and runs a PID loop"""
-    # Interp control trajectory
-    speeds = long_plan.speeds
-    if len(speeds) == CONTROL_N:
-      v_target_now = interp(t_since_plan, CONTROL_N_T_IDX, speeds)
-      a_target_now = interp(t_since_plan, CONTROL_N_T_IDX, long_plan.accels)
-
-      v_target = interp(self.CP.longitudinalActuatorDelay + t_since_plan, CONTROL_N_T_IDX, speeds)
-      a_target = 2 * (v_target - v_target_now) / self.CP.longitudinalActuatorDelay - a_target_now
-
-      v_target_1sec = interp(self.CP.longitudinalActuatorDelay + t_since_plan + 1.0, CONTROL_N_T_IDX, speeds)
-    else:
-      v_target = 0.0
-      v_target_now = 0.0
-      v_target_1sec = 0.0
-      a_target = 0.0
-
     self.pid.neg_limit = accel_limits[0]
     self.pid.pos_limit = accel_limits[1]
 
-    output_accel = self.last_output_accel
     self.long_control_state = long_control_state_trans(self.CP, active, self.long_control_state, CS.vEgo,
-                                                       v_target, v_target_1sec, CS.brakePressed,
+                                                       should_stop, CS.brakePressed,
                                                        CS.cruiseState.standstill)
-
     if self.long_control_state == LongCtrlState.off:
-      self.reset(CS.vEgo)
+      self.reset()
       output_accel = 0.
 
     elif self.long_control_state == LongCtrlState.stopping:
+      output_accel = self.last_output_accel
       if output_accel > self.CP.stopAccel:
         output_accel = min(output_accel, 0.0)
         output_accel -= self.CP.stoppingDecelRate * DT_CTRL
-      self.reset(CS.vEgo)
+      self.reset()
 
     elif self.long_control_state == LongCtrlState.starting:
       output_accel = self.CP.startAccel
-      self.reset(CS.vEgo)
-
-    elif self.long_control_state == LongCtrlState.pid:
-      self.v_pid = v_target_now
+      self.reset()
 
-      # Toyota starts braking more when it thinks you want to stop
-      # Freeze the integrator so we don't accelerate to compensate, and don't allow positive acceleration
-      # TODO too complex, needs to be simplified and tested on toyotas
-      prevent_overshoot = not self.CP.stoppingControl and CS.vEgo < 1.5 and v_target_1sec < 0.7 and v_target_1sec < self.v_pid
-      deadzone = interp(CS.vEgo, self.CP.longitudinalTuning.deadzoneBP, self.CP.longitudinalTuning.deadzoneV)
-      freeze_integrator = prevent_overshoot
-
-      error = self.v_pid - CS.vEgo
-      error_deadzone = apply_deadzone(error, deadzone)
-      output_accel = self.pid.update(error_deadzone, speed=CS.vEgo,
-                                     feedforward=a_target,
-                                     freeze_integrator=freeze_integrator)
+    else:  # LongCtrlState.pid
+      error = a_target - CS.aEgo
+      output_accel = self.pid.update(error, speed=CS.vEgo,
+                                     feedforward=a_target)
 
     self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
-
     return self.last_output_accel
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 9f051c915408dc..22342c00785e1f 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -1,4 +1,4 @@
-Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'pandad_python')
+Import('env', 'envCython', 'arch', 'msgq_python', 'common_python', 'opendbc_python', 'pandad_python', 'np_version')
 
 gen = "c_generated_code"
 
@@ -94,3 +94,4 @@ lenv2.Command(libacados_ocp_solver_c,
   f' {acados_ocp_solver_pyx.get_labspath()}')
 lib_cython = lenv2.Program(f'{gen}/acados_ocp_solver_pyx.so', [libacados_ocp_solver_c])
 lenv2.Depends(lib_cython, lib_solver)
+lenv2.Depends(libacados_ocp_solver_c, np_version)
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index ff5f901b52433f..6a2a1570d866f1 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -19,6 +19,7 @@
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
+CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
@@ -34,7 +35,6 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   This function returns a limited long acceleration allowed, depending on the existing lateral acceleration
   this should avoid accelerating when losing the target in turns
   """
-
   # FIXME: This function to calculate lateral accel is incorrect and should use the VehicleModel
   # The lookup table for turns should also be updated if we do this
   a_total_max = interp(v_ego, _A_TOTAL_MAX_BP, _A_TOTAL_MAX_V)
@@ -44,6 +44,24 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
   return [a_target[0], min(a_target[1], a_x_allowed)]
 
 
+def get_accel_from_plan(CP, speeds, accels):
+  if len(speeds) == CONTROL_N:
+    v_target_now = interp(DT_MDL, CONTROL_N_T_IDX, speeds)
+    a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
+
+    v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
+    a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+
+    v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
+  else:
+    v_target = 0.0
+    v_target_1sec = 0.0
+    a_target = 0.0
+  should_stop = (v_target < CP.vEgoStopping and
+                 v_target_1sec < CP.vEgoStopping)
+  return a_target, should_stop
+
+
 class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
@@ -63,8 +81,8 @@ def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
   @staticmethod
   def parse_model(model_msg, model_error):
     if (len(model_msg.position.x) == ModelConstants.IDX_N and
-       len(model_msg.velocity.x) == ModelConstants.IDX_N and
-       len(model_msg.acceleration.x) == ModelConstants.IDX_N):
+      len(model_msg.velocity.x) == ModelConstants.IDX_N and
+      len(model_msg.acceleration.x) == ModelConstants.IDX_N):
       x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
       v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
       a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
@@ -121,11 +139,9 @@ def update(self, sm):
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
     self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=sm['controlsState'].personality)
 
-    self.v_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
-    self.a_desired_trajectory_full = np.interp(ModelConstants.T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
-    self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N]
-    self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N]
-    self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
+    self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
+    self.a_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
+    self.j_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC[:-1], self.mpc.j_solution)
 
     # TODO counter is only needed because radar is glitchy, remove once radar is gone
     self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
@@ -134,7 +150,7 @@ def update(self, sm):
 
     # Interpolate 0.05 seconds and save as starting point for next iteration
     a_prev = self.a_desired
-    self.a_desired = float(interp(self.dt, ModelConstants.T_IDXS[:CONTROL_N], self.a_desired_trajectory))
+    self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
     self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
 
   def publish(self, sm, pm):
@@ -145,6 +161,7 @@ def publish(self, sm, pm):
     longitudinalPlan = plan_send.longitudinalPlan
     longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
     longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
+    longitudinalPlan.solverExecutionTime = self.mpc.solve_time
 
     longitudinalPlan.speeds = self.v_desired_trajectory.tolist()
     longitudinalPlan.accels = self.a_desired_trajectory.tolist()
@@ -154,6 +171,10 @@ def publish(self, sm, pm):
     longitudinalPlan.longitudinalPlanSource = self.mpc.source
     longitudinalPlan.fcw = self.fcw
 
-    longitudinalPlan.solverExecutionTime = self.mpc.solve_time
+    a_target, should_stop = get_accel_from_plan(self.CP, longitudinalPlan.speeds, longitudinalPlan.accels)
+    longitudinalPlan.aTarget = a_target
+    longitudinalPlan.shouldStop = should_stop
+    longitudinalPlan.allowBrake = True
+    longitudinalPlan.allowThrottle = True
 
     pm.send('longitudinalPlan', plan_send)
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 81411edec1c3d6..e12da6ed97f20e 100644
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -21,7 +21,7 @@ def test_saturation(self, car_name, controller):
     CI = CarInterface(CP, CarController, CarState)
     VM = VehicleModel(CP)
 
-    controller = controller(CP, CI)
+    controller = controller(CP.as_reader(), CI)
 
     CS = car.CarState.new_message()
     CS.vEgo = 30
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index 4d0e41805d0933..f666f875a69d95 100644
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -2,7 +2,6 @@
 import math
 
 import numpy as np
-from control import StateSpace
 
 from openpilot.selfdrive.car.honda.interface import CarInterface
 from openpilot.selfdrive.car.honda.values import CAR
@@ -47,8 +46,12 @@ def test_syn_ss_sol_simulate(self):
         A, B = create_dyn_state_matrices(u, self.VM)
 
         # Convert to discrete time system
-        ss = StateSpace(A, B, np.eye(2), np.zeros((2, 2)))
-        ss = ss.sample(0.01)
+        dt = 0.01
+        top = np.hstack((A, B))
+        full = np.vstack((top, np.zeros_like(top))) * dt
+        Md = sum([np.linalg.matrix_power(full, k) / math.factorial(k) for k in range(25)])
+        Ad = Md[:A.shape[0], :A.shape[1]]
+        Bd = Md[:A.shape[0], A.shape[1]:]
 
         for sa in np.linspace(math.radians(-20), math.radians(20), num=11):
           inp = np.array([[sa], [roll]])
@@ -56,7 +59,7 @@ def test_syn_ss_sol_simulate(self):
           # Simulate for 1 second
           x1 = np.zeros((2, 1))
           for _ in range(100):
-            x1 = ss.A @ x1 + ss.B @ inp
+            x1 = Ad @ x1 + Bd @ inp
 
           # Compute steady state solution directly
           x2 = dyn_ss_sol(sa, u, roll, self.VM)
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 681518be195301..a9577cbefd9410 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -12,8 +12,7 @@ def plannerd_thread():
 
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
-    CP = msg
+  CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
   longitudinal_planner = LongitudinalPlanner(CP)
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 1a73bd69ec3b94..a7e3c0211d3ec7 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -37,7 +37,7 @@ def __init__(self, dt: float):
     #Q = np.matrix([[10., 0.0], [0.0, 100.]])
     #R = 1e3
     #K = np.matrix([[ 0.05705578], [ 0.03073241]])
-    dts = [dt * 0.01 for dt in range(1, 21)]
+    dts = [i * 0.01 for i in range(1, 21)]
     K0 = [0.12287673, 0.14556536, 0.16522756, 0.18281627, 0.1988689,  0.21372394,
           0.22761098, 0.24069424, 0.253096,   0.26491023, 0.27621103, 0.28705801,
           0.29750003, 0.30757767, 0.31732515, 0.32677158, 0.33594201, 0.34485814,
@@ -288,8 +288,7 @@ def main():
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")
-  with car.CarParams.from_bytes(Params().get("CarParams", block=True)) as msg:
-    CP = msg
+  CP = messaging.log_from_bytes(Params().get("CarParams", block=True), car.CarParams)
   cloudlog.info("radard got CarParams")
 
   # import the radar from the fingerprint
diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py
new file mode 100644
index 00000000000000..ab50810d894f61
--- /dev/null
+++ b/selfdrive/controls/tests/test_longcontrol.py
@@ -0,0 +1,56 @@
+from cereal import car
+from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
+
+
+
+
+class TestLongControlStateTransition:
+
+  def test_stay_stopped(self):
+    CP = car.CarParams.new_message()
+    active = True
+    current_state = LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+    assert next_state == LongCtrlState.stopping
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.pid
+    active = False
+    next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+    assert next_state == LongCtrlState.off
+
+def test_engage():
+  CP = car.CarParams.new_message()
+  active = True
+  current_state = LongCtrlState.off
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=True, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=True, cruise_standstill=False)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=True)
+  assert next_state == LongCtrlState.stopping
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.pid
+
+def test_starting():
+  CP = car.CarParams.new_message(startingState=True, vEgoStarting=0.5)
+  active = True
+  current_state = LongCtrlState.starting
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=0.1,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.starting
+  next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
+                             should_stop=False, brake_pressed=False, cruise_standstill=False)
+  assert next_state == LongCtrlState.pid
diff --git a/selfdrive/debug/can_printer.py b/selfdrive/debug/can_printer.py
index 220008979d1029..b93e48ba73ee11 100755
--- a/selfdrive/debug/can_printer.py
+++ b/selfdrive/debug/can_printer.py
@@ -23,12 +23,12 @@ def can_printer(bus, max_msg, addr, ascii_decode):
     if time.monotonic() - lp > 0.1:
       dd = chr(27) + "[2J"
       dd += f"{time.monotonic() - start:5.2f}\n"
-      for addr in sorted(msgs.keys()):
-        a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
-        x = binascii.hexlify(msgs[addr][-1]).decode('ascii')
-        freq = len(msgs[addr]) / (time.monotonic() - start)
-        if max_msg is None or addr < max_msg:
-          dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a)
+      for _addr in sorted(msgs.keys()):
+        a = f"\"{msgs[_addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
+        x = binascii.hexlify(msgs[_addr][-1]).decode('ascii')
+        freq = len(msgs[_addr]) / (time.monotonic() - start)
+        if max_msg is None or _addr < max_msg:
+          dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (_addr, _addr, len(msgs[_addr]), freq, x.ljust(20), a)
       print(dd)
       lp = time.monotonic()
 
diff --git a/selfdrive/debug/internal/measure_torque_time_to_max.py b/selfdrive/debug/internal/measure_torque_time_to_max.py
index ef3152b50ca379..7052dccf7de283 100755
--- a/selfdrive/debug/internal/measure_torque_time_to_max.py
+++ b/selfdrive/debug/internal/measure_torque_time_to_max.py
@@ -18,7 +18,7 @@
 
   if args.addr != "127.0.0.1":
     os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
+    messaging.reset_context()
 
   poller = messaging.Poller()
   messaging.sub_sock('can', poller, addr=args.addr)
diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py
index 2d17a1ee281484..11606c758919f2 100755
--- a/selfdrive/debug/internal/qlog_size.py
+++ b/selfdrive/debug/internal/qlog_size.py
@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
 import argparse
-import bz2
+import zstandard as zstd
 from collections import defaultdict
 
 import matplotlib.pyplot as plt
 
+from cereal.services import SERVICE_LIST
+from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 from tqdm import tqdm
 
@@ -16,14 +18,14 @@ def make_pie(msgs, typ):
   for m in msgs:
     msgs_by_type[m.which()].append(m.as_builder().to_bytes())
 
-  total = len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs])))
+  total = len(zstd.compress(b"".join([m.as_builder().to_bytes() for m in msgs]), LOG_COMPRESSION_LEVEL))
   uncompressed_total = len(b"".join([m.as_builder().to_bytes() for m in msgs]))
 
   length_by_type = {k: len(b"".join(v)) for k, v in msgs_by_type.items()}
   # calculate compressed size by calculating diff when removed from the segment
   compressed_length_by_type = {}
   for k in tqdm(msgs_by_type.keys(), desc="Compressing"):
-    compressed_length_by_type[k] = total - len(bz2.compress(b"".join([m.as_builder().to_bytes() for m in msgs if m.which() != k])))
+    compressed_length_by_type[k] = total - len(zstd.compress(b"".join([m.as_builder().to_bytes() for m in msgs if m.which() != k]), LOG_COMPRESSION_LEVEL))
 
   sizes = sorted(compressed_length_by_type.items(), key=lambda kv: kv[1])
 
@@ -48,9 +50,29 @@ def make_pie(msgs, typ):
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='View log size breakdown by message type')
   parser.add_argument('route', help='route to use')
+  parser.add_argument('--as-qlog', action='store_true', help='decimate rlog using latest decimation factors')
   args = parser.parse_args()
 
   msgs = list(LogReader(args.route))
 
+  if args.as_qlog:
+    new_msgs = []
+    msg_cnts: dict[str, int] = defaultdict(int)
+    for msg in msgs:
+      msg_which = msg.which()
+      if msg.which() in ("initData", "sentinel"):
+        new_msgs.append(msg)
+        continue
+
+      if msg_which not in SERVICE_LIST:
+        continue
+
+      decimation = SERVICE_LIST[msg_which].decimation
+      if decimation is not None and msg_cnts[msg_which] % decimation == 0:
+        new_msgs.append(msg)
+      msg_cnts[msg_which] += 1
+
+    msgs = new_msgs
+
   make_pie(msgs, 'qlog')
   plt.show()
diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index 90db14bc9a0dac..c98763f3c96dba 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -3,8 +3,7 @@
 import argparse
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
-from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index 786bdbbfec804f..af8a3d37268992 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -4,6 +4,14 @@
 from cereal import log
 
 
+def rotate_cov(rot_matrix, cov_in):
+  return rot_matrix @ cov_in @ rot_matrix.T
+
+
+def rotate_std(rot_matrix, std_in):
+  return np.sqrt(np.diag(rotate_cov(rot_matrix, np.diag(std_in**2))))
+
+
 class NPQueue:
   def __init__(self, maxlen: int, rowsize: int) -> None:
     self.maxlen = maxlen
@@ -38,7 +46,7 @@ def is_valid(self) -> bool:
   def is_calculable(self) -> bool:
     return all(len(v) > 0 for v in self.buckets.values())
 
-  def add_point(self, x: float, y: float, bucket_val: float) -> None:
+  def add_point(self, x: float, y: float) -> None:
     raise NotImplementedError
 
   def get_points(self, num_points: int = None) -> Any:
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 2ac392a77893b3..5607871f5f5baf 100644
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -41,14 +41,25 @@ const int    GPS_ORIENTATION_ERROR_RESET_CNT = 3;
 
 const bool   DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0";
 
-static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
-  VectorXd res(floatlist.size());
+template <typename ListType, typename Vector>
+static Vector floatlist2vector(const ListType& floatlist) {
+  Vector res(floatlist.size());
   for (int i = 0; i < floatlist.size(); i++) {
     res[i] = floatlist[i];
   }
   return res;
 }
 
+template <typename ListType>
+static VectorXd float64list2vector(const ListType& floatlist) {
+  return floatlist2vector<ListType, VectorXd>(floatlist);
+}
+
+template <typename ListType>
+static VectorXf float32list2vector(const ListType& floatlist) {
+  return floatlist2vector<ListType, VectorXf>(floatlist);
+}
+
 static Vector4d quat2vector(const Quaterniond& quat) {
   return Vector4d(quat.w(), quat.x(), quat.y(), quat.z());
 }
@@ -63,6 +74,11 @@ static void init_measurement(cereal::LiveLocationKalman::Measurement::Builder me
   meas.setValid(valid);
 }
 
+static void init_xyz_measurement(cereal::LivePose::XYZMeasurement::Builder meas, const VectorXf& val, const VectorXf& std, bool valid) {
+  meas.setX(val[0]); meas.setY(val[1]); meas.setZ(val[2]);
+  meas.setXStd(std[0]); meas.setYStd(std[1]); meas.setZStd(std[2]);
+  meas.setValid(valid);
+}
 
 static MatrixXdr rotate_cov(const MatrixXdr& rot_matrix, const MatrixXdr& cov_in) {
   // To rotate a covariance matrix, the cov matrix needs to multiplied left and right by the transform matrix
@@ -91,6 +107,30 @@ Localizer::Localizer(LocalizerGnssSource gnss_source) {
   this->configure_gnss_source(gnss_source);
 }
 
+void Localizer::build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation) {
+  // Just copy the values from liveLocation to livePose for now
+  VectorXf orientation_ned = float32list2vector(liveLocation.getOrientationNED().getValue()), orientation_ned_std = float32list2vector(liveLocation.getOrientationNED().getStd());
+  init_xyz_measurement(livePose.initOrientationNED(), orientation_ned, orientation_ned_std, this->gps_mode);
+  VectorXf velocity_device = float32list2vector(liveLocation.getVelocityDevice().getValue()), velocity_device_std = float32list2vector(liveLocation.getVelocityDevice().getStd());
+  init_xyz_measurement(livePose.initVelocityDevice(), velocity_device, velocity_device_std, true);
+  VectorXf acceleration_device = float32list2vector(liveLocation.getAccelerationDevice().getValue()), acceleration_device_std = float32list2vector(liveLocation.getAccelerationDevice().getStd());
+  init_xyz_measurement(livePose.initAccelerationDevice(), acceleration_device, acceleration_device_std, true);
+  VectorXf ang_velocity_device = float32list2vector(liveLocation.getAngularVelocityDevice().getValue()), ang_velocity_device_std = float32list2vector(liveLocation.getAngularVelocityDevice().getStd());
+  init_xyz_measurement(livePose.initAngularVelocityDevice(), ang_velocity_device, ang_velocity_device_std, true);
+
+  if (DEBUG) {
+    VectorXd filter_state = float64list2vector(liveLocation.getFilterState().getValue()), filter_state_std = float64list2vector(liveLocation.getFilterState().getStd());
+    cereal::LivePose::FilterState::Builder filter_state_builder = livePose.initFilterState();
+    filter_state_builder.setValue(kj::arrayPtr(filter_state.data(), filter_state.size()));
+    filter_state_builder.setStd(kj::arrayPtr(filter_state_std.data(), filter_state_std.size()));
+    filter_state_builder.setValid(true);
+  }
+
+  livePose.setInputsOK(liveLocation.getInputsOK());
+  livePose.setPosenetOK(liveLocation.getPosenetOK());
+  livePose.setSensorsOK(liveLocation.getSensorsOK());
+}
+
 void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
   VectorXd predicted_state = this->kf->get_x();
   MatrixXdr predicted_cov = this->kf->get_P();
@@ -279,7 +319,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
     // TODO: reduce false positives and re-enable this check
     // check if device fell, estimate 10 for g
     // 40m/s**2 is a good filter for falling detection, no false positives in 20k minutes of driving
-    // this->device_fell |= (floatlist2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
+    // this->device_fell |= (float64list2vector(v) - Vector3d(10.0, 0.0, 0.0)).norm() > 40.0;
 
     auto meas = Vector3d(-v[2], -v[1], -v[0]);
     if (meas.norm() < ACCEL_SANITY_CHECK) {
@@ -311,7 +351,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
   bool gps_unreasonable = (Vector2d(log.getHorizontalAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
   bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
   bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
-  bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
+  bool gps_vel_insane = (float64list2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
 
   if (!log.getHasFix() || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane) {
     //this->gps_valid = false;
@@ -450,8 +490,8 @@ void Localizer::handle_car_state(double current_time, const cereal::CarState::Re
 }
 
 void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) {
-  VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot());
-  VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans());
+  VectorXd rot_device = this->device_from_calib * float64list2vector(log.getRot());
+  VectorXd trans_device = this->device_from_calib * float64list2vector(log.getTrans());
 
   if (!this->is_timestamp_valid(current_time)) {
     this->observation_timings_invalid = true;
@@ -463,8 +503,8 @@ void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry
     return;
   }
 
-  VectorXd rot_calib_std = floatlist2vector(log.getRotStd());
-  VectorXd trans_calib_std = floatlist2vector(log.getTransStd());
+  VectorXd rot_calib_std = float64list2vector(log.getRotStd());
+  VectorXd trans_calib_std = float64list2vector(log.getTransStd());
 
   if ((rot_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK) || (trans_calib_std.minCoeff() <= MIN_STD_SANITY_CHECK)) {
     this->observation_values_invalid["cameraOdometry"] += 1.0;
@@ -499,7 +539,7 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra
   }
 
   if (log.getRpyCalib().size() > 0) {
-    auto live_calib = floatlist2vector(log.getRpyCalib());
+    auto live_calib = float64list2vector(log.getRpyCalib());
     if ((live_calib.minCoeff() < -CALIB_RPY_SANITY_CHECK) || (live_calib.maxCoeff() > CALIB_RPY_SANITY_CHECK)) {
       this->observation_values_invalid["liveCalibration"] += 1.0;
       return;
@@ -611,8 +651,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
   this->update_reset_tracker();
 }
 
-kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_builder, bool inputsOK,
-                                                       bool sensorsOK, bool gpsOK, bool msgValid) {
+void Localizer::build_location_message(
+  MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid) {
   cereal::Event::Builder evt = msg_builder.initEvent();
   evt.setValid(msgValid);
   cereal::LiveLocationKalman::Builder liveLoc = evt.initLiveLocationKalman();
@@ -620,7 +660,19 @@ kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_build
   liveLoc.setSensorsOK(sensorsOK);
   liveLoc.setGpsOK(gpsOK);
   liveLoc.setInputsOK(inputsOK);
-  return msg_builder.toBytes();
+}
+
+void Localizer::build_pose_message(
+  MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid) {
+  cereal::Event::Builder evt = msg_builder.initEvent();
+  evt.setValid(msgValid);
+  cereal::LivePose::Builder livePose = evt.initLivePose();
+
+  cereal::LiveLocationKalman::Reader location_msg = location_msg_builder.getRoot<cereal::Event>().getLiveLocationKalman().asReader();
+  this->build_live_pose(livePose, location_msg);
+
+  livePose.setSensorsOK(sensorsOK);
+  livePose.setInputsOK(inputsOK);
 }
 
 bool Localizer::is_gps_ok() {
@@ -692,7 +744,7 @@ int Localizer::locationd_thread() {
                                                           "carState", "accelerometer", "gyroscope"};
 
   SubMaster sm(service_list, {}, nullptr, {gps_location_socket});
-  PubMaster pm({"liveLocationKalman"});
+  PubMaster pm({"liveLocationKalman", "livePose"});
 
   uint64_t cnt = 0;
   bool filterInitialized = false;
@@ -726,9 +778,15 @@ int Localizer::locationd_thread() {
         this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time);
       }
 
-      MessageBuilder msg_builder;
-      kj::ArrayPtr<capnp::byte> bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
-      pm.send("liveLocationKalman", bytes.begin(), bytes.size());
+      MessageBuilder location_msg_builder, pose_msg_builder;
+      this->build_location_message(location_msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
+      this->build_pose_message(pose_msg_builder, location_msg_builder, inputsOK, sensorsOK, filterInitialized);
+
+      kj::ArrayPtr<capnp::byte> location_bytes = location_msg_builder.toBytes();
+      pm.send("liveLocationKalman", location_bytes.begin(), location_bytes.size());
+
+      kj::ArrayPtr<capnp::byte> pose_bytes = pose_msg_builder.toBytes();
+      pm.send("livePose", pose_bytes.begin(), pose_bytes.size());
 
       if (cnt % 1200 == 0 && gpsOK) {  // once a minute
         VectorXd posGeo = this->get_position_geodetic();
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
index 47c8bf5627bb60..615f31c9d0e85e 100644
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -45,9 +45,12 @@ class Localizer {
   bool are_inputs_ok();
   void observation_timings_invalid_reset();
 
-  kj::ArrayPtr<capnp::byte> get_message_bytes(MessageBuilder& msg_builder,
-    bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
+  void build_location_message(
+    MessageBuilder& msg_builder, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid);
+  void build_pose_message(
+  MessageBuilder& msg_builder, MessageBuilder& location_msg_builder, bool inputsOK, bool sensorsOK, bool msgValid);
   void build_live_location(cereal::LiveLocationKalman::Builder& fix);
+  void build_live_pose(cereal::LivePose::Builder& livePose, cereal::LiveLocationKalman::Reader& liveLocation);
 
   Eigen::VectorXd get_position_geodetic();
   Eigen::VectorXd get_state();
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index d124eb5f059b1c..1d5749cf34078e 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -5,13 +5,14 @@
 import numpy as np
 
 import cereal.messaging as messaging
-from cereal import car
-from cereal import log
+from cereal import car, log
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.numpy_fast import clip
+from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
+from openpilot.selfdrive.locationd.helpers import rotate_std
 from openpilot.common.swaglog import cloudlog
 
 
@@ -39,6 +40,9 @@ def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=No
     self.kf.filter.set_global("stiffness_rear", CP.tireStiffnessRear)
 
     self.active = False
+    self.calibrated = False
+
+    self.calib_from_device = np.eye(3)
 
     self.speed = 0.0
     self.yaw_rate = 0.0
@@ -48,12 +52,16 @@ def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=No
     self.roll_valid = False
 
   def handle_log(self, t, which, msg):
-    if which == 'liveLocationKalman':
-      self.yaw_rate = msg.angularVelocityCalibrated.value[2]
-      self.yaw_rate_std = msg.angularVelocityCalibrated.std[2]
+    if which == 'livePose':
+      angular_velocity_device = np.array([msg.angularVelocityDevice.x, msg.angularVelocityDevice.y, msg.angularVelocityDevice.z])
+      angular_velocity_device_std = np.array([msg.angularVelocityDevice.xStd, msg.angularVelocityDevice.yStd, msg.angularVelocityDevice.zStd])
+      angular_velocity_calibrated = np.matmul(self.calib_from_device, angular_velocity_device)
+      angular_velocity_calibrated_std = rotate_std(self.calib_from_device, angular_velocity_device_std)
+
+      self.yaw_rate, self.yaw_rate_std = angular_velocity_calibrated[2], angular_velocity_calibrated_std[2]
 
-      localizer_roll = msg.orientationNED.value[0]
-      localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.std[0]) else msg.orientationNED.std[0]
+      localizer_roll = msg.orientationNED.x
+      localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.xStd) else msg.orientationNED.xStd
       self.roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK
       if self.roll_valid:
         roll = localizer_roll
@@ -65,7 +73,7 @@ def handle_log(self, t, which, msg):
         roll_std = np.radians(10.0)
       self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
 
-      yaw_rate_valid = msg.angularVelocityCalibrated.valid
+      yaw_rate_valid = msg.angularVelocityDevice.valid and self.calibrated
       yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
       yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
 
@@ -92,6 +100,11 @@ def handle_log(self, t, which, msg):
         self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]]))
         self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]]))
 
+    elif which == 'liveCalibration':
+      self.calibrated  = msg.calStatus == log.LiveCalibrationData.Status.calibrated
+      device_from_calib = rot_from_euler(np.array(msg.rpyCalib))
+      self.calib_from_device = device_from_calib.T
+
     elif which == 'carState':
       self.steering_angle = msg.steeringAngleDeg
       self.speed = msg.vEgo
@@ -124,13 +137,12 @@ def main():
   REPLAY = bool(int(os.getenv("REPLAY", "0")))
 
   pm = messaging.PubMaster(['liveParameters'])
-  sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll='liveLocationKalman')
+  sm = messaging.SubMaster(['livePose', 'liveCalibration', 'carState'], poll='livePose')
 
   params_reader = Params()
   # wait for stats about the car to come in from controls
   cloudlog.info("paramsd is waiting for CarParams")
-  with car.CarParams.from_bytes(params_reader.get("CarParams", block=True)) as msg:
-    CP = msg
+  CP = messaging.log_from_bytes(params_reader.get("CarParams", block=True), car.CarParams)
   cloudlog.info("paramsd got CarParams")
 
   min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
@@ -190,7 +202,7 @@ def main():
           t = sm.logMonoTime[which] * 1e-9
           learner.handle_log(t, which, sm[which])
 
-    if sm.updated['liveLocationKalman']:
+    if sm.updated['livePose']:
       x = learner.kf.x
       P = np.sqrt(learner.kf.P.diagonal())
       if not all(map(math.isfinite, x)):
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 06f9044738e7ae..edcf42ebcda9a8 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -8,6 +8,7 @@
 from openpilot.common.realtime import config_realtime_process, DT_MDL
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.swaglog import cloudlog
+from openpilot.common.transformations.orientation import rot_from_euler
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator
 
@@ -36,8 +37,8 @@
 
 
 def slope2rot(slope):
-  sin = np.sqrt(slope**2 / (slope**2 + 1))
-  cos = np.sqrt(1 / (slope**2 + 1))
+  sin = np.sqrt(slope ** 2 / (slope ** 2 + 1))
+  cos = np.sqrt(1 / (slope ** 2 + 1))
   return np.array([[cos, -sin], [sin, cos]])
 
 
@@ -50,9 +51,10 @@ def add_point(self, x, y):
 
 
 class TorqueEstimator(ParameterEstimator):
-  def __init__(self, CP, decimated=False):
+  def __init__(self, CP, decimated=False, track_all_points=False):
     self.hist_len = int(HISTORY / DT_MDL)
-    self.lag = CP.steerActuatorDelay + .2   # from controlsd
+    self.lag = CP.steerActuatorDelay + .2  # from controlsd
+    self.track_all_points = track_all_points  # for offline analysis, without max lateral accel or max steer torque filters
     if decimated:
       self.min_bucket_points = MIN_BUCKET_POINTS / 10
       self.min_points_total = MIN_POINTS_TOTAL_QLOG
@@ -76,6 +78,8 @@ def __init__(self, CP, decimated=False):
       self.offline_friction = CP.lateralTuning.torque.friction
       self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor
 
+    self.calib_from_device = np.eye(3)
+
     self.reset()
 
     initial_params = {
@@ -119,7 +123,8 @@ def __init__(self, CP, decimated=False):
     for param in initial_params:
       self.filtered_params[param] = FirstOrderFilter(initial_params[param], self.decay, DT_MDL)
 
-  def get_restore_key(self, CP, version):
+  @staticmethod
+  def get_restore_key(CP, version):
     a, b = None, None
     if CP.lateralTuning.which() == 'torque':
       a = CP.lateralTuning.torque.friction
@@ -135,6 +140,7 @@ def reset(self):
                                          min_points_total=self.min_points_total,
                                          points_per_bucket=POINTS_PER_BUCKET,
                                          rowsize=3)
+    self.all_torque_points = []
 
   def estimate_params(self):
     points = self.filtered_points.get_points(self.fit_points)
@@ -159,25 +165,41 @@ def update_params(self, params):
   def handle_log(self, t, which, msg):
     if which == "carControl":
       self.raw_points["carControl_t"].append(t + self.lag)
-      self.raw_points["active"].append(msg.latActive)
+      self.raw_points["lat_active"].append(msg.latActive)
     elif which == "carOutput":
       self.raw_points["carOutput_t"].append(t + self.lag)
       self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
     elif which == "carState":
       self.raw_points["carState_t"].append(t + self.lag)
+      # TODO: check if high aEgo affects resulting lateral accel
       self.raw_points["vego"].append(msg.vEgo)
       self.raw_points["steer_override"].append(msg.steeringPressed)
-    elif which == "liveLocationKalman":
+    elif which == "liveCalibration":
+      device_from_calib = rot_from_euler(np.array(msg.rpyCalib))
+      self.calib_from_device = device_from_calib.T
+
+    # calculate lateral accel from past steering torque
+    elif which == "livePose":
       if len(self.raw_points['steer_torque']) == self.hist_len:
-        yaw_rate = msg.angularVelocityCalibrated.value[2]
-        roll = msg.orientationNED.value[0]
-        active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['active']).astype(bool)
-        steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
+        angular_velocity_device = np.array([msg.angularVelocityDevice.x, msg.angularVelocityDevice.y, msg.angularVelocityDevice.z])
+        angular_velocity_calibrated = np.matmul(self.calib_from_device, angular_velocity_device)
+
+        yaw_rate = angular_velocity_calibrated[2]
+        roll = msg.orientationNED.x
+        # check lat active up to now (without lag compensation)
+        lat_active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
+                               self.raw_points['carControl_t'], self.raw_points['lat_active']).astype(bool)
+        steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t + self.lag, DT_MDL),
+                                   self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool)
         vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego'])
-        steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque'])
-        lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY)
-        if all(active) and (not any(steer_override)) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD):
-          self.filtered_points.add_point(float(steer), float(lateral_acc))
+        steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']).item()
+        lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY).item()
+        if all(lat_active) and not any(steer_override) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD):
+          if abs(lateral_acc) <= LAT_ACC_THRESHOLD:
+            self.filtered_points.add_point(steer, lateral_acc)
+
+          if self.track_all_points:
+            self.all_torque_points.append([steer, lateral_acc])
 
   def get_msg(self, valid=True, with_points=False):
     msg = messaging.new_message('liveTorqueParameters')
@@ -220,11 +242,10 @@ def main(demo=False):
   config_realtime_process([0, 1, 2, 3], 5)
 
   pm = messaging.PubMaster(['liveTorqueParameters'])
-  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
+  sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveCalibration', 'livePose'], poll='livePose')
 
   params = Params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
-    estimator = TorqueEstimator(CP)
+  estimator = TorqueEstimator(messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams))
 
   while True:
     sm.update()
@@ -234,7 +255,7 @@ def main(demo=False):
           t = sm.logMonoTime[which] * 1e-9
           estimator.handle_log(t, which, sm[which])
 
-    # 4Hz driven by liveLocationKalman
+    # 4Hz driven by livePose
     if sm.frame % 5 == 0:
       pm.send('liveTorqueParameters', estimator.get_msg(valid=sm.all_checks()))
 
@@ -243,8 +264,10 @@ def main(demo=False):
       msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
       params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
 
+
 if __name__ == "__main__":
   import argparse
+
   parser = argparse.ArgumentParser(description='Process the --demo argument.')
   parser.add_argument('--demo', action='store_true', help='A boolean for demo mode.')
   args = parser.parse_args()
diff --git a/selfdrive/modeld/constants.py b/selfdrive/modeld/constants.py
index ca81bffcc88ce3..871685797ab672 100644
--- a/selfdrive/modeld/constants.py
+++ b/selfdrive/modeld/constants.py
@@ -59,6 +59,8 @@ class ModelConstants:
   RYG_GREEN = 0.01165
   RYG_YELLOW = 0.06157
 
+  POLY_PATH_DEGREE = 4
+
 # model outputs slices
 class Plan:
   POSITION = slice(0, 3)
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index f6a57f1a4027c7..03f6d1b0163975 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -41,17 +41,36 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std
   if a_std is not None:
     builder.aStd = a_std.tolist()
 
-def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str, np.ndarray], publish_state: PublishState,
+def fill_xyz_poly(builder, degree, x, y, z):
+  xyz = np.stack([x, y, z], axis=1)
+  coeffs = np.polynomial.polynomial.polyfit(ModelConstants.T_IDXS, xyz, deg=degree)
+  builder.xCoefficients = coeffs[:, 0].tolist()
+  builder.yCoefficients = coeffs[:, 1].tolist()
+  builder.zCoefficients = coeffs[:, 2].tolist()
+
+def fill_model_msg(base_msg: capnp._DynamicStructBuilder, extended_msg: capnp._DynamicStructBuilder,
+                   net_output_data: dict[str, np.ndarray], publish_state: PublishState,
                    vipc_frame_id: int, vipc_frame_id_extra: int, frame_id: int, frame_drop: float,
                    timestamp_eof: int, model_execution_time: float, valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
-  msg.valid = valid
+  frame_drop_perc = frame_drop * 100
+  extended_msg.valid = valid
+  base_msg.valid = valid
 
-  modelV2 = msg.modelV2
+  driving_model_data = base_msg.drivingModelData
+
+  driving_model_data.frameId = vipc_frame_id
+  driving_model_data.frameIdExtra = vipc_frame_id_extra
+  driving_model_data.frameDropPerc = frame_drop_perc
+
+  action = driving_model_data.action
+  action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
+
+  modelV2 = extended_msg.modelV2
   modelV2.frameId = vipc_frame_id
   modelV2.frameIdExtra = vipc_frame_id_extra
   modelV2.frameAge = frame_age
-  modelV2.frameDropPerc = frame_drop * 100
+  modelV2.frameDropPerc = frame_drop_perc
   modelV2.timestampEof = timestamp_eof
   modelV2.modelExecutionTime = model_execution_time
 
@@ -67,6 +86,10 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str,
   orientation_rate = modelV2.orientationRate
   fill_xyzt(orientation_rate, ModelConstants.T_IDXS, *net_output_data['plan'][0,:,Plan.ORIENTATION_RATE].T)
 
+  # poly path
+  poly_path = driving_model_data.path
+  fill_xyz_poly(poly_path, ModelConstants.POLY_PATH_DEGREE, *net_output_data['plan'][0,:,Plan.POSITION].T)
+
   # lateral planning
   action = modelV2.action
   action.desiredCurvature = float(net_output_data['desired_curvature'][0,0])
@@ -98,6 +121,12 @@ def fill_model_msg(msg: capnp._DynamicStructBuilder, net_output_data: dict[str,
   modelV2.laneLineStds = net_output_data['lane_lines_stds'][0,:,0,0].tolist()
   modelV2.laneLineProbs = net_output_data['lane_lines_prob'][0,1::2].tolist()
 
+  lane_line_meta = driving_model_data.laneLineMeta
+  lane_line_meta.leftY = modelV2.laneLines[1].y[0]
+  lane_line_meta.leftProb = modelV2.laneLineProbs[1]
+  lane_line_meta.rightY = modelV2.laneLines[2].y[0]
+  lane_line_meta.rightProb = modelV2.laneLineProbs[2]
+
   # road edges
   modelV2.init('roadEdges', 2)
   for i in range(2):
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 1e33b7b3f09a88..d2cc9d8fd7d9d3 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -149,7 +149,7 @@ def main(demo=False):
     cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
 
   # messaging
-  pm = PubMaster(["modelV2", "cameraOdometry"])
+  pm = PubMaster(["modelV2", "drivingModelData", "cameraOdometry"])
   sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl"])
 
   publish_state = PublishState()
@@ -172,8 +172,8 @@ def main(demo=False):
   if demo:
     CP = get_demo_car_params()
   else:
-    with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
-      CP = msg
+    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+
   cloudlog.info("modeld got CarParams: %s", CP.carName)
 
   # TODO this needs more thought, use .2s extra for now to estimate other delays
@@ -259,9 +259,10 @@ def main(demo=False):
 
     if model_output is not None:
       modelv2_send = messaging.new_message('modelV2')
+      drivingdata_send = messaging.new_message('drivingModelData')
       posenet_send = messaging.new_message('cameraOdometry')
-      fill_model_msg(modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio,
-                      meta_main.timestamp_eof, model_execution_time, live_calib_seen)
+      fill_model_msg(drivingdata_send, modelv2_send, model_output, publish_state, meta_main.frame_id, meta_extra.frame_id, frame_id,
+                     frame_drop_ratio, meta_main.timestamp_eof, model_execution_time, live_calib_seen)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
@@ -270,9 +271,12 @@ def main(demo=False):
       DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
       modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
       modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
+      drivingdata_send.drivingModelData.meta.laneChangeState = DH.lane_change_state
+      drivingdata_send.drivingModelData.meta.laneChangeDirection = DH.lane_change_direction
 
       fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
       pm.send('modelV2', modelv2_send)
+      pm.send('drivingModelData', drivingdata_send)
       pm.send('cameraOdometry', posenet_send)
 
     last_vipc_frame_id = meta_main.frame_id
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
index e292bb0d2da6c5..ecbe644e0945bd 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pyx
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -1,5 +1,5 @@
 # distutils: language = c++
-# cython: c_string_encoding=ascii
+# cython: c_string_encoding=ascii, language_level=3
 
 import numpy as np
 cimport numpy as cnp
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index c0f8b16fb1e6ca..2e1a60a23eb453 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b31b504bc0b440d3bc72967507a00eb4f112285626fbfb3135011500325ee6d6
-size 51452435
+oid sha256:39786068cae1ed8c0dc34ef80c281dfcc67ed18a50e06b90765c49bcfdbf7db4
+size 51453312
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx
index e1b201a6a92742..12b8ec10ff8fe9 100644
--- a/selfdrive/modeld/runners/runmodel_pyx.pyx
+++ b/selfdrive/modeld/runners/runmodel_pyx.pyx
@@ -1,5 +1,5 @@
 # distutils: language = c++
-# cython: c_string_encoding=ascii
+# cython: c_string_encoding=ascii, language_level=3
 
 from libcpp.string cimport string
 
diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx
index c3b2b7e9bd3db4..f83b7c8cff389a 100644
--- a/selfdrive/modeld/runners/snpemodel_pyx.pyx
+++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx
@@ -1,5 +1,5 @@
 # distutils: language = c++
-# cython: c_string_encoding=ascii
+# cython: c_string_encoding=ascii, language_level=3
 
 import os
 from libcpp cimport bool
diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
index 53487afa1bf582..6f8fdd255fa5bb 100644
--- a/selfdrive/modeld/runners/thneedmodel_pyx.pyx
+++ b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
@@ -1,5 +1,5 @@
 # distutils: language = c++
-# cython: c_string_encoding=ascii
+# cython: c_string_encoding=ascii, language_level=3
 
 from libcpp cimport bool
 from libcpp.string cimport string
diff --git a/selfdrive/navd/.gitignore b/selfdrive/navd/.gitignore
deleted file mode 100644
index 4801d60a2c86c8..00000000000000
--- a/selfdrive/navd/.gitignore
+++ /dev/null
@@ -1,6 +0,0 @@
-moc_*
-*.moc
-
-mapsd
-map_renderer
-libmap_renderer.so
diff --git a/selfdrive/navd/README.md b/selfdrive/navd/README.md
deleted file mode 100644
index 81de8ae39f6c09..00000000000000
--- a/selfdrive/navd/README.md
+++ /dev/null
@@ -1,24 +0,0 @@
-# navigation
-
-This directory contains two daemons, `navd` and `mapsd`, which support navigation in the openpilot stack.
-
-### navd
-
-`navd` takes in a route through the `NavDestination` param and sends out two packets: `navRoute` and `navInstruction`. These packets contain the coordinates of the planned route and turn-by-turn instructions.
-
-### map renderer
-
-The map renderer listens for the `navRoute` and publishes a simplified rendered map view over VisionIPC. The rendered maps look like this:
-
-![](https://i.imgur.com/oZLfmwq.png)
-
-## development
-
-Currently, [mapbox](https://www.mapbox.com/) is used for navigation.
-
-* get an API token: https://docs.mapbox.com/help/glossary/access-token/
-* set an API token using the `MAPBOX_TOKEN` environment variable
-* routes/destinations are set through the `NavDestination` param
-  * use `set_destination.py` for debugging
-* edit the map: https://www.mapbox.com/contribute
-* mapbox API playground: https://docs.mapbox.com/playground/
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
deleted file mode 100644
index 295e8127dbc7f6..00000000000000
--- a/selfdrive/navd/SConscript
+++ /dev/null
@@ -1,20 +0,0 @@
-Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
-
-map_env = qt_env.Clone()
-libs = ['qt_widgets', 'qt_util', 'QMapLibre', common, messaging, visionipc, transformations,
-        'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"]
-if arch == 'larch64':
-  libs.append(':libEGL_mesa.so.0')
-
-if arch in ['larch64', 'aarch64', 'x86_64']:
-  if arch == 'x86_64':
-    rpath = Dir(f"#third_party/maplibre-native-qt/{arch}/lib").srcnode().abspath
-    map_env["RPATH"] += [rpath, ]
-
-  style_path = File("style.json").abspath
-  map_env['CXXFLAGS'].append(f'-DSTYLE_PATH=\\"{style_path}\\"')
-
-  map_env["RPATH"].append(Dir('.').abspath)
-  map_env["LIBPATH"].append(Dir('.').abspath)
-  maplib = map_env.SharedLibrary("maprender", ["map_renderer.cc"], LIBS=libs)
-  # map_env.Program("mapsd", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs)
diff --git a/selfdrive/navd/__init__.py b/selfdrive/navd/__init__.py
deleted file mode 100644
index e69de29bb2d1d6..00000000000000
diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py
deleted file mode 100644
index 0f0410c2c7ccda..00000000000000
--- a/selfdrive/navd/helpers.py
+++ /dev/null
@@ -1,189 +0,0 @@
-from __future__ import annotations
-
-import json
-import math
-from typing import Any, cast
-
-from openpilot.common.conversions import Conversions
-from openpilot.common.numpy_fast import clip
-from openpilot.common.params import Params
-
-DIRECTIONS = ('left', 'right', 'straight')
-MODIFIABLE_DIRECTIONS = ('left', 'right')
-
-EARTH_MEAN_RADIUS = 6371007.2
-SPEED_CONVERSIONS = {
-    'km/h': Conversions.KPH_TO_MS,
-    'mph': Conversions.MPH_TO_MS,
-  }
-
-
-class Coordinate:
-  def __init__(self, latitude: float, longitude: float) -> None:
-    self.latitude = latitude
-    self.longitude = longitude
-    self.annotations: dict[str, float] = {}
-
-  @classmethod
-  def from_mapbox_tuple(cls, t: tuple[float, float]) -> Coordinate:
-    return cls(t[1], t[0])
-
-  def as_dict(self) -> dict[str, float]:
-    return {'latitude': self.latitude, 'longitude': self.longitude}
-
-  def __str__(self) -> str:
-    return f'Coordinate({self.latitude}, {self.longitude})'
-
-  def __repr__(self) -> str:
-    return self.__str__()
-
-  def __eq__(self, other) -> bool:
-    if not isinstance(other, Coordinate):
-      return False
-    return (self.latitude == other.latitude) and (self.longitude == other.longitude)
-
-  def __sub__(self, other: Coordinate) -> Coordinate:
-    return Coordinate(self.latitude - other.latitude, self.longitude - other.longitude)
-
-  def __add__(self, other: Coordinate) -> Coordinate:
-    return Coordinate(self.latitude + other.latitude, self.longitude + other.longitude)
-
-  def __mul__(self, c: float) -> Coordinate:
-    return Coordinate(self.latitude * c, self.longitude * c)
-
-  def dot(self, other: Coordinate) -> float:
-    return self.latitude * other.latitude + self.longitude * other.longitude
-
-  def distance_to(self, other: Coordinate) -> float:
-    # Haversine formula
-    dlat = math.radians(other.latitude - self.latitude)
-    dlon = math.radians(other.longitude - self.longitude)
-
-    haversine_dlat = math.sin(dlat / 2.0)
-    haversine_dlat *= haversine_dlat
-    haversine_dlon = math.sin(dlon / 2.0)
-    haversine_dlon *= haversine_dlon
-
-    y = haversine_dlat \
-             + math.cos(math.radians(self.latitude)) \
-             * math.cos(math.radians(other.latitude)) \
-             * haversine_dlon
-    x = 2 * math.asin(math.sqrt(y))
-    return x * EARTH_MEAN_RADIUS
-
-
-def minimum_distance(a: Coordinate, b: Coordinate, p: Coordinate):
-  if a.distance_to(b) < 0.01:
-    return a.distance_to(p)
-
-  ap = p - a
-  ab = b - a
-  t = clip(ap.dot(ab) / ab.dot(ab), 0.0, 1.0)
-  projection = a + ab * t
-  return projection.distance_to(p)
-
-
-def distance_along_geometry(geometry: list[Coordinate], pos: Coordinate) -> float:
-  if len(geometry) <= 2:
-    return geometry[0].distance_to(pos)
-
-  # 1. Find segment that is closest to current position
-  # 2. Total distance is sum of distance to start of closest segment
-  #    + all previous segments
-  total_distance = 0.0
-  total_distance_closest = 0.0
-  closest_distance = 1e9
-
-  for i in range(len(geometry) - 1):
-    d = minimum_distance(geometry[i], geometry[i + 1], pos)
-
-    if d < closest_distance:
-      closest_distance = d
-      total_distance_closest = total_distance + geometry[i].distance_to(pos)
-
-    total_distance += geometry[i].distance_to(geometry[i + 1])
-
-  return total_distance_closest
-
-
-def coordinate_from_param(param: str, params: Params = None) -> Coordinate | None:
-  if params is None:
-    params = Params()
-
-  json_str = params.get(param)
-  if json_str is None:
-    return None
-
-  pos = json.loads(json_str)
-  if 'latitude' not in pos or 'longitude' not in pos:
-    return None
-
-  return Coordinate(pos['latitude'], pos['longitude'])
-
-
-def string_to_direction(direction: str) -> str:
-  for d in DIRECTIONS:
-    if d in direction:
-      if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
-        return 'slight' + d.capitalize()
-      return d
-  return 'none'
-
-
-def maxspeed_to_ms(maxspeed: dict[str, str | float]) -> float:
-  unit = cast(str, maxspeed['unit'])
-  speed = cast(float, maxspeed['speed'])
-  return SPEED_CONVERSIONS[unit] * speed
-
-
-def field_valid(dat: dict, field: str) -> bool:
-  return field in dat and dat[field] is not None
-
-
-def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> dict[str, Any] | None:
-  if not len(banners):
-    return None
-
-  instruction = {}
-
-  # A segment can contain multiple banners, find one that we need to show now
-  current_banner = banners[0]
-  for banner in banners:
-    if distance_to_maneuver < banner['distanceAlongGeometry']:
-      current_banner = banner
-
-  # Only show banner when close enough to maneuver
-  instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry']
-
-  # Primary
-  p = current_banner['primary']
-  if field_valid(p, 'text'):
-    instruction['maneuverPrimaryText'] = p['text']
-  if field_valid(p, 'type'):
-    instruction['maneuverType'] = p['type']
-  if field_valid(p, 'modifier'):
-    instruction['maneuverModifier'] = p['modifier']
-
-  # Secondary
-  if field_valid(current_banner, 'secondary'):
-    instruction['maneuverSecondaryText'] = current_banner['secondary']['text']
-
-  # Lane lines
-  if field_valid(current_banner, 'sub'):
-    lanes = []
-    for component in current_banner['sub']['components']:
-      if component['type'] != 'lane':
-        continue
-
-      lane = {
-        'active': component['active'],
-        'directions': [string_to_direction(d) for d in component['directions']],
-      }
-
-      if field_valid(component, 'active_direction'):
-        lane['activeDirection'] = string_to_direction(component['active_direction'])
-
-      lanes.append(lane)
-    instruction['lanes'] = lanes
-
-  return instruction
diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc
deleted file mode 100644
index 2e7b4d3b60fc61..00000000000000
--- a/selfdrive/navd/main.cc
+++ /dev/null
@@ -1,29 +0,0 @@
-#include <csignal>
-#include <sys/resource.h>
-
-#include <QApplication>
-#include <QDebug>
-
-#include "common/util.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/navd/map_renderer.h"
-#include "system/hardware/hw.h"
-
-int main(int argc, char *argv[]) {
-  Hardware::config_cpu_rendering(true);
-
-  qInstallMessageHandler(swagLogMessageHandler);
-  setpriority(PRIO_PROCESS, 0, -20);
-  int ret = util::set_core_affinity({0, 1, 2, 3});
-  assert(ret == 0);
-
-  QApplication app(argc, argv);
-  std::signal(SIGINT, sigTermHandler);
-  std::signal(SIGTERM, sigTermHandler);
-
-  MapRenderer * m = new MapRenderer(get_mapbox_settings());
-  assert(m);
-
-  return app.exec();
-}
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
deleted file mode 100644
index 1e57ad3e7c9f88..00000000000000
--- a/selfdrive/navd/map_renderer.cc
+++ /dev/null
@@ -1,338 +0,0 @@
-#include "selfdrive/navd/map_renderer.h"
-
-#include <cmath>
-#include <string>
-#include <QApplication>
-#include <QBuffer>
-
-#include "common/util.h"
-#include "common/timing.h"
-#include "common/swaglog.h"
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-
-const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
-const int HEIGHT = 256, WIDTH = 256;
-const int NUM_VIPC_BUFFERS = 4;
-
-const int EARTH_CIRCUMFERENCE_METERS = 40075000;
-const int EARTH_RADIUS_METERS = 6378137;
-const int PIXELS_PER_TILE = 256;
-const int MAP_OFFSET = 128;
-
-const bool TEST_MODE = getenv("MAP_RENDER_TEST_MODE");
-const int LLK_DECIMATION = TEST_MODE ? 1 : 10;
-
-float get_zoom_level_for_scale(float lat, float meters_per_pixel) {
-  float meters_per_tile = meters_per_pixel * PIXELS_PER_TILE;
-  float num_tiles = cos(DEG2RAD(lat)) * EARTH_CIRCUMFERENCE_METERS / meters_per_tile;
-  return log2(num_tiles) - 1;
-}
-
-QMapLibre::Coordinate get_point_along_line(float lat, float lon, float bearing, float dist) {
-  float ang_dist = dist / EARTH_RADIUS_METERS;
-  float lat1 = DEG2RAD(lat), lon1 = DEG2RAD(lon), bearing1 = DEG2RAD(bearing);
-  float lat2 = asin(sin(lat1)*cos(ang_dist) + cos(lat1)*sin(ang_dist)*cos(bearing1));
-  float lon2 = lon1 + atan2(sin(bearing1)*sin(ang_dist)*cos(lat1), cos(ang_dist)-sin(lat1)*sin(lat2));
-  return QMapLibre::Coordinate(RAD2DEG(lat2), RAD2DEG(lon2));
-}
-
-
-MapRenderer::MapRenderer(const QMapLibre::Settings &settings, bool online) : m_settings(settings) {
-  QSurfaceFormat fmt;
-  fmt.setRenderableType(QSurfaceFormat::OpenGLES);
-
-  m_settings.setMapMode(QMapLibre::Settings::MapMode::Static);
-
-  ctx = std::make_unique<QOpenGLContext>();
-  ctx->setFormat(fmt);
-  ctx->create();
-  assert(ctx->isValid());
-
-  surface = std::make_unique<QOffscreenSurface>();
-  surface->setFormat(ctx->format());
-  surface->create();
-
-  ctx->makeCurrent(surface.get());
-  assert(QOpenGLContext::currentContext() == ctx.get());
-
-  gl_functions.reset(ctx->functions());
-  gl_functions->initializeOpenGLFunctions();
-
-  QOpenGLFramebufferObjectFormat fbo_format;
-  fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format));
-
-  std::string style = util::read_file(STYLE_PATH);
-  m_map.reset(new QMapLibre::Map(nullptr, m_settings, fbo->size(), 1));
-  m_map->setCoordinateZoom(QMapLibre::Coordinate(0, 0), DEFAULT_ZOOM);
-  m_map->setStyleJson(style.c_str());
-  m_map->createRenderer();
-  ever_loaded = false;
-
-  m_map->resize(fbo->size());
-  m_map->setFramebufferObject(fbo->handle(), fbo->size());
-  gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::mapChanged, [=](QMapLibre::Map::MapChange change) {
-    // Ignore expected signals
-    // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116
-    if (ever_loaded) {
-      if (change != QMapLibre::Map::MapChange::MapChangeRegionWillChange &&
-          change != QMapLibre::Map::MapChange::MapChangeRegionDidChange &&
-          change != QMapLibre::Map::MapChange::MapChangeWillStartRenderingFrame &&
-          change != QMapLibre::Map::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) {
-        LOGD("New map state: %d", change);
-      }
-    }
-  });
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::mapLoadingFailed, [=](QMapLibre::Map::MapLoadingFailure err_code, const QString &reason) {
-    LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str());
-  });
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::staticRenderFinished, [=](const QString &error) {
-    rendering = false;
-
-    if (!error.isEmpty()) {
-      LOGE("Static map rendering failed with error: '%s'\n", error.toStdString().c_str());
-    } else if (vipc_server != nullptr) {
-      double end_render_t = millis_since_boot();
-      publish((end_render_t - start_render_t) / 1000.0, true);
-      last_llk_rendered = (*sm)["liveLocationKalman"].getLogMonoTime();
-    }
-  });
-
-  if (online) {
-    vipc_server.reset(new VisionIpcServer("navd"));
-    vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT);
-    vipc_server->start_listener();
-
-    pm.reset(new PubMaster({"navThumbnail", "mapRenderState"}));
-    sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}, {"liveLocationKalman"}));
-
-    timer = new QTimer(this);
-    timer->setSingleShot(true);
-    QObject::connect(timer, SIGNAL(timeout()), this, SLOT(msgUpdate()));
-    timer->start(0);
-  }
-}
-
-void MapRenderer::msgUpdate() {
-  sm->update(1000);
-
-  if (sm->updated("liveLocationKalman")) {
-    auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
-    auto pos = location.getPositionGeodetic();
-    auto orientation = location.getCalibratedOrientationNED();
-
-    if ((sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) {
-      float bearing = RAD2DEG(orientation.getValue()[2]);
-      updatePosition(get_point_along_line(pos.getValue()[0], pos.getValue()[1], bearing, MAP_OFFSET), bearing);
-
-      if (!rendering) {
-        update();
-      }
-
-      if (!rendered()) {
-        publish(0, false);
-      }
-    }
-
-
-  }
-
-  if (sm->updated("navRoute")) {
-    QList<QGeoCoordinate> route;
-    auto coords = (*sm)["navRoute"].getNavRoute().getCoordinates();
-    for (auto const &c : coords) {
-      route.push_back(QGeoCoordinate(c.getLatitude(), c.getLongitude()));
-    }
-    updateRoute(route);
-  }
-
-  // schedule next update
-  timer->start(0);
-}
-
-void MapRenderer::updatePosition(QMapLibre::Coordinate position, float bearing) {
-  if (m_map.isNull()) {
-    return;
-  }
-
-  // Choose a scale that ensures above 13 zoom level up to and above 75deg of lat
-  float meters_per_pixel = 2;
-  float zoom = get_zoom_level_for_scale(position.first, meters_per_pixel);
-
-  m_map->setCoordinate(position);
-  m_map->setBearing(bearing);
-  m_map->setZoom(zoom);
-  if (!rendering) {
-    update();
-  }
-}
-
-bool MapRenderer::loaded() {
-  return m_map->isFullyLoaded();
-}
-
-void MapRenderer::update() {
-  rendering = true;
-  gl_functions->glClear(GL_COLOR_BUFFER_BIT);
-  start_render_t = millis_since_boot();
-  m_map->startStaticRender();
-}
-
-void MapRenderer::sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf) {
-  MessageBuilder msg;
-  auto thumbnaild = msg.initEvent().initNavThumbnail();
-  thumbnaild.setFrameId(frame_id);
-  thumbnaild.setTimestampEof(ts);
-  thumbnaild.setThumbnail(buf);
-  pm->send("navThumbnail", msg);
-}
-
-void MapRenderer::publish(const double render_time, const bool loaded) {
-  QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
-
-  auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
-  bool valid = loaded && (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && location.getPositionGeodetic().getValid();
-  ever_loaded = ever_loaded || loaded;
-  uint64_t ts = nanos_since_boot();
-  VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
-  VisionIpcBufExtra extra = {
-    .frame_id = frame_id,
-    .timestamp_sof = (*sm)["liveLocationKalman"].getLogMonoTime(),
-    .timestamp_eof = ts,
-    .valid = valid,
-  };
-
-  assert(cap.sizeInBytes() >= buf->len);
-  uint8_t* dst = (uint8_t*)buf->addr;
-  uint8_t* src = cap.bits();
-
-  // RGB to greyscale
-  memset(dst, 128, buf->len);
-  for (int i = 0; i < WIDTH * HEIGHT; i++) {
-    dst[i] = src[i * 3];
-  }
-
-  vipc_server->send(buf, &extra);
-
-  // Send thumbnail
-  if (TEST_MODE) {
-    // Full image in thumbnails in test mode
-    kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)cap.bits(), cap.sizeInBytes());
-    sendThumbnail(ts, buffer_kj);
-  } else if (frame_id % 100 == 0) {
-    // Write jpeg into buffer
-    QByteArray buffer_bytes;
-    QBuffer buffer(&buffer_bytes);
-    buffer.open(QIODevice::WriteOnly);
-    cap.save(&buffer, "JPG", 50);
-
-    kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)buffer_bytes.constData(), buffer_bytes.size());
-    sendThumbnail(ts, buffer_kj);
-  }
-
-  // Send state msg
-  MessageBuilder msg;
-  auto evt = msg.initEvent();
-  auto state = evt.initMapRenderState();
-  evt.setValid(valid);
-  state.setLocationMonoTime((*sm)["liveLocationKalman"].getLogMonoTime());
-  state.setRenderTime(render_time);
-  state.setFrameId(frame_id);
-  pm->send("mapRenderState", msg);
-
-  frame_id++;
-}
-
-uint8_t* MapRenderer::getImage() {
-  QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
-
-  uint8_t* src = cap.bits();
-  uint8_t* dst = new uint8_t[WIDTH * HEIGHT];
-
-  // RGB to greyscale
-  for (int i = 0; i < WIDTH * HEIGHT; i++) {
-    dst[i] = src[i * 3];
-  }
-
-  return dst;
-}
-
-void MapRenderer::updateRoute(QList<QGeoCoordinate> coordinates) {
-  if (m_map.isNull()) return;
-  initLayers();
-
-  auto route_points = coordinate_list_to_collection(coordinates);
-  QMapLibre::Feature feature(QMapLibre::Feature::LineStringType, route_points, {}, {});
-  QVariantMap navSource;
-  navSource["type"] = "geojson";
-  navSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
-  m_map->updateSource("navSource", navSource);
-  m_map->setLayoutProperty("navLayer", "visibility", "visible");
-}
-
-void MapRenderer::initLayers() {
-  if (!m_map->layerExists("navLayer")) {
-    LOGD("Initializing navLayer");
-    QVariantMap nav;
-    nav["type"] = "line";
-    nav["source"] = "navSource";
-    m_map->addLayer("navLayer", nav, "road-intersection");
-    m_map->setPaintProperty("navLayer", "line-color", QColor("grey"));
-    m_map->setPaintProperty("navLayer", "line-width", 5);
-    m_map->setLayoutProperty("navLayer", "line-cap", "round");
-  }
-}
-
-MapRenderer::~MapRenderer() {
-}
-
-extern "C" {
-  MapRenderer* map_renderer_init(char *maps_host = nullptr, char *token = nullptr) {
-    char *argv[] = {
-      (char*)"navd",
-      nullptr
-    };
-    int argc = 0;
-    QApplication *app = new QApplication(argc, argv);
-    assert(app);
-
-    QMapLibre::Settings settings;
-    settings.setProviderTemplate(QMapLibre::Settings::ProviderTemplate::MapboxProvider);
-    settings.setApiBaseUrl(maps_host == nullptr ? MAPS_HOST : maps_host);
-    settings.setApiKey(token == nullptr ? get_mapbox_token() : token);
-
-    return new MapRenderer(settings, false);
-  }
-
-  void map_renderer_update_position(MapRenderer *inst, float lat, float lon, float bearing) {
-    inst->updatePosition({lat, lon}, bearing);
-    QApplication::processEvents();
-  }
-
-  void map_renderer_update_route(MapRenderer *inst, char* polyline) {
-    inst->updateRoute(polyline_to_coordinate_list(QString::fromUtf8(polyline)));
-  }
-
-  void map_renderer_update(MapRenderer *inst) {
-    inst->update();
-  }
-
-  void map_renderer_process(MapRenderer *inst) {
-    QApplication::processEvents();
-  }
-
-  bool map_renderer_loaded(MapRenderer *inst) {
-    return inst->loaded();
-  }
-
-  uint8_t * map_renderer_get_image(MapRenderer *inst) {
-    return inst->getImage();
-  }
-
-  void map_renderer_free_image(MapRenderer *inst, uint8_t * buf) {
-    delete[] buf;
-  }
-}
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
deleted file mode 100644
index 956c1d54bc6a43..00000000000000
--- a/selfdrive/navd/map_renderer.h
+++ /dev/null
@@ -1,61 +0,0 @@
-#pragma once
-
-#include <memory>
-
-#include <QOpenGLContext>
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-#include <QTimer>
-#include <QGeoCoordinate>
-#include <QOpenGLBuffer>
-#include <QOffscreenSurface>
-#include <QOpenGLFunctions>
-#include <QOpenGLFramebufferObject>
-
-#include "msgq/visionipc/visionipc_server.h"
-#include "cereal/messaging/messaging.h"
-
-
-class MapRenderer : public QObject {
-  Q_OBJECT
-
-public:
-  MapRenderer(const QMapLibre::Settings &, bool online=true);
-  uint8_t* getImage();
-  void update();
-  bool loaded();
-  ~MapRenderer();
-
-private:
-  std::unique_ptr<QOpenGLContext> ctx;
-  std::unique_ptr<QOffscreenSurface> surface;
-  std::unique_ptr<QOpenGLFunctions> gl_functions;
-  std::unique_ptr<QOpenGLFramebufferObject> fbo;
-
-  std::unique_ptr<VisionIpcServer> vipc_server;
-  std::unique_ptr<PubMaster> pm;
-  std::unique_ptr<SubMaster> sm;
-  void publish(const double render_time, const bool loaded);
-  void sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf);
-
-  QMapLibre::Settings m_settings;
-  QScopedPointer<QMapLibre::Map> m_map;
-
-  void initLayers();
-
-  double start_render_t;
-  uint32_t frame_id = 0;
-  uint64_t last_llk_rendered = 0;
-  bool rendering = false;
-  bool rendered() {
-    return last_llk_rendered == (*sm)["liveLocationKalman"].getLogMonoTime();
-  }
-
-  QTimer* timer;
-  bool ever_loaded = false;
-
-public slots:
-  void updatePosition(QMapLibre::Coordinate position, float bearing);
-  void updateRoute(QList<QGeoCoordinate> coordinates);
-  void msgUpdate();
-};
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
deleted file mode 100755
index e44b883436cb0b..00000000000000
--- a/selfdrive/navd/map_renderer.py
+++ /dev/null
@@ -1,100 +0,0 @@
-#!/usr/bin/env python3
-# You might need to uninstall the PyQt5 pip package to avoid conflicts
-
-import os
-import time
-import numpy as np
-import polyline
-from cffi import FFI
-
-from openpilot.common.ffi_wrapper import suffix
-from openpilot.common.basedir import BASEDIR
-
-HEIGHT = WIDTH = SIZE = 256
-METERS_PER_PIXEL = 2
-
-
-def get_ffi():
-  lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmaprender" + suffix())
-
-  ffi = FFI()
-  ffi.cdef("""
-void* map_renderer_init(char *maps_host, char *token);
-void map_renderer_update_position(void *inst, float lat, float lon, float bearing);
-void map_renderer_update_route(void *inst, char *polyline);
-void map_renderer_update(void *inst);
-void map_renderer_process(void *inst);
-bool map_renderer_loaded(void *inst);
-uint8_t* map_renderer_get_image(void *inst);
-void map_renderer_free_image(void *inst, uint8_t *buf);
-""")
-  return ffi, ffi.dlopen(lib)
-
-
-def wait_ready(lib, renderer, timeout=None):
-  st = time.time()
-  while not lib.map_renderer_loaded(renderer):
-    lib.map_renderer_update(renderer)
-
-    # The main qt app is not execed, so we need to periodically process events for e.g. network requests
-    lib.map_renderer_process(renderer)
-
-    time.sleep(0.01)
-
-    if timeout is not None and time.time() - st > timeout:
-      raise TimeoutError("Timeout waiting for map renderer to be ready")
-
-
-def get_image(lib, renderer):
-  buf = lib.map_renderer_get_image(renderer)
-  r = list(buf[0:WIDTH * HEIGHT])
-  lib.map_renderer_free_image(renderer, buf)
-
-  # Convert to numpy
-  r = np.asarray(r)
-  return r.reshape((WIDTH, HEIGHT))
-
-
-def navRoute_to_polyline(nr):
-  coords = [(m.latitude, m.longitude) for m in nr.navRoute.coordinates]
-  return coords_to_polyline(coords)
-
-
-def coords_to_polyline(coords):
-  # TODO: where does this factor of 10 come from?
-  return polyline.encode([(lat * 10., lon * 10.) for lat, lon in coords])
-
-
-def polyline_to_coords(p):
-  coords = polyline.decode(p)
-  return [(lat / 10., lon / 10.) for lat, lon in coords]
-
-
-
-if __name__ == "__main__":
-  import matplotlib.pyplot as plt
-
-  ffi, lib = get_ffi()
-  renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
-  wait_ready(lib, renderer)
-
-  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # noqa: E501
-  lib.map_renderer_update_route(renderer, geometry.encode())
-
-  POSITIONS = [
-    (32.71569271952601, -117.16384270868463, 0), (32.71569271952601, -117.16384270868463, 45),  # San Diego
-    (52.378641991483136, 4.902623379456488, 0), (52.378641991483136, 4.902623379456488, 45),  # Amsterdam
-  ]
-  plt.figure()
-
-  for i, pos in enumerate(POSITIONS):
-    t = time.time()
-    lib.map_renderer_update_position(renderer, *pos)
-    wait_ready(lib, renderer)
-
-    print(f"{pos} took {time.time() - t:.2f} s")
-
-    plt.subplot(2, 2, i + 1)
-    plt.imshow(get_image(lib, renderer), cmap='gray')
-
-  plt.show()
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
deleted file mode 100755
index 8cfc495f272a40..00000000000000
--- a/selfdrive/navd/navd.py
+++ /dev/null
@@ -1,368 +0,0 @@
-#!/usr/bin/env python3
-import json
-import math
-import os
-import threading
-
-import requests
-
-import cereal.messaging as messaging
-from cereal import log
-from openpilot.common.api import Api
-from openpilot.common.params import Params
-from openpilot.common.realtime import Ratekeeper
-from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
-                                    distance_along_geometry, maxspeed_to_ms,
-                                    minimum_distance,
-                                    parse_banner_instructions)
-from openpilot.common.swaglog import cloudlog
-
-REROUTE_DISTANCE = 25
-MANEUVER_TRANSITION_THRESHOLD = 10
-REROUTE_COUNTER_MIN = 3
-
-
-class RouteEngine:
-  def __init__(self, sm, pm):
-    self.sm = sm
-    self.pm = pm
-
-    self.params = Params()
-
-    # Get last gps position from params
-    self.last_position = coordinate_from_param("LastGPSPosition", self.params)
-    self.last_bearing = None
-
-    self.gps_ok = False
-    self.localizer_valid = False
-
-    self.nav_destination = None
-    self.step_idx = None
-    self.route = None
-    self.route_geometry = None
-
-    self.recompute_backoff = 0
-    self.recompute_countdown = 0
-
-    self.ui_pid = None
-
-    self.reroute_counter = 0
-
-
-    self.api = None
-    self.mapbox_token = None
-    if "MAPBOX_TOKEN" in os.environ:
-      self.mapbox_token = os.environ["MAPBOX_TOKEN"]
-      self.mapbox_host = "https://api.mapbox.com"
-    else:
-      self.api = Api(self.params.get("DongleId", encoding='utf8'))
-      self.mapbox_host = "https://maps.comma.ai"
-
-  def update(self):
-    self.sm.update(0)
-
-    if self.sm.updated["managerState"]:
-      ui_pid = [p.pid for p in self.sm["managerState"].processes if p.name == "ui" and p.running]
-      if ui_pid:
-        if self.ui_pid and self.ui_pid != ui_pid[0]:
-          cloudlog.warning("UI restarting, sending route")
-          threading.Timer(5.0, self.send_route).start()
-        self.ui_pid = ui_pid[0]
-
-    self.update_location()
-    try:
-      self.recompute_route()
-      self.send_instruction()
-    except Exception:
-      cloudlog.exception("navd.failed_to_compute")
-
-  def update_location(self):
-    location = self.sm['liveLocationKalman']
-    self.gps_ok = location.gpsOK
-
-    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
-
-    if self.localizer_valid:
-      self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
-      self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
-
-  def recompute_route(self):
-    if self.last_position is None:
-      return
-
-    new_destination = coordinate_from_param("NavDestination", self.params)
-    if new_destination is None:
-      self.clear_route()
-      self.reset_recompute_limits()
-      return
-
-    should_recompute = self.should_recompute()
-    if new_destination != self.nav_destination:
-      cloudlog.warning(f"Got new destination from NavDestination param {new_destination}")
-      should_recompute = True
-
-    # Don't recompute when GPS drifts in tunnels
-    if not self.gps_ok and self.step_idx is not None:
-      return
-
-    if self.recompute_countdown == 0 and should_recompute:
-      self.recompute_countdown = 2**self.recompute_backoff
-      self.recompute_backoff = min(6, self.recompute_backoff + 1)
-      self.calculate_route(new_destination)
-      self.reroute_counter = 0
-    else:
-      self.recompute_countdown = max(0, self.recompute_countdown - 1)
-
-  def calculate_route(self, destination):
-    cloudlog.warning(f"Calculating route {self.last_position} -> {destination}")
-    self.nav_destination = destination
-
-    lang = self.params.get('LanguageSetting', encoding='utf8')
-    if lang is not None:
-      lang = lang.replace('main_', '')
-
-    token = self.mapbox_token
-    if token is None:
-      token = self.api.get_token()
-
-    params = {
-      'access_token': token,
-      'annotations': 'maxspeed',
-      'geometries': 'geojson',
-      'overview': 'full',
-      'steps': 'true',
-      'banner_instructions': 'true',
-      'alternatives': 'false',
-      'language': lang,
-    }
-
-    # TODO: move waypoints into NavDestination param?
-    waypoints = self.params.get('NavDestinationWaypoints', encoding='utf8')
-    waypoint_coords = []
-    if waypoints is not None and len(waypoints) > 0:
-      waypoint_coords = json.loads(waypoints)
-
-    coords = [
-      (self.last_position.longitude, self.last_position.latitude),
-      *waypoint_coords,
-      (destination.longitude, destination.latitude)
-    ]
-    params['waypoints'] = f'0;{len(coords)-1}'
-    if self.last_bearing is not None:
-      params['bearings'] = f"{(self.last_bearing + 360) % 360:.0f},90" + (';'*(len(coords)-1))
-
-    coords_str = ';'.join([f'{lon},{lat}' for lon, lat in coords])
-    url = self.mapbox_host + '/directions/v5/mapbox/driving-traffic/' + coords_str
-    try:
-      resp = requests.get(url, params=params, timeout=10)
-      if resp.status_code != 200:
-        cloudlog.event("API request failed", status_code=resp.status_code, text=resp.text, error=True)
-      resp.raise_for_status()
-
-      r = resp.json()
-      if len(r['routes']):
-        self.route = r['routes'][0]['legs'][0]['steps']
-        self.route_geometry = []
-
-        maxspeed_idx = 0
-        maxspeeds = r['routes'][0]['legs'][0]['annotation']['maxspeed']
-
-        # Convert coordinates
-        for step in self.route:
-          coords = []
-
-          for c in step['geometry']['coordinates']:
-            coord = Coordinate.from_mapbox_tuple(c)
-
-            # Last step does not have maxspeed
-            if (maxspeed_idx < len(maxspeeds)):
-              maxspeed = maxspeeds[maxspeed_idx]
-              if ('unknown' not in maxspeed) and ('none' not in maxspeed):
-                coord.annotations['maxspeed'] = maxspeed_to_ms(maxspeed)
-
-            coords.append(coord)
-            maxspeed_idx += 1
-
-          self.route_geometry.append(coords)
-          maxspeed_idx -= 1  # Every segment ends with the same coordinate as the start of the next
-
-        self.step_idx = 0
-      else:
-        cloudlog.warning("Got empty route response")
-        self.clear_route()
-
-      # clear waypoints to avoid a re-route including past waypoints
-      # TODO: only clear once we're past a waypoint
-      self.params.remove('NavDestinationWaypoints')
-
-    except requests.exceptions.RequestException:
-      cloudlog.exception("failed to get route")
-      self.clear_route()
-
-    self.send_route()
-
-  def send_instruction(self):
-    msg = messaging.new_message('navInstruction', valid=True)
-
-    if self.step_idx is None:
-      msg.valid = False
-      self.pm.send('navInstruction', msg)
-      return
-
-    step = self.route[self.step_idx]
-    geometry = self.route_geometry[self.step_idx]
-    along_geometry = distance_along_geometry(geometry, self.last_position)
-    distance_to_maneuver_along_geometry = step['distance'] - along_geometry
-
-    # Banner instructions are for the following maneuver step, don't use empty last step
-    banner_step = step
-    if not len(banner_step['bannerInstructions']) and self.step_idx == len(self.route) - 1:
-      banner_step = self.route[max(self.step_idx - 1, 0)]
-
-    # Current instruction
-    msg.navInstruction.maneuverDistance = distance_to_maneuver_along_geometry
-    instruction = parse_banner_instructions(banner_step['bannerInstructions'], distance_to_maneuver_along_geometry)
-    if instruction is not None:
-      for k,v in instruction.items():
-        setattr(msg.navInstruction, k, v)
-
-    # All instructions
-    maneuvers = []
-    for i, step_i in enumerate(self.route):
-      if i < self.step_idx:
-        distance_to_maneuver = -sum(self.route[j]['distance'] for j in range(i+1, self.step_idx)) - along_geometry
-      elif i == self.step_idx:
-        distance_to_maneuver = distance_to_maneuver_along_geometry
-      else:
-        distance_to_maneuver = distance_to_maneuver_along_geometry + sum(self.route[j]['distance'] for j in range(self.step_idx+1, i+1))
-
-      instruction = parse_banner_instructions(step_i['bannerInstructions'], distance_to_maneuver)
-      if instruction is None:
-        continue
-      maneuver = {'distance': distance_to_maneuver}
-      if 'maneuverType' in instruction:
-        maneuver['type'] = instruction['maneuverType']
-      if 'maneuverModifier' in instruction:
-        maneuver['modifier'] = instruction['maneuverModifier']
-      maneuvers.append(maneuver)
-
-    msg.navInstruction.allManeuvers = maneuvers
-
-    # Compute total remaining time and distance
-    remaining = 1.0 - along_geometry / max(step['distance'], 1)
-    total_distance = step['distance'] * remaining
-    total_time = step['duration'] * remaining
-
-    if step['duration_typical'] is None:
-      total_time_typical = total_time
-    else:
-      total_time_typical = step['duration_typical'] * remaining
-
-    # Add up totals for future steps
-    for i in range(self.step_idx + 1, len(self.route)):
-      total_distance += self.route[i]['distance']
-      total_time += self.route[i]['duration']
-      if self.route[i]['duration_typical'] is None:
-        total_time_typical += self.route[i]['duration']
-      else:
-        total_time_typical += self.route[i]['duration_typical']
-
-    msg.navInstruction.distanceRemaining = total_distance
-    msg.navInstruction.timeRemaining = total_time
-    msg.navInstruction.timeRemainingTypical = total_time_typical
-
-    # Speed limit
-    closest_idx, closest = min(enumerate(geometry), key=lambda p: p[1].distance_to(self.last_position))
-    if closest_idx > 0:
-      # If we are not past the closest point, show previous
-      if along_geometry < distance_along_geometry(geometry, geometry[closest_idx]):
-        closest = geometry[closest_idx - 1]
-
-    if ('maxspeed' in closest.annotations) and self.localizer_valid:
-      msg.navInstruction.speedLimit = closest.annotations['maxspeed']
-
-    # Speed limit sign type
-    if 'speedLimitSign' in step:
-      if step['speedLimitSign'] == 'mutcd':
-        msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.mutcd
-      elif step['speedLimitSign'] == 'vienna':
-        msg.navInstruction.speedLimitSign = log.NavInstruction.SpeedLimitSign.vienna
-
-    self.pm.send('navInstruction', msg)
-
-    # Transition to next route segment
-    if distance_to_maneuver_along_geometry < -MANEUVER_TRANSITION_THRESHOLD:
-      if self.step_idx + 1 < len(self.route):
-        self.step_idx += 1
-        self.reset_recompute_limits()
-      else:
-        cloudlog.warning("Destination reached")
-
-        # Clear route if driving away from destination
-        dist = self.nav_destination.distance_to(self.last_position)
-        if dist > REROUTE_DISTANCE:
-          self.params.remove("NavDestination")
-          self.clear_route()
-
-  def send_route(self):
-    coords = []
-
-    if self.route is not None:
-      for path in self.route_geometry:
-        coords += [c.as_dict() for c in path]
-
-    msg = messaging.new_message('navRoute', valid=True)
-    msg.navRoute.coordinates = coords
-    self.pm.send('navRoute', msg)
-
-  def clear_route(self):
-    self.route = None
-    self.route_geometry = None
-    self.step_idx = None
-    self.nav_destination = None
-
-  def reset_recompute_limits(self):
-    self.recompute_backoff = 0
-    self.recompute_countdown = 0
-
-  def should_recompute(self):
-    if self.step_idx is None or self.route is None:
-      return True
-
-    # Don't recompute in last segment, assume destination is reached
-    if self.step_idx == len(self.route) - 1:
-      return False
-
-    # Compute closest distance to all line segments in the current path
-    min_d = REROUTE_DISTANCE + 1
-    path = self.route_geometry[self.step_idx]
-    for i in range(len(path) - 1):
-      a = path[i]
-      b = path[i + 1]
-
-      if a.distance_to(b) < 1.0:
-        continue
-
-      min_d = min(min_d, minimum_distance(a, b, self.last_position))
-
-    if min_d > REROUTE_DISTANCE:
-      self.reroute_counter += 1
-    else:
-      self.reroute_counter = 0
-    return self.reroute_counter > REROUTE_COUNTER_MIN
-    # TODO: Check for going wrong way in segment
-
-
-def main():
-  pm = messaging.PubMaster(['navInstruction', 'navRoute'])
-  sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
-
-  rk = Ratekeeper(1.0)
-  route_engine = RouteEngine(sm, pm)
-  while True:
-    route_engine.update()
-    rk.keep_time()
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/navd/set_destination.py b/selfdrive/navd/set_destination.py
deleted file mode 100755
index 811aa576d1ef89..00000000000000
--- a/selfdrive/navd/set_destination.py
+++ /dev/null
@@ -1,33 +0,0 @@
-#!/usr/bin/env python3
-import json
-import sys
-
-from openpilot.common.params import Params
-
-if __name__ == "__main__":
-  params = Params()
-
-  # set from google maps url
-  if len(sys.argv) > 1:
-    coords = sys.argv[1].split("/@")[-1].split("/")[0].split(",")
-    dest = {
-      "latitude": float(coords[0]),
-      "longitude": float(coords[1])
-    }
-    params.put("NavDestination", json.dumps(dest))
-    params.remove("NavDestinationWaypoints")
-  else:
-    print("Setting to Taco Bell")
-    dest = {
-      "latitude": 32.71160109904473,
-      "longitude": -117.12556569985693,
-    }
-    params.put("NavDestination", json.dumps(dest))
-
-    waypoints = [
-      (-117.16020713111648, 32.71997612490662),
-    ]
-    params.put("NavDestinationWaypoints", json.dumps(waypoints))
-
-    print(dest)
-    print(waypoints)
diff --git a/selfdrive/navd/style.json b/selfdrive/navd/style.json
deleted file mode 100644
index 06bb750d1ffdc6..00000000000000
--- a/selfdrive/navd/style.json
+++ /dev/null
@@ -1 +0,0 @@
-{"version": 8, "name": "Navigation Model", "metadata": {"mapbox:type": "default", "mapbox:origin": "monochrome-dark-v1", "mapbox:sdk-support": {"android": "10.0.0", "ios": "10.0.0", "js": "2.3.0"}, "mapbox:autocomposite": true, "mapbox:groups": {"Transit, transit-labels": {"name": "Transit, transit-labels", "collapsed": true}, "Administrative boundaries, admin": {"name": "Administrative boundaries, admin", "collapsed": true}, "Transit, bridges": {"name": "Transit, bridges", "collapsed": true}, "Transit, surface": {"name": "Transit, surface", "collapsed": true}, "Road network, bridges": {"name": "Road network, bridges", "collapsed": false}, "Land, water, & sky, water": {"name": "Land, water, & sky, water", "collapsed": true}, "Road network, tunnels": {"name": "Road network, tunnels", "collapsed": false}, "Road network, road-labels": {"name": "Road network, road-labels", "collapsed": true}, "Buildings, built": {"name": "Buildings, built", "collapsed": true}, "Natural features, natural-labels": {"name": "Natural features, natural-labels", "collapsed": true}, "Road network, surface": {"name": "Road network, surface", "collapsed": false}, "Land, water, & sky, built": {"name": "Land, water, & sky, built", "collapsed": true}, "Place labels, place-labels": {"name": "Place labels, place-labels", "collapsed": true}, "Point of interest labels, poi-labels": {"name": "Point of interest labels, poi-labels", "collapsed": true}, "Road network, tunnels-case": {"name": "Road network, tunnels-case", "collapsed": true}, "Transit, built": {"name": "Transit, built", "collapsed": true}, "Road network, surface-icons": {"name": "Road network, surface-icons", "collapsed": false}, "Land, water, & sky, land": {"name": "Land, water, & sky, land", "collapsed": true}}}, "center": [-117.19189443261149, 32.756553679559985], "zoom": 12.932776547838778, "bearing": 0, "pitch": 0.5017568344510897, "sources": {"composite": {"url": "mapbox://mapbox.mapbox-streets-v8", "type": "vector", "maxzoom": 13}}, "sprite": "mapbox://sprites/commaai/ckvmksrpd4n0a14pfdo5heqzr/bkx9h9tjdf3xedbnjvfo5xnbv", "glyphs": "mapbox://fonts/mapbox/{fontstack}/{range}.pbf", "layers": [{"id": "land", "type": "background", "layout": {"visibility": "none"}, "paint": {"background-color": "rgb(252, 252, 252)"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}}, {"minzoom": 5, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}, "filter": ["==", ["get", "class"], "national_park"], "type": "fill", "source": "composite", "id": "national-park", "paint": {"fill-color": "rgb(240, 240, 240)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 5, 0, 6, 0.5, 10, 0.5]}, "source-layer": "landuse_overlay"}, {"minzoom": 5, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, land"}, "filter": ["match", ["get", "class"], ["park", "airport", "glacier", "pitch", "sand", "facility"], true, false], "type": "fill", "source": "composite", "id": "landuse", "paint": {"fill-color": "rgb(240, 240, 240)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 5, 0, 6, ["match", ["get", "class"], "glacier", 0.5, 1]]}, "source-layer": "landuse"}, {"id": "waterway-shadow", "type": "line", "source": "composite", "source-layer": "waterway", "minzoom": 8, "layout": {"line-cap": ["step", ["zoom"], "butt", 11, "round"], "line-join": "round", "visibility": "none"}, "paint": {"line-color": "rgb(204, 204, 204)", "line-width": ["interpolate", ["exponential", 1.3], ["zoom"], 9, ["match", ["get", "class"], ["canal", "river"], 0.1, 0], 20, ["match", ["get", "class"], ["canal", "river"], 8, 3]], "line-translate": ["interpolate", ["exponential", 1.2], ["zoom"], 7, ["literal", [0, 0]], 16, ["literal", [-1, -1]]], "line-translate-anchor": "viewport", "line-opacity": ["interpolate", ["linear"], ["zoom"], 8, 0, 8.5, 1]}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "water-shadow", "type": "fill", "source": "composite", "source-layer": "water", "layout": {"visibility": "none"}, "paint": {"fill-color": "rgb(204, 204, 204)", "fill-translate": ["interpolate", ["exponential", 1.2], ["zoom"], 7, ["literal", [0, 0]], 16, ["literal", [-1, -1]]], "fill-translate-anchor": "viewport"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "waterway", "type": "line", "source": "composite", "source-layer": "waterway", "minzoom": 8, "layout": {"line-cap": ["step", ["zoom"], "butt", 11, "round"], "line-join": "round", "visibility": "none"}, "paint": {"line-color": "rgb(224, 224, 224)", "line-width": ["interpolate", ["exponential", 1.3], ["zoom"], 9, ["match", ["get", "class"], ["canal", "river"], 0.1, 0], 20, ["match", ["get", "class"], ["canal", "river"], 8, 3]], "line-opacity": ["interpolate", ["linear"], ["zoom"], 8, 0, 8.5, 1]}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"id": "water", "type": "fill", "source": "composite", "source-layer": "water", "layout": {"visibility": "none"}, "paint": {"fill-color": "rgb(224, 224, 224)"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, water"}}, {"minzoom": 13, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, built"}, "filter": ["all", ["==", ["geometry-type"], "Polygon"], ["==", ["get", "class"], "land"]], "type": "fill", "source": "composite", "id": "land-structure-polygon", "paint": {"fill-color": "rgb(252, 252, 252)"}, "source-layer": "structure"}, {"minzoom": 13, "layout": {"line-cap": "round", "visibility": "none"}, "metadata": {"mapbox:featureComponent": "land-and-water", "mapbox:group": "Land, water, & sky, built"}, "filter": ["all", ["==", ["geometry-type"], "LineString"], ["==", ["get", "class"], "land"]], "type": "line", "source": "composite", "id": "land-structure-line", "paint": {"line-width": ["interpolate", ["exponential", 1.99], ["zoom"], 14, 0.75, 20, 40], "line-color": "rgb(252, 252, 252)"}, "source-layer": "structure"}, {"minzoom": 11, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "transit", "mapbox:group": "Transit, built"}, "filter": ["all", ["==", ["geometry-type"], "Polygon"], ["match", ["get", "type"], ["runway", "taxiway", "helipad"], true, false]], "type": "fill", "source": "composite", "id": "aeroway-polygon", "paint": {"fill-color": "rgb(255, 255, 255)", "fill-opacity": ["interpolate", ["linear"], ["zoom"], 11, 0, 11.5, 1]}, "source-layer": "aeroway"}, {"minzoom": 9, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "transit", "mapbox:group": "Transit, built"}, "filter": ["==", ["geometry-type"], "LineString"], "type": "line", "source": "composite", "id": "aeroway-line", "paint": {"line-color": "rgb(255, 255, 255)", "line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 9, ["match", ["get", "type"], "runway", 1, 0.5], 18, ["match", ["get", "type"], "runway", 80, 20]]}, "source-layer": "aeroway"}, {"minzoom": 13, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "buildings", "mapbox:group": "Buildings, built"}, "filter": ["all", ["!=", ["get", "type"], "building:part"], ["==", ["get", "underground"], "false"]], "type": "line", "source": "composite", "id": "building-outline", "paint": {"line-color": "rgb(227, 227, 227)", "line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 15, 0.75, 20, 3], "line-opacity": ["interpolate", ["linear"], ["zoom"], 15, 0, 16, 1]}, "source-layer": "building"}, {"minzoom": 13, "layout": {"visibility": "none"}, "metadata": {"mapbox:featureComponent": "buildings", "mapbox:group": "Buildings, built"}, "filter": ["all", ["!=", ["get", "type"], "building:part"], ["==", ["get", "underground"], "false"]], "type": "fill", "source": "composite", "id": "building", "paint": {"fill-color": ["interpolate", ["linear"], ["zoom"], 15, "rgb(242, 242, 242)", 16, "rgb(242, 242, 242)"], "fill-opacity": ["interpolate", ["linear"], ["zoom"], 15, 0, 16, 1], "fill-outline-color": "rgb(227, 227, 227)"}, "source-layer": "building"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["step", ["zoom"], ["match", ["get", "class"], ["street", "street_limited", "primary_link", "track"], true, false], 1, ["match", ["get", "class"], ["street", "street_limited", "track", "primary_link", "secondary_link", "tertiary_link", "service"], true, false]], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-street-minor-low", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 2, "track", 1, 0.5], 18, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 18, 12]], "line-color": "rgb(235, 235, 235)", "line-opacity": ["step", ["zoom"], 1, 14, 0]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["step", ["zoom"], ["match", ["get", "class"], ["street", "street_limited", "primary_link", "track"], true, false], 1, ["match", ["get", "class"], ["street", "street_limited", "track", "primary_link", "secondary_link", "tertiary_link", "service"], true, false]], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-street-minor-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.75, 20, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 2, "track", 1, 0.5], 18, ["match", ["get", "class"], ["street", "street_limited", "primary_link"], 18, 12]], "line-opacity": ["step", ["zoom"], 0, 14, 1], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["primary", "secondary", "tertiary"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-primary-secondary-tertiary-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 10, ["match", ["get", "class"], "primary", 1, 0.75], 18, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 5, ["match", ["get", "class"], "primary", 0.75, 0.1], 18, ["match", ["get", "class"], "primary", 32, 26]], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", ["get", "structure"], "tunnel"], ["match", ["get", "class"], ["motorway_link", "trunk_link"], true, false], ["==", ["geometry-type"], "LineString"]], "type": "line", "source": "composite", "id": "tunnel-major-link-case", "paint": {"line-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.75, 20, 2], "line-color": "rgb(255, 255, 255)", "line-gap-width": ["interpolate", ["exponential", 1.5], ["zoom"], 12, 0.5, 14, 2, 18, 18], "line-dasharray": [3, 3]}, "source-layer": "road"}, {"minzoom": 13, "layout": {}, "metadata": {"mapbox:featureComponent": "road-network", "mapbox:group": "Road network, tunnels-case"}, "filter": ["all", ["==", 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["step", ["zoom"], ["match", ["get", "capital"], 2, 0.6, 0.55], 8, 0], "icon-image": ["step", ["zoom"], ["case", ["==", ["get", "capital"], 2], "border-dot-13", ["step", ["get", "symbolrank"], "dot-11", 9, "dot-10", 11, "dot-9"]], 8, ""], "text-font": ["DIN Pro Medium", "Arial Unicode MS Regular"], "text-justify": ["step", ["zoom"], ["match", ["get", "text_anchor"], ["left", "bottom-left", "top-left"], "left", ["right", "bottom-right", "top-right"], "right", "center"], 8, "center"], "visibility": "none", "text-anchor": ["step", ["zoom"], ["get", "text_anchor"], 8, "center"], "text-field": ["coalesce", ["get", "name_en"], ["get", "name"]], "text-max-width": 7}, "metadata": {"mapbox:featureComponent": "place-labels", "mapbox:group": "Place labels, place-labels"}, "maxzoom": 15, "filter": ["all", ["<=", ["get", "filterrank"], 3], ["match", ["get", "class"], "settlement", ["match", ["get", "worldview"], ["all", "US"], true, false], "disputed_settlement", ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], ["step", ["zoom"], false, 1, ["<=", ["get", "symbolrank"], 6], 2, ["<", ["get", "symbolrank"], 7], 3, ["<", ["get", "symbolrank"], 8], 4, ["<", ["get", "symbolrank"], 10], 5, ["<", ["get", "symbolrank"], 11], 6, ["<", ["get", "symbolrank"], 13], 7, ["<", ["get", "symbolrank"], 15], 8, [">=", ["get", "symbolrank"], 11], 9, [">=", ["get", "symbolrank"], 15]]], "type": "symbol", "source": "composite", "id": "settlement-major-label", "paint": {"text-color": ["step", ["get", "symbolrank"], "rgb(128, 128, 128)", 11, "rgb(161, 161, 161)", 16, "rgb(184, 184, 184)"], "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1, "text-halo-blur": 1}, "source-layer": "place_label"}, {"minzoom": 3, "layout": {"text-size": ["interpolate", ["cubic-bezier", 0.85, 0.7, 0.65, 1], ["zoom"], 4, ["step", ["get", "symbolrank"], 10, 6, 9.5, 7, 9], 9, ["step", ["get", "symbolrank"], 21, 6, 16, 7, 13]], "text-transform": "uppercase", "text-font": ["DIN Pro Bold", "Arial Unicode MS Bold"], "text-field": ["step", ["zoom"], ["step", ["get", "symbolrank"], ["coalesce", ["get", "name_en"], ["get", "name"]], 5, ["coalesce", ["get", "abbr"], ["get", "name_en"], ["get", "name"]]], 5, ["coalesce", ["get", "name_en"], ["get", "name"]]], "text-letter-spacing": 0.15, "text-max-width": 6, "visibility": "none"}, "metadata": {"mapbox:featureComponent": "place-labels", "mapbox:group": "Place labels, place-labels"}, "maxzoom": 9, "filter": ["match", ["get", "class"], "state", ["match", ["get", "worldview"], ["all", "US"], true, false], "disputed_state", ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], "type": "symbol", "source": "composite", "id": "state-label", "paint": {"text-color": "rgb(184, 184, 184)", "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1}, "source-layer": "place_label"}, {"minzoom": 1, "layout": {"text-line-height": 1.1, "text-size": ["interpolate", ["cubic-bezier", 0.2, 0, 0.7, 1], ["zoom"], 1, ["step", ["get", "symbolrank"], 11, 4, 9, 5, 8], 9, ["step", ["get", "symbolrank"], 22, 4, 19, 5, 17]], "text-radial-offset": ["step", ["zoom"], 0.6, 8, 0], "icon-image": "", "text-font": ["DIN Pro Medium", "Arial Unicode MS Regular"], "text-justify": ["step", ["zoom"], ["match", ["get", "text_anchor"], ["left", "bottom-left", "top-left"], "left", ["right", "bottom-right", "top-right"], "right", "center"], 7, "auto"], "visibility": "none", "text-field": ["coalesce", ["get", "name_en"], ["get", "name"]], "text-max-width": 6}, "metadata": {"mapbox:featureComponent": "place-labels", "mapbox:group": "Place labels, place-labels"}, "maxzoom": 10, "filter": ["match", ["get", "class"], "country", ["match", ["get", "worldview"], ["all", "US"], true, false], "disputed_country", ["all", ["==", ["get", "disputed"], "true"], ["match", ["get", "worldview"], ["all", "US"], true, false]], false], "type": "symbol", "source": "composite", "id": "country-label", "paint": {"icon-opacity": ["step", ["zoom"], ["case", ["has", "text_anchor"], 1, 0], 7, 0], "text-color": "rgb(128, 128, 128)", "text-halo-color": "rgb(255, 255, 255)", "text-halo-width": 1.25}, "source-layer": "place_label"}], "created": "2021-11-05T16:12:04.822Z", "modified": "2021-11-25T13:58:04.167Z", "id": "ckvmksrpd4n0a14pfdo5heqzr", "owner": "commaai", "visibility": "private", "protected": false, "draft": false}
\ No newline at end of file
diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py
deleted file mode 100644
index 04363883b2c0f4..00000000000000
--- a/selfdrive/navd/tests/test_map_renderer.py
+++ /dev/null
@@ -1,212 +0,0 @@
-import time
-import numpy as np
-import os
-import pytest
-import requests
-import threading
-import http.server
-import cereal.messaging as messaging
-
-from typing import Any
-from msgq.visionipc import VisionIpcClient, VisionStreamType
-from openpilot.common.mock.generators import LLK_DECIMATION, LOCATION1, LOCATION2, generate_liveLocationKalman
-from openpilot.selfdrive.test.helpers import with_processes
-
-CACHE_PATH = "/data/mbgl-cache-navd.db"
-
-RENDER_FRAMES = 15
-DEFAULT_ITERATIONS = RENDER_FRAMES * LLK_DECIMATION
-LOCATION1_REPEATED = [LOCATION1] * DEFAULT_ITERATIONS
-LOCATION2_REPEATED = [LOCATION2] * DEFAULT_ITERATIONS
-
-
-class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
-  INTERNET_ACTIVE = True
-
-  def do_GET(self):
-    if not self.INTERNET_ACTIVE:
-      self.send_response(500)
-      self.end_headers()
-      return
-
-    url = f'https://api.mapbox.com{self.path}'
-
-    headers = dict(self.headers)
-    headers["Host"] = "api.mapbox.com"
-
-    r = requests.get(url, headers=headers, timeout=5)
-
-    self.send_response(r.status_code)
-    self.end_headers()
-    self.wfile.write(r.content)
-
-  def log_message(self, *args: Any) -> None:
-    return
-
-  def log_error(self, *args: Any) -> None:
-    return
-
-
-class MapBoxInternetDisabledServer(threading.Thread):
-  def run(self):
-    self.server = http.server.HTTPServer(("127.0.0.1", 0), MapBoxInternetDisabledRequestHandler)
-    self.port = self.server.server_port
-    self.server.serve_forever()
-
-  def stop(self):
-    self.server.shutdown()
-
-  def disable_internet(self):
-    MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False
-
-  def enable_internet(self):
-    MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True
-
-
-@pytest.mark.skip(reason="not used")
-class TestMapRenderer:
-  server: MapBoxInternetDisabledServer
-
-  @classmethod
-  def setup_class(cls):
-    assert "MAPBOX_TOKEN" in os.environ
-    cls.original_token = os.environ["MAPBOX_TOKEN"]
-    cls.server = MapBoxInternetDisabledServer()
-    cls.server.start()
-    time.sleep(0.5) # wait for server to startup
-
-  @classmethod
-  def teardown_class(cls) -> None:
-    cls.server.stop()
-
-  def setup_method(self):
-    self.server.enable_internet()
-    os.environ['MAPS_HOST'] = f'http://localhost:{self.server.port}'
-
-    self.sm = messaging.SubMaster(['mapRenderState'])
-    self.pm = messaging.PubMaster(['liveLocationKalman'])
-    self.vipc = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True)
-
-    if os.path.exists(CACHE_PATH):
-      os.remove(CACHE_PATH)
-
-  def _setup_test(self):
-    assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
-
-    time.sleep(0.5)
-
-    assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
-    assert self.vipc.connect(False)
-    self.vipc.recv()
-
-  def _run_test(self, expect_valid, locations=LOCATION1_REPEATED):
-    starting_frame_id = None
-
-    render_times = []
-
-    # run test
-    prev_frame_id = -1
-    for i, location in enumerate(locations):
-      frame_expected = (i+1) % LLK_DECIMATION == 0
-
-      if self.sm.logMonoTime['mapRenderState'] == 0:
-        prev_valid = False
-        prev_frame_id = -1
-      else:
-        prev_valid = self.sm.valid['mapRenderState']
-        prev_frame_id = self.sm['mapRenderState'].frameId
-
-      if starting_frame_id is None:
-        starting_frame_id = prev_frame_id
-
-      llk = generate_liveLocationKalman(location)
-      self.pm.send("liveLocationKalman", llk)
-      self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
-      self.sm.update(1000 if frame_expected else 0)
-      assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency"
-
-      if not frame_expected:
-        continue
-
-      frames_since_test_start = self.sm['mapRenderState'].frameId - starting_frame_id
-
-      # give a few frames to switch from valid to invalid, or vice versa
-      invalid_and_not_previously_valid = (expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid)
-      valid_and_not_previously_invalid = (not expect_valid and self.sm.valid['mapRenderState'] and prev_valid)
-
-      if (invalid_and_not_previously_valid or valid_and_not_previously_invalid) and frames_since_test_start < 20:
-        continue
-
-      # check output
-      assert self.sm.valid['mapRenderState'] == expect_valid
-      assert self.sm['mapRenderState'].frameId == (prev_frame_id + 1)
-      assert self.sm['mapRenderState'].locationMonoTime == llk.logMonoTime
-      if not expect_valid:
-        assert self.sm['mapRenderState'].renderTime == 0.
-      else:
-        assert 0. < self.sm['mapRenderState'].renderTime < 0.1
-        render_times.append(self.sm['mapRenderState'].renderTime)
-
-      # check vision ipc output
-      assert self.vipc.recv() is not None
-      assert self.vipc.valid == expect_valid
-      assert self.vipc.timestamp_sof == llk.logMonoTime
-      assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
-
-    assert frames_since_test_start >= RENDER_FRAMES
-
-    return render_times
-
-  @with_processes(["mapsd"])
-  def test_with_internet(self):
-    self._setup_test()
-    self._run_test(True)
-
-  @with_processes(["mapsd"])
-  def test_with_no_internet(self):
-    self.server.disable_internet()
-    self._setup_test()
-    self._run_test(False)
-
-  @with_processes(["mapsd"])
-  @pytest.mark.skip(reason="slow, flaky, and unlikely to break")
-  def test_recover_from_no_internet(self):
-    self._setup_test()
-    self._run_test(True)
-
-    self.server.disable_internet()
-
-    # change locations to force mapsd to refetch
-    self._run_test(False, LOCATION2_REPEATED)
-
-    self.server.enable_internet()
-    self._run_test(True, LOCATION2_REPEATED)
-
-  @with_processes(["mapsd"])
-  @pytest.mark.tici
-  def test_render_time_distribution(self):
-    self._setup_test()
-    # from location1 -> location2 and back
-    locations = np.array([*np.linspace(LOCATION1, LOCATION2, 2000), *np.linspace(LOCATION2, LOCATION1, 2000)]).tolist()
-
-    render_times = self._run_test(True, locations)
-
-    _min = np.min(render_times)
-    _max = np.max(render_times)
-    _mean = np.mean(render_times)
-    _median = np.median(render_times)
-    _stddev = np.std(render_times)
-
-    print(f"Stats: min: {_min}, max: {_max}, mean: {_mean}, median: {_median}, stddev: {_stddev}, count: {len(render_times)}")
-
-    def assert_stat(stat, nominal, tol=0.3):
-      tol = (nominal / (1+tol)), (nominal * (1+tol))
-      assert tol[0] < stat < tol[1], f"{stat} not in tolerance {tol}"
-
-    assert_stat(_mean,   0.030)
-    assert_stat(_median, 0.027)
-    assert_stat(_stddev, 0.0078)
-
-    assert _max < 0.065
-    assert _min > 0.015
-
diff --git a/selfdrive/navd/tests/test_navd.py b/selfdrive/navd/tests/test_navd.py
deleted file mode 100644
index b6580acff18a7a..00000000000000
--- a/selfdrive/navd/tests/test_navd.py
+++ /dev/null
@@ -1,57 +0,0 @@
-import json
-import random
-import numpy as np
-
-from parameterized import parameterized
-
-import cereal.messaging as messaging
-from openpilot.common.params import Params
-from openpilot.system.manager.process_config import managed_processes
-
-
-class TestNavd:
-  def setup_method(self):
-    self.params = Params()
-    self.sm = messaging.SubMaster(['navRoute', 'navInstruction'])
-
-  def teardown_method(self):
-    managed_processes['navd'].stop()
-
-  def _check_route(self, start, end, check_coords=True):
-    self.params.put("NavDestination", json.dumps(end))
-    self.params.put("LastGPSPosition", json.dumps(start))
-
-    managed_processes['navd'].start()
-    for _ in range(30):
-      self.sm.update(1000)
-      if all(f > 0 for f in self.sm.recv_frame.values()):
-        break
-    else:
-      raise Exception("didn't get a route")
-
-    assert managed_processes['navd'].proc.is_alive()
-    managed_processes['navd'].stop()
-
-    # ensure start and end match up
-    if check_coords:
-      coords = self.sm['navRoute'].coordinates
-      assert np.allclose([start['latitude'], start['longitude'], end['latitude'], end['longitude']],
-                         [coords[0].latitude, coords[0].longitude, coords[-1].latitude, coords[-1].longitude],
-                         rtol=1e-3)
-
-  def test_simple(self):
-    start = {
-      "latitude": 32.7427228,
-      "longitude": -117.2321177,
-    }
-    end = {
-      "latitude": 32.7557004,
-      "longitude": -117.268002,
-    }
-    self._check_route(start, end)
-
-  @parameterized.expand([(i,) for i in range(10)])
-  def test_random(self, index):
-    start = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
-    end = {"latitude": random.uniform(-90, 90), "longitude": random.uniform(-180, 180)}
-    self._check_route(start, end, check_coords=False)
diff --git a/selfdrive/pandad/panda.cc b/selfdrive/pandad/panda.cc
index a404ad3880662d..fcb4ac67a41279 100644
--- a/selfdrive/pandad/panda.cc
+++ b/selfdrive/pandad/panda.cc
@@ -26,8 +26,6 @@ Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
 
   hw_type = get_hw_type();
   can_reset_communications();
-
-  return;
 }
 
 bool Panda::connected() {
diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py
index 11e20e72ccde6c..9c5990cd3f59d6 100644
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/selfdrive/pandad/tests/test_pandad_spi.py
@@ -84,8 +84,8 @@ def test_spi_corruption(self, subtests):
             ps = m.peripheralState
             assert ps.pandaType == "tres"
             assert 4000 < ps.voltage < 14000
-            assert 100 < ps.current < 1000
-            assert ps.fanSpeedRpm < 8000
+            assert 50 < ps.current < 1000
+            assert ps.fanSpeedRpm < 10000
 
       time.sleep(0.5)
     et = time.monotonic() - st
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index cba2edfd58b5a8..a58a58107e4385 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -10,8 +10,7 @@
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
@@ -81,31 +80,6 @@ def model_replay(lr, frs):
     'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
   }
 
-  # Update tile refs
-  if update:
-    import urllib
-    import requests
-    import threading
-    import http.server
-    from openpilot.tools.lib.openpilotci import upload_bytes
-    os.environ['MAPS_HOST'] = 'http://localhost:5000'
-
-    class HTTPRequestHandler(http.server.BaseHTTPRequestHandler):
-      def do_GET(self):
-        assert len(self.path) > 10  # Sanity check on path length
-        r = requests.get(f'https://api.mapbox.com{self.path}', timeout=30)
-        upload_bytes(r.content, urllib.parse.urlparse(self.path).path.lstrip('/'))
-        self.send_response(r.status_code)
-        self.send_header('Content-type','text/html')
-        self.end_headers()
-        self.wfile.write(r.content)
-
-    server = http.server.HTTPServer(("127.0.0.1", 5000), HTTPRequestHandler)
-    thread = threading.Thread(None, server.serve_forever, daemon=True)
-    thread.start()
-  else:
-    os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')
-
   log_msgs = []
   # run replays
   if not NO_MODEL:
@@ -121,15 +95,16 @@ def do_GET(self):
       all_logs = list(LogReader(BASE_URL + log_fn))
       cmp_log = []
 
-      # logs are ordered based on type: modelV2, driverStateV2
+      # logs are ordered based on type: modelV2, drivingModelData, driverStateV2
       if not NO_MODEL:
-        model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "cameraOdometry"))
-        cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*2]
+        model_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ("modelV2", "drivingModelData", "cameraOdometry"))
+        cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES*3]
         dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
         cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
 
       ignore = [
         'logMonoTime',
+        'drivingModelData.frameDropPerc',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
         'driverStateV2.modelExecutionTime',
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index 87f1adfadad766..0b253017f58948 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-73eb11111fb6407fa307c3f2bdd3331f2514c707
+01e8432830805165527d1dbadd5f009d19430b39
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index a55396002b6658..1731bf2e1e28d8 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -390,7 +390,7 @@ def calibration_rcv_callback(msg, cfg, frame):
 
 def torqued_rcv_callback(msg, cfg, frame):
   # should_recv always true to increment frame
-  return (frame - 1) == 0 or msg.which() == 'liveLocationKalman'
+  return (frame - 1) == 0 or msg.which() == 'livePose'
 
 
 def dmonitoringmodeld_rcv_callback(msg, cfg, frame):
@@ -532,18 +532,18 @@ def locationd_config_pubsub_callback(params, cfg, lr):
       "cameraOdometry", "accelerometer", "gyroscope", "gpsLocationExternal",
       "liveCalibration", "carState", "gpsLocation"
     ],
-    subs=["liveLocationKalman"],
+    subs=["liveLocationKalman", "livePose"],
     ignore=["logMonoTime"],
     config_callback=locationd_config_pubsub_callback,
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
     proc_name="paramsd",
-    pubs=["liveLocationKalman", "carState"],
+    pubs=["livePose", "liveCalibration", "carState"],
     subs=["liveParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
-    should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"),
+    should_recv_callback=FrequencyBasedRcvCallback("livePose"),
     tolerance=NUMPY_TOLERANCE,
     processing_time=0.004,
   ),
@@ -555,7 +555,7 @@ def locationd_config_pubsub_callback(params, cfg, lr):
   ),
   ProcessConfig(
     proc_name="torqued",
-    pubs=["liveLocationKalman", "carState", "carControl", "carOutput"],
+    pubs=["livePose", "liveCalibration", "carState", "carControl", "carOutput"],
     subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
     init_callback=get_car_params_callback,
@@ -565,7 +565,7 @@ def locationd_config_pubsub_callback(params, cfg, lr):
   ProcessConfig(
     proc_name="modeld",
     pubs=["deviceState", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
-    subs=["modelV2", "cameraOdometry"],
+    subs=["modelV2", "drivingModelData", "cameraOdometry"],
     ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
     should_recv_callback=ModeldCameraSyncRcvCallback(),
     tolerance=NUMPY_TOLERANCE,
@@ -819,11 +819,15 @@ def check_openpilot_enabled(msgs: LogIterable) -> bool:
 
 
 def check_most_messages_valid(msgs: LogIterable, threshold: float = 0.9) -> bool:
+  relevant_services = {sock for cfg in CONFIGS for sock in cfg.subs}
   msgs_counts = Counter(msg.which() for msg in msgs)
   msgs_valid_counts = Counter(msg.which() for msg in msgs if msg.valid)
 
   most_valid_for_service = {}
   for msg_type in msgs_counts.keys():
+    if msg_type not in relevant_services:
+      continue
+
     valid_share = msgs_valid_counts.get(msg_type, 0) / msgs_counts[msg_type]
     ok = valid_share >= threshold
     if not ok:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 227202839ffb7a..a85e8919c4aafe 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6438bd5edad674c2de3c7e2d126271cb2576383d
+6ca7313b9c1337fad1334d9e087cb4984fdce74d
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index bf7a4bfd978a95..e87b8347e1a213 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -14,8 +14,7 @@
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
-from openpilot.tools.lib.logreader import LogReader, LogIterable
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
 
 
 class DummyFrameReader(BaseFrameReader):
@@ -75,7 +74,7 @@ def setup_data_readers(
         assert device_type != "neo", "Driver camera not supported on neo segments. Use dummy dcamera."
         frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
   else:
-    lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
+    lr = LogReader(f"{route}/{sidx}/r")
     frs = {}
     if needs_road_cam:
       frs['roadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
@@ -119,7 +118,7 @@ def regen_and_save(
 
   log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
   rel_log_dir = os.path.relpath(log_dir)
-  rpath = os.path.join(log_dir, "rlog.bz2")
+  rpath = os.path.join(log_dir, "rlog.zst")
 
   os.makedirs(log_dir)
   save_log(rpath, output_logs, compress=True)
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 533ab125f9ab8e..84a19aa0a9ee45 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -14,8 +14,7 @@
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
                                                                    check_openpilot_enabled, check_most_messages_valid
 from openpilot.tools.lib.filereader import FileReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.COMMA_BODY
@@ -42,23 +41,23 @@
 ]
 
 segments = [
-  ("BODY", "regen29FD9FF7760|2024-05-21--06-58-51--0"),
-  ("HYUNDAI", "regen0B1B76A1C27|2024-05-21--06-57-53--0"),
-  ("HYUNDAI2", "regen3BB55FA5E20|2024-05-21--06-59-03--0"),
-  ("TOYOTA", "regenF6FB954C1E2|2024-05-21--06-57-53--0"),
-  ("TOYOTA2", "regen0AC637CE7BA|2024-05-21--06-57-54--0"),
-  ("TOYOTA3", "regenC7BE3FAE496|2024-05-21--06-59-01--0"),
-  ("HONDA", "regen58E9F8B695A|2024-05-21--06-57-55--0"),
-  ("HONDA2", "regen8695608EB15|2024-05-21--06-57-55--0"),
-  ("CHRYSLER", "regenB0F8C25C902|2024-05-21--06-59-47--0"),
-  ("RAM", "regenB3B2C7A105B|2024-05-21--07-00-47--0"),
-  ("SUBARU", "regen860FD736DCC|2024-05-21--07-00-50--0"),
-  ("GM", "regen8CB3048DEB9|2024-05-21--06-59-49--0"),
-  ("GM2", "regen379D446541D|2024-05-21--07-00-51--0"),
-  ("NISSAN", "regen24871108F80|2024-05-21--07-00-38--0"),
-  ("VOLKSWAGEN", "regenF390392F275|2024-05-21--07-00-52--0"),
-  ("MAZDA", "regenE5A36020581|2024-05-21--07-01-51--0"),
-  ("FORD", "regenDC288ED0D78|2024-05-21--07-02-18--0"),
+  ("BODY", "regen34ECCE11CA1|2024-07-29--22-55-10--0"),
+  ("HYUNDAI", "regenC713CE6FA82|2024-07-29--22-56-31--0"),
+  ("HYUNDAI2", "regenD81F3A374A7|2024-07-29--22-58-45--0"),
+  ("TOYOTA", "regenE6D76723DC2|2024-07-29--23-00-08--0"),
+  ("TOYOTA2", "regen198859A572C|2024-07-29--23-01-31--0"),
+  ("TOYOTA3", "regenDF1EB621A66|2024-07-29--23-03-49--0"),
+  ("HONDA", "regen0FE7C4758B5|2024-07-29--23-05-14--0"),
+  ("HONDA2", "regen510A1F60E60|2024-07-29--23-06-39--0"),
+  ("CHRYSLER", "regenDACF082E83B|2024-07-29--23-08-01--0"),
+  ("RAM", "regen8BFB7E62F52|2024-07-29--23-10-14--0"),
+  ("SUBARU", "regen4EE2D45369E|2024-07-29--23-12-31--0"),
+  ("GM", "regenB38D92E6A4D|2024-07-29--23-13-54--0"),
+  ("GM2", "regenC5488470F1A|2024-07-29--23-16-09--0"),
+  ("NISSAN", "regenE5400EB4689|2024-07-29--23-17-30--0"),
+  ("VOLKSWAGEN", "regenD0B5635A8B9|2024-07-29--23-18-54--0"),
+  ("MAZDA", "regen57F8511F082|2024-07-29--23-21-09--0"),
+  ("FORD", "regen5708620AA2E|2024-07-29--23-23-20--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -112,7 +111,8 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
   if not check_most_messages_valid(log_msgs):
     return f"Route did not have enough valid messages: {new_log_path}", log_msgs
 
-  if cfg.proc_name != 'ubloxd' or segment != 'regen3BB55FA5E20|2024-05-21--06-59-03--0':
+  # skip this check if the segment is using qcom gps
+  if cfg.proc_name != 'ubloxd' or any(m.which() in cfg.pubs for m in lr):
     seen_msgs = {m.which() for m in log_msgs}
     expected_msgs = set(cfg.subs)
     if seen_msgs != expected_msgs:
@@ -198,11 +198,11 @@ def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=Non
         if cfg.proc_name not in tested_procs:
           continue
 
-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.zst")
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
           ref_log_path = get_url(*segment.rsplit("--", 1))
         else:
-          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.zst")
           ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
 
         dat = None if args.upload_only else log_data[segment]
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 7b44a3b80eb8da..27feb344f26f88 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -1,4 +1,3 @@
-import bz2
 import math
 import json
 import os
@@ -9,6 +8,7 @@
 import subprocess
 import time
 import numpy as np
+import zstandard as zstd
 from collections import Counter, defaultdict
 from functools import cached_property
 from pathlib import Path
@@ -20,9 +20,10 @@
 from openpilot.common.timeout import Timeout
 from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.events import EVENTS, ET
-from openpilot.system.hardware import HARDWARE
 from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.tools.lib.logreader import LogReader
 
 """
@@ -56,11 +57,10 @@
   "system.logmessaged": 0.2,
   "system.tombstoned": 0,
   "logcatd": 0,
-  "system.micd": 6.0,
+  "system.micd": 5.0,
   "system.timed": 0,
   "selfdrive.pandad.pandad": 0,
   "system.statsd": 0.4,
-  "selfdrive.navd.navd": 0.4,
   "system.loggerd.uploader": (0.5, 15.0),
   "system.loggerd.deleter": 0.1,
 }
@@ -167,10 +167,10 @@ def setup_class(cls):
     cls.log_sizes = {}
     for f in cls.log_path.iterdir():
       assert f.is_file()
-      cls.log_sizes[f]  = f.stat().st_size / 1e6
+      cls.log_sizes[f] = f.stat().st_size / 1e6
       if f.name in ("qlog", "rlog"):
         with open(f, 'rb') as ff:
-          cls.log_sizes[f] = len(bz2.compress(ff.read())) / 1e6
+          cls.log_sizes[f] = len(zstd.compress(ff.read(), LOG_COMPRESSION_LEVEL)) / 1e6
 
 
   @cached_property
@@ -207,7 +207,7 @@ def test_log_sizes(self):
       if f.name == "qcamera.ts":
         assert 2.15 < sz < 2.35
       elif f.name == "qlog":
-        assert 0.7 < sz < 1.0
+        assert 0.4 < sz < 0.55
       elif f.name == "rlog":
         assert 5 < sz < 50
       elif f.name.endswith('.hevc'):
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index e181cb9abdc45f..c6b4860bf7f1c4 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -8,8 +8,6 @@ base_libs = [common, messaging, visionipc, transformations,
 if arch == 'larch64':
   base_libs.append('EGL')
 
-maps = arch in ['larch64', 'aarch64', 'x86_64']
-
 if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
   qt_env['FRAMEWORKS'] += ['OpenCL']
@@ -24,13 +22,6 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/wifi.cc",
                "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
                "qt/request_repeater.cc", "qt/qt_window.cc", "qt/network/networking.cc", "qt/network/wifi_manager.cc"]
 
-qt_env['CPPDEFINES'] = []
-if maps:
-  base_libs += ['QMapLibre']
-  widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc", "qt/maps/map_panel.cc",
-                  "qt/maps/map_eta.cc", "qt/maps/map_instructions.cc"]
-  qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
-
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
 Export('widgets')
 qt_libs = [widgets, qt_util] + base_libs
@@ -115,14 +106,10 @@ if GetOption('extras') and arch != "Darwin":
     if "internal" in name:
       d['INTERNAL'] = "1"
 
-      import requests
-      r = requests.get("https://github.com/commaci2.keys")
-      r.raise_for_status()
-      d['SSH_KEYS'] = f'\\"{r.text.strip()}\\"'
     obj = senv.Object(f"installer/installers/installer_{name}.o", ["installer/installer.cc"], CPPDEFINES=d)
     f = senv.Program(f"installer/installers/installer_{name}", [obj, cont], LIBS=qt_libs)
     # keep installers small
-    assert f[0].get_size() < 350*1e3
+    assert f[0].get_size() < 370*1e3
 
 # build watch3
 if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index d43ed37ae8aa92..17f6ba19abd08f 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -180,10 +180,12 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
 #ifdef INTERNAL
   run("mkdir -p /data/params/d/");
 
+  // https://github.com/commaci2.keys
+  const std::string ssh_keys = "ssh-ed25519 AAAAC3NzaC1lZDI1NTE5AAAAIMX2kU8eBZyEWmbq0tjMPxksWWVuIV/5l64GabcYbdpI";
   std::map<std::string, std::string> params = {
     {"SshEnabled", "1"},
     {"RecordFrontLock", "1"},
-    {"GithubSshKeys", SSH_KEYS},
+    {"GithubSshKeys", ssh_keys},
   };
   for (const auto& [key, value] : params) {
     std::ofstream param;
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 9dbe7cbae39b86..af946c79872871 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -9,10 +9,6 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
 
-#ifdef ENABLE_MAPS
-#include "selfdrive/ui/qt/maps/map_settings.h"
-#endif
-
 // HomeWindow: the container for the offroad and onroad UIs
 
 HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
@@ -32,7 +28,6 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   slayout->addWidget(home);
 
   onroad = new OnroadWindow(this);
-  QObject::connect(onroad, &OnroadWindow::mapPanelRequested, this, [=] { sidebar->hide(); });
   slayout->addWidget(onroad);
 
   body = new BodyWindow(this);
@@ -53,10 +48,6 @@ void HomeWindow::showSidebar(bool show) {
   sidebar->setVisible(show);
 }
 
-void HomeWindow::showMapPanel(bool show) {
-  onroad->showMapPanel(show);
-}
-
 void HomeWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
@@ -90,7 +81,7 @@ void HomeWindow::showDriverView(bool show) {
 void HomeWindow::mousePressEvent(QMouseEvent* e) {
   // Handle sidebar collapsing
   if ((onroad->isVisible() || body->isVisible()) && (!sidebar->isVisible() || e->x() > sidebar->width())) {
-    sidebar->setVisible(!sidebar->isVisible() && !onroad->isMapVisible());
+    sidebar->setVisible(!sidebar->isVisible());
   }
 }
 
@@ -145,13 +136,17 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     home_layout->setContentsMargins(0, 0, 0, 0);
     home_layout->setSpacing(30);
 
-    // left: MapSettings/PrimeAdWidget
+    // left: PrimeAdWidget
     QStackedWidget *left_widget = new QStackedWidget(this);
-#ifdef ENABLE_MAPS
-    left_widget->addWidget(new MapSettings);
-#else
-    left_widget->addWidget(new QWidget);
-#endif
+    QVBoxLayout *left_prime_layout = new QVBoxLayout();
+    QWidget *prime_user = new PrimeUserWidget();
+    prime_user->setStyleSheet(R"(
+    border-radius: 10px;
+    background-color: #333333;
+    )");
+    left_prime_layout->addWidget(prime_user);
+    left_prime_layout->addStretch();
+    left_widget->addWidget(new LayoutWidget(left_prime_layout));
     left_widget->addWidget(new PrimeAdWidget);
     left_widget->setStyleSheet("border-radius: 10px;");
 
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index f60b80b21a9ce3..a19b70ac3f3ef5 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -55,7 +55,6 @@ public slots:
   void offroadTransition(bool offroad);
   void showDriverView(bool show);
   void showSidebar(bool show);
-  void showMapPanel(bool show);
 
 protected:
   void mousePressEvent(QMouseEvent* e) override;
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
deleted file mode 100644
index 490eb118cad047..00000000000000
--- a/selfdrive/ui/qt/maps/map.cc
+++ /dev/null
@@ -1,390 +0,0 @@
-#include "selfdrive/ui/qt/maps/map.h"
-
-#include <algorithm>
-#include <eigen3/Eigen/Dense>
-
-#include <QDebug>
-
-#include "common/swaglog.h"
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/ui.h"
-
-
-const int INTERACTION_TIMEOUT = 100;
-
-const float MAX_ZOOM = 17;
-const float MIN_ZOOM = 14;
-const float MAX_PITCH = 50;
-const float MIN_PITCH = 0;
-const float MAP_SCALE = 2;
-
-MapWindow::MapWindow(const QMapLibre::Settings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) {
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState);
-
-  map_overlay = new QWidget (this);
-  map_overlay->setAttribute(Qt::WA_TranslucentBackground, true);
-  QVBoxLayout *overlay_layout = new QVBoxLayout(map_overlay);
-  overlay_layout->setContentsMargins(0, 0, 0, 0);
-
-  // Instructions
-  map_instructions = new MapInstructions(this);
-  map_instructions->setVisible(false);
-
-  map_eta = new MapETA(this);
-  map_eta->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
-  map_eta->setFixedHeight(120);
-
-  error = new QLabel(this);
-  error->setStyleSheet(R"(color:white;padding:50px 11px;font-size: 90px; background-color:rgba(0, 0, 0, 150);)");
-  error->setAlignment(Qt::AlignCenter);
-
-  overlay_layout->addWidget(error);
-  overlay_layout->addWidget(map_instructions);
-  overlay_layout->addStretch(1);
-  overlay_layout->addWidget(map_eta);
-
-  last_position = coordinate_from_param("LastGPSPosition");
-  grabGesture(Qt::GestureType::PinchGesture);
-  qDebug() << "MapWindow initialized";
-}
-
-MapWindow::~MapWindow() {
-  makeCurrent();
-}
-
-void MapWindow::initLayers() {
-  // This doesn't work from initializeGL
-  if (!m_map->layerExists("modelPathLayer")) {
-    qDebug() << "Initializing modelPathLayer";
-    QVariantMap modelPath;
-    //modelPath["id"] = "modelPathLayer";
-    modelPath["type"] = "line";
-    modelPath["source"] = "modelPathSource";
-    m_map->addLayer("modelPathLayer", modelPath);
-    m_map->setPaintProperty("modelPathLayer", "line-color", QColor("red"));
-    m_map->setPaintProperty("modelPathLayer", "line-width", 5.0);
-    m_map->setLayoutProperty("modelPathLayer", "line-cap", "round");
-  }
-  if (!m_map->layerExists("navLayer")) {
-    qDebug() << "Initializing navLayer";
-    QVariantMap nav;
-    nav["type"] = "line";
-    nav["source"] = "navSource";
-    m_map->addLayer("navLayer", nav, "road-intersection");
-
-    QVariantMap transition;
-    transition["duration"] = 400;  // ms
-    m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee"));
-    m_map->setPaintProperty("navLayer", "line-color-transition", transition);
-    m_map->setPaintProperty("navLayer", "line-width", 7.5);
-    m_map->setLayoutProperty("navLayer", "line-cap", "round");
-  }
-  if (!m_map->layerExists("pinLayer")) {
-    qDebug() << "Initializing pinLayer";
-    m_map->addImage("default_marker", QImage("../assets/navigation/default_marker.svg"));
-    QVariantMap pin;
-    pin["type"] = "symbol";
-    pin["source"] = "pinSource";
-    m_map->addLayer("pinLayer", pin);
-    m_map->setLayoutProperty("pinLayer", "icon-pitch-alignment", "viewport");
-    m_map->setLayoutProperty("pinLayer", "icon-image", "default_marker");
-    m_map->setLayoutProperty("pinLayer", "icon-ignore-placement", true);
-    m_map->setLayoutProperty("pinLayer", "icon-allow-overlap", true);
-    m_map->setLayoutProperty("pinLayer", "symbol-sort-key", 0);
-    m_map->setLayoutProperty("pinLayer", "icon-anchor", "bottom");
-  }
-  if (!m_map->layerExists("carPosLayer")) {
-    qDebug() << "Initializing carPosLayer";
-    m_map->addImage("label-arrow", QImage("../assets/images/triangle.svg"));
-
-    QVariantMap carPos;
-    carPos["type"] = "symbol";
-    carPos["source"] = "carPosSource";
-    m_map->addLayer("carPosLayer", carPos);
-    m_map->setLayoutProperty("carPosLayer", "icon-pitch-alignment", "map");
-    m_map->setLayoutProperty("carPosLayer", "icon-image", "label-arrow");
-    m_map->setLayoutProperty("carPosLayer", "icon-size", 0.5);
-    m_map->setLayoutProperty("carPosLayer", "icon-ignore-placement", true);
-    m_map->setLayoutProperty("carPosLayer", "icon-allow-overlap", true);
-    // TODO: remove, symbol-sort-key does not seem to matter outside of each layer
-    m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
-  }
-}
-
-void MapWindow::updateState(const UIState &s) {
-  if (!uiState()->scene.started) {
-    return;
-  }
-  const SubMaster &sm = *(s.sm);
-  update();
-
-  // on rising edge of a valid system time, reinitialize the map to set a new token
-  if (sm.valid("clocks") && !prev_time_valid) {
-    LOGW("Time is now valid, reinitializing map");
-    m_settings.setApiKey(get_mapbox_token());
-    initializeGL();
-  }
-  prev_time_valid = sm.valid("clocks");
-
-  if (sm.updated("liveLocationKalman")) {
-    auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
-    auto locationd_pos = locationd_location.getPositionGeodetic();
-    auto locationd_orientation = locationd_location.getCalibratedOrientationNED();
-    auto locationd_velocity = locationd_location.getVelocityCalibrated();
-    auto locationd_ecef = locationd_location.getPositionECEF();
-
-    locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && locationd_ecef.getValid());
-    if (locationd_valid) {
-      // Check std norm
-      auto pos_ecef_std = locationd_ecef.getStd();
-      bool pos_accurate_enough = sqrt(pow(pos_ecef_std[0], 2) + pow(pos_ecef_std[1], 2) + pow(pos_ecef_std[2], 2)) < 100;
-      locationd_valid = pos_accurate_enough;
-    }
-
-    if (locationd_valid) {
-      last_position = QMapLibre::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
-      last_bearing = RAD2DEG(locationd_orientation.getValue()[2]);
-      velocity_filter.update(std::max(10.0, locationd_velocity.getValue()[0]));
-    }
-  }
-
-  if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
-    auto nav_dest = coordinate_from_param("NavDestination");
-    bool allow_open = std::exchange(last_valid_nav_dest, nav_dest) != nav_dest &&
-                      nav_dest && !isVisible();
-    qWarning() << "Got new navRoute from navd. Opening map:" << allow_open;
-
-    // Show map on destination set/change
-    if (allow_open) {
-      emit requestSettings(false);
-      emit requestVisible(true);
-    }
-  }
-
-  loaded_once = loaded_once || (m_map && m_map->isFullyLoaded());
-  if (!loaded_once) {
-    setError(tr("Map Loading"));
-    return;
-  }
-  initLayers();
-
-  if (!locationd_valid) {
-    setError(tr("Waiting for GPS"));
-  } else if (routing_problem) {
-    setError(tr("Waiting for route"));
-  } else {
-    setError("");
-  }
-
-  if (locationd_valid) {
-    // Update current location marker
-    auto point = coordinate_to_collection(*last_position);
-    QMapLibre::Feature feature1(QMapLibre::Feature::PointType, point, {}, {});
-    QVariantMap carPosSource;
-    carPosSource["type"] = "geojson";
-    carPosSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature1);
-    m_map->updateSource("carPosSource", carPosSource);
-
-    // Map bearing isn't updated when interacting, keep location marker up to date
-    if (last_bearing) {
-      m_map->setLayoutProperty("carPosLayer", "icon-rotate", *last_bearing - m_map->bearing());
-    }
-  }
-
-  if (interaction_counter == 0) {
-    if (last_position) m_map->setCoordinate(*last_position);
-    if (last_bearing) m_map->setBearing(*last_bearing);
-    m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
-  } else {
-    interaction_counter--;
-  }
-
-  if (sm.updated("navInstruction")) {
-    // an invalid navInstruction packet with a nav destination is only possible if:
-    // - API exception/no internet
-    // - route response is empty
-    // - any time navd is waiting for recompute_countdown
-    routing_problem = !sm.valid("navInstruction") && coordinate_from_param("NavDestination").has_value();
-
-    if (sm.valid("navInstruction")) {
-      auto i = sm["navInstruction"].getNavInstruction();
-      map_eta->updateETA(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
-
-      if (locationd_valid) {
-        m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
-        map_instructions->updateInstructions(i);
-      }
-    } else {
-      clearRoute();
-    }
-  }
-
-  if (sm.rcv_frame("navRoute") != route_rcv_frame) {
-    qWarning() << "Updating navLayer with new route";
-    auto route = sm["navRoute"].getNavRoute();
-    auto route_points = capnp_coordinate_list_to_collection(route.getCoordinates());
-    QMapLibre::Feature feature(QMapLibre::Feature::LineStringType, route_points, {}, {});
-    QVariantMap navSource;
-    navSource["type"] = "geojson";
-    navSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
-    m_map->updateSource("navSource", navSource);
-    m_map->setLayoutProperty("navLayer", "visibility", "visible");
-
-    route_rcv_frame = sm.rcv_frame("navRoute");
-    updateDestinationMarker();
-  }
-}
-
-void MapWindow::setError(const QString &err_str) {
-  if (err_str != error->text()) {
-    error->setText(err_str);
-    error->setVisible(!err_str.isEmpty());
-    if (!err_str.isEmpty()) map_instructions->setVisible(false);
-  }
-}
-
-void MapWindow::resizeGL(int w, int h) {
-  m_map->resize(size() / MAP_SCALE);
-  map_overlay->setFixedSize(width(), height());
-}
-
-void MapWindow::initializeGL() {
-  m_map.reset(new QMapLibre::Map(this, m_settings, size(), 1));
-
-  if (last_position) {
-    m_map->setCoordinateZoom(*last_position, MAX_ZOOM);
-  } else {
-    m_map->setCoordinateZoom(QMapLibre::Coordinate(64.31990695292795, -149.79038934046247), MIN_ZOOM);
-  }
-
-  m_map->setMargins({0, 350, 0, 50});
-  m_map->setPitch(MIN_PITCH);
-  m_map->setStyleUrl("mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj");
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::mapChanged, [=](QMapLibre::Map::MapChange change) {
-    // set global animation duration to 0 ms so visibility changes are instant
-    if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingStyle) {
-      m_map->setTransitionOptions(0, 0);
-    }
-    if (change == QMapLibre::Map::MapChange::MapChangeDidFinishLoadingMap) {
-      loaded_once = true;
-    }
-  });
-
-  QObject::connect(m_map.data(), &QMapLibre::Map::mapLoadingFailed, [=](QMapLibre::Map::MapLoadingFailure err_code, const QString &reason) {
-    LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str());
-  });
-}
-
-void MapWindow::paintGL() {
-  if (!isVisible() || m_map.isNull()) return;
-  m_map->render();
-}
-
-void MapWindow::clearRoute() {
-  if (!m_map.isNull()) {
-    m_map->setLayoutProperty("navLayer", "visibility", "none");
-    m_map->setPitch(MIN_PITCH);
-    updateDestinationMarker();
-  }
-
-  map_instructions->setVisible(false);
-  map_eta->setVisible(false);
-  last_valid_nav_dest = std::nullopt;
-}
-
-void MapWindow::mousePressEvent(QMouseEvent *ev) {
-  m_lastPos = ev->localPos();
-  ev->accept();
-}
-
-void MapWindow::mouseDoubleClickEvent(QMouseEvent *ev) {
-  if (last_position) m_map->setCoordinate(*last_position);
-  if (last_bearing) m_map->setBearing(*last_bearing);
-  m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
-  update();
-
-  interaction_counter = 0;
-}
-
-void MapWindow::mouseMoveEvent(QMouseEvent *ev) {
-  QPointF delta = ev->localPos() - m_lastPos;
-
-  if (!delta.isNull()) {
-    interaction_counter = INTERACTION_TIMEOUT;
-    m_map->moveBy(delta / MAP_SCALE);
-    update();
-  }
-
-  m_lastPos = ev->localPos();
-  ev->accept();
-}
-
-void MapWindow::wheelEvent(QWheelEvent *ev) {
-  if (ev->orientation() == Qt::Horizontal) {
-      return;
-  }
-
-  float factor = ev->delta() / 1200.;
-  if (ev->delta() < 0) {
-      factor = factor > -1 ? factor : 1 / factor;
-  }
-
-  m_map->scaleBy(1 + factor, ev->pos() / MAP_SCALE);
-  update();
-
-  interaction_counter = INTERACTION_TIMEOUT;
-  ev->accept();
-}
-
-bool MapWindow::event(QEvent *event) {
-  if (event->type() == QEvent::Gesture) {
-    return gestureEvent(static_cast<QGestureEvent*>(event));
-  }
-
-  return QWidget::event(event);
-}
-
-bool MapWindow::gestureEvent(QGestureEvent *event) {
-  if (QGesture *pinch = event->gesture(Qt::PinchGesture)) {
-    pinchTriggered(static_cast<QPinchGesture *>(pinch));
-  }
-  return true;
-}
-
-void MapWindow::pinchTriggered(QPinchGesture *gesture) {
-  QPinchGesture::ChangeFlags changeFlags = gesture->changeFlags();
-  if (changeFlags & QPinchGesture::ScaleFactorChanged) {
-    // TODO: figure out why gesture centerPoint doesn't work
-    m_map->scaleBy(gesture->scaleFactor(), {width() / 2.0 / MAP_SCALE, height() / 2.0 / MAP_SCALE});
-    update();
-    interaction_counter = INTERACTION_TIMEOUT;
-  }
-}
-
-void MapWindow::offroadTransition(bool offroad) {
-  if (offroad) {
-    clearRoute();
-    routing_problem = false;
-  } else {
-    auto dest = coordinate_from_param("NavDestination");
-    emit requestVisible(dest.has_value());
-  }
-  last_bearing = {};
-}
-
-void MapWindow::updateDestinationMarker() {
-  auto nav_dest = coordinate_from_param("NavDestination");
-  if (nav_dest.has_value()) {
-    auto point = coordinate_to_collection(*nav_dest);
-    QMapLibre::Feature feature(QMapLibre::Feature::PointType, point, {}, {});
-    QVariantMap pinSource;
-    pinSource["type"] = "geojson";
-    pinSource["data"] = QVariant::fromValue<QMapLibre::Feature>(feature);
-    m_map->updateSource("pinSource", pinSource);
-    m_map->setPaintProperty("pinLayer", "visibility", "visible");
-  } else {
-    m_map->setPaintProperty("pinLayer", "visibility", "none");
-  }
-}
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
deleted file mode 100644
index 31a44f27b1ecec..00000000000000
--- a/selfdrive/ui/qt/maps/map.h
+++ /dev/null
@@ -1,86 +0,0 @@
-#pragma once
-
-#include <optional>
-
-#include <QGeoCoordinate>
-#include <QGestureEvent>
-#include <QLabel>
-#include <QMap>
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-#include <QMouseEvent>
-#include <QOpenGLWidget>
-#include <QPixmap>
-#include <QPushButton>
-#include <QScopedPointer>
-#include <QString>
-#include <QVBoxLayout>
-#include <QWheelEvent>
-
-#include "cereal/messaging/messaging.h"
-#include "common/params.h"
-#include "common/util.h"
-#include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/maps/map_eta.h"
-#include "selfdrive/ui/qt/maps/map_instructions.h"
-
-class MapWindow : public QOpenGLWidget {
-  Q_OBJECT
-
-public:
-  MapWindow(const QMapLibre::Settings &);
-  ~MapWindow();
-
-private:
-  void initializeGL() final;
-  void paintGL() final;
-  void resizeGL(int w, int h) override;
-
-  QMapLibre::Settings m_settings;
-  QScopedPointer<QMapLibre::Map> m_map;
-
-  void initLayers();
-
-  void mousePressEvent(QMouseEvent *ev) final;
-  void mouseDoubleClickEvent(QMouseEvent *ev) final;
-  void mouseMoveEvent(QMouseEvent *ev) final;
-  void wheelEvent(QWheelEvent *ev) final;
-  bool event(QEvent *event) final;
-  bool gestureEvent(QGestureEvent *event);
-  void pinchTriggered(QPinchGesture *gesture);
-  void setError(const QString &err_str);
-
-  bool loaded_once = false;
-  bool prev_time_valid = true;
-
-  // Panning
-  QPointF m_lastPos;
-  int interaction_counter = 0;
-
-  // Position
-  std::optional<QMapLibre::Coordinate> last_valid_nav_dest;
-  std::optional<QMapLibre::Coordinate> last_position;
-  std::optional<float> last_bearing;
-  FirstOrderFilter velocity_filter;
-  bool locationd_valid = false;
-  bool routing_problem = false;
-
-  QWidget *map_overlay;
-  QLabel *error;
-  MapInstructions* map_instructions;
-  MapETA* map_eta;
-
-  void clearRoute();
-  void updateDestinationMarker();
-  uint64_t route_rcv_frame = 0;
-
-private slots:
-  void updateState(const UIState &s);
-
-public slots:
-  void offroadTransition(bool offroad);
-
-signals:
-  void requestVisible(bool visible);
-  void requestSettings(bool settings);
-};
diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc
deleted file mode 100644
index 0eb77e36ce6773..00000000000000
--- a/selfdrive/ui/qt/maps/map_eta.cc
+++ /dev/null
@@ -1,59 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_eta.h"
-
-#include <QDateTime>
-#include <QPainter>
-
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/ui.h"
-
-const float MANEUVER_TRANSITION_THRESHOLD = 10;
-
-MapETA::MapETA(QWidget *parent) : QWidget(parent) {
-  setVisible(false);
-  setAttribute(Qt::WA_TranslucentBackground);
-  eta_doc.setUndoRedoEnabled(false);
-  eta_doc.setDefaultStyleSheet("body {font-family:Inter;font-size:70px;color:white;} b{font-weight:600;} td{padding:0 3px;}");
-}
-
-void MapETA::paintEvent(QPaintEvent *event) {
-  if (!eta_doc.isEmpty()) {
-    QPainter p(this);
-    p.setRenderHint(QPainter::Antialiasing);
-    p.setPen(Qt::NoPen);
-    p.setBrush(QColor(0, 0, 0, 255));
-    QSizeF txt_size = eta_doc.size();
-    p.drawRoundedRect((width() - txt_size.width()) / 2 - UI_BORDER_SIZE, 0, txt_size.width() + UI_BORDER_SIZE * 2, height() + 25, 25, 25);
-    p.translate((width() - txt_size.width()) / 2, (height() - txt_size.height()) / 2);
-    eta_doc.drawContents(&p);
-  }
-}
-
-void MapETA::updateETA(float s, float s_typical, float d) {
-  // ETA
-  auto eta_t = QDateTime::currentDateTime().addSecs(s).time();
-  auto eta = format_24h ? std::pair{eta_t.toString("HH:mm"), tr("eta")}
-                        : std::pair{eta_t.toString("h:mm a").split(' ')[0], eta_t.toString("a")};
-
-  // Remaining time
-  auto remaining = s < 3600 ? std::pair{QString::number(int(s / 60)), tr("min")}
-                            : std::pair{QString("%1:%2").arg((int)s / 3600).arg(((int)s % 3600) / 60, 2, 10, QLatin1Char('0')), tr("hr")};
-  QString color = "#25DA6E";
-  if (std::abs(s_typical) > 1e-5) {
-    if (s / s_typical > 1.5) {
-      color = "#DA3025";
-    } else if (s / s_typical > 1.2) {
-      color = "#DAA725";
-    }
-  }
-
-  // Distance
-  auto distance = map_format_distance(d, uiState()->scene.is_metric);
-
-  eta_doc.setHtml(QString(R"(<body><table><tr style="vertical-align:bottom;"><td><b>%1</b></td><td>%2</td>
-                             <td style="padding-left:40px;color:%3;"><b>%4</b></td><td style="padding-right:40px;color:%3;">%5</td>
-                             <td><b>%6</b></td><td>%7</td></tr></body>)")
-                      .arg(eta.first, eta.second, color, remaining.first, remaining.second, distance.first, distance.second));
-
-  setVisible(d >= MANEUVER_TRANSITION_THRESHOLD);
-  update();
-}
diff --git a/selfdrive/ui/qt/maps/map_eta.h b/selfdrive/ui/qt/maps/map_eta.h
deleted file mode 100644
index 6e59837de3d746..00000000000000
--- a/selfdrive/ui/qt/maps/map_eta.h
+++ /dev/null
@@ -1,23 +0,0 @@
-#pragma once
-
-#include <QPaintEvent>
-#include <QTextDocument>
-#include <QWidget>
-
-#include "common/params.h"
-
-class MapETA : public QWidget {
-  Q_OBJECT
-
-public:
-  MapETA(QWidget * parent=nullptr);
-  void updateETA(float seconds, float seconds_typical, float distance);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-  void showEvent(QShowEvent *event) override { format_24h = param.getBool("NavSettingTime24h"); }
-
-  bool format_24h = false;
-  QTextDocument eta_doc;
-  Params param;
-};
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
deleted file mode 100644
index 16923f7a435c1b..00000000000000
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ /dev/null
@@ -1,153 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-
-#include <algorithm>
-#include <string>
-#include <utility>
-
-#include <QJsonDocument>
-#include <QJsonObject>
-
-#include "common/params.h"
-#include "system/hardware/hw.h"
-#include "selfdrive/ui/qt/api.h"
-
-QString get_mapbox_token() {
-  // Valid for 4 weeks since we can't swap tokens on the fly
-  return MAPBOX_TOKEN.isEmpty() ? CommaApi::create_jwt({}, 4 * 7 * 24 * 3600) : MAPBOX_TOKEN;
-}
-
-QMapLibre::Settings get_mapbox_settings() {
-  QMapLibre::Settings settings;
-  settings.setProviderTemplate(QMapLibre::Settings::ProviderTemplate::MapboxProvider);
-
-  if (!Hardware::PC()) {
-    settings.setCacheDatabasePath(MAPS_CACHE_PATH);
-    settings.setCacheDatabaseMaximumSize(100 * 1024 * 1024);
-  }
-  settings.setApiBaseUrl(MAPS_HOST);
-  settings.setApiKey(get_mapbox_token());
-
-  return settings;
-}
-
-QGeoCoordinate to_QGeoCoordinate(const QMapLibre::Coordinate &in) {
-  return QGeoCoordinate(in.first, in.second);
-}
-
-QMapLibre::CoordinatesCollections model_to_collection(
-  const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
-  const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
-  const cereal::XYZTData::Reader &line){
-
-  Eigen::Vector3d ecef(positionECEF.getValue()[0], positionECEF.getValue()[1], positionECEF.getValue()[2]);
-  Eigen::Vector3d orient(calibratedOrientationECEF.getValue()[0], calibratedOrientationECEF.getValue()[1], calibratedOrientationECEF.getValue()[2]);
-  Eigen::Matrix3d ecef_from_local = euler2rot(orient);
-
-  QMapLibre::Coordinates coordinates;
-  auto x = line.getX();
-  auto y = line.getY();
-  auto z = line.getZ();
-  for (int i = 0; i < x.size(); i++) {
-    Eigen::Vector3d point_ecef = ecef_from_local * Eigen::Vector3d(x[i], y[i], z[i]) + ecef;
-    Geodetic point_geodetic = ecef2geodetic((ECEF){.x = point_ecef[0], .y = point_ecef[1], .z = point_ecef[2]});
-    coordinates.push_back({point_geodetic.lat, point_geodetic.lon});
-  }
-
-  return {QMapLibre::CoordinatesCollection{coordinates}};
-}
-
-QMapLibre::CoordinatesCollections coordinate_to_collection(const QMapLibre::Coordinate &c) {
-  QMapLibre::Coordinates coordinates{c};
-  return {QMapLibre::CoordinatesCollection{coordinates}};
-}
-
-QMapLibre::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader& coordinate_list) {
-  QMapLibre::Coordinates coordinates;
-  for (auto const &c : coordinate_list) {
-    coordinates.push_back({c.getLatitude(), c.getLongitude()});
-  }
-  return {QMapLibre::CoordinatesCollection{coordinates}};
-}
-
-QMapLibre::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list) {
-  QMapLibre::Coordinates coordinates;
-  for (auto &c : coordinate_list) {
-    coordinates.push_back({c.latitude(), c.longitude()});
-  }
-  return {QMapLibre::CoordinatesCollection{coordinates}};
-}
-
-QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString) {
-  QList<QGeoCoordinate> path;
-  if (polylineString.isEmpty())
-      return path;
-
-  QByteArray data = polylineString.toLatin1();
-
-  bool parsingLatitude = true;
-
-  int shift = 0;
-  int value = 0;
-
-  QGeoCoordinate coord(0, 0);
-
-  for (int i = 0; i < data.length(); ++i) {
-      unsigned char c = data.at(i) - 63;
-
-      value |= (c & 0x1f) << shift;
-      shift += 5;
-
-      // another chunk
-      if (c & 0x20)
-          continue;
-
-      int diff = (value & 1) ? ~(value >> 1) : (value >> 1);
-
-      if (parsingLatitude) {
-          coord.setLatitude(coord.latitude() + (double)diff/1e6);
-      } else {
-          coord.setLongitude(coord.longitude() + (double)diff/1e6);
-          path.append(coord);
-      }
-
-      parsingLatitude = !parsingLatitude;
-
-      value = 0;
-      shift = 0;
-  }
-
-  return path;
-}
-
-std::optional<QMapLibre::Coordinate> coordinate_from_param(const std::string &param) {
-  QString json_str = QString::fromStdString(Params().get(param));
-  if (json_str.isEmpty()) return {};
-
-  QJsonDocument doc = QJsonDocument::fromJson(json_str.toUtf8());
-  if (doc.isNull()) return {};
-
-  QJsonObject json = doc.object();
-  if (json["latitude"].isDouble() && json["longitude"].isDouble()) {
-    QMapLibre::Coordinate coord(json["latitude"].toDouble(), json["longitude"].toDouble());
-    return coord;
-  } else {
-    return {};
-  }
-}
-
-// return {distance, unit}
-std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
-  auto round_distance = [](float d) -> QString {
-    return (d > 10) ? QString::number(std::nearbyint(d)) : QString::number(std::nearbyint(d * 10) / 10.0, 'f', 1);
-  };
-
-  d = std::max(d, 0.0f);
-  if (is_metric) {
-    return (d > 500) ? std::pair{round_distance(d / 1000), QObject::tr("km")}
-                     : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m")};
-  } else {
-    float feet = d * METER_TO_FOOT;
-    return (feet > 500) ? std::pair{round_distance(d * METER_TO_MILE), QObject::tr("mi")}
-                        : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")};
-  }
-}
diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h
deleted file mode 100644
index 0f4be674f05633..00000000000000
--- a/selfdrive/ui/qt/maps/map_helpers.h
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-
-#include <optional>
-#include <string>
-#include <utility>
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-#include <eigen3/Eigen/Dense>
-#include <QGeoCoordinate>
-
-#include "common/util.h"
-#include "common/transformations/coordinates.hpp"
-#include "common/transformations/orientation.hpp"
-#include "cereal/messaging/messaging.h"
-
-const QString MAPBOX_TOKEN = util::getenv("MAPBOX_TOKEN").c_str();
-const QString MAPS_HOST = util::getenv("MAPS_HOST", MAPBOX_TOKEN.isEmpty() ? "https://maps.comma.ai" : "https://api.mapbox.com").c_str();
-const QString MAPS_CACHE_PATH = "/data/mbgl-cache-navd.db";
-
-QString get_mapbox_token();
-QMapLibre::Settings get_mapbox_settings();
-QGeoCoordinate to_QGeoCoordinate(const QMapLibre::Coordinate &in);
-QMapLibre::CoordinatesCollections model_to_collection(
-  const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
-  const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
-  const cereal::XYZTData::Reader &line);
-QMapLibre::CoordinatesCollections coordinate_to_collection(const QMapLibre::Coordinate &c);
-QMapLibre::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
-QMapLibre::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list);
-QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
-std::optional<QMapLibre::Coordinate> coordinate_from_param(const std::string &param);
-std::pair<QString, QString> map_format_distance(float d, bool is_metric);
diff --git a/selfdrive/ui/qt/maps/map_instructions.cc b/selfdrive/ui/qt/maps/map_instructions.cc
deleted file mode 100644
index ba8cb356bd1651..00000000000000
--- a/selfdrive/ui/qt/maps/map_instructions.cc
+++ /dev/null
@@ -1,144 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_instructions.h"
-
-#include <QDir>
-#include <QVBoxLayout>
-
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/ui.h"
-
-const QString ICON_SUFFIX = ".png";
-
-MapInstructions::MapInstructions(QWidget *parent) : QWidget(parent) {
-  is_rhd = Params().getBool("IsRhdDetected");
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(11, UI_BORDER_SIZE, 11, 20);
-
-  QHBoxLayout *top_layout = new QHBoxLayout;
-  top_layout->addWidget(icon_01 = new QLabel, 0, Qt::AlignTop);
-
-  QVBoxLayout *right_layout = new QVBoxLayout;
-  right_layout->setContentsMargins(9, 9, 9, 0);
-  right_layout->addWidget(distance = new QLabel);
-  distance->setStyleSheet(R"(font-size: 90px;)");
-
-  right_layout->addWidget(primary = new QLabel);
-  primary->setStyleSheet(R"(font-size: 60px;)");
-  primary->setWordWrap(true);
-
-  right_layout->addWidget(secondary = new QLabel);
-  secondary->setStyleSheet(R"(font-size: 50px;)");
-  secondary->setWordWrap(true);
-
-  top_layout->addLayout(right_layout);
-
-  main_layout->addLayout(top_layout);
-  main_layout->addLayout(lane_layout = new QHBoxLayout);
-  lane_layout->setAlignment(Qt::AlignHCenter);
-  lane_layout->setSpacing(10);
-
-  setStyleSheet("color:white");
-  QPalette pal = palette();
-  pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
-  setAutoFillBackground(true);
-  setPalette(pal);
-
-  buildPixmapCache();
-}
-
-void MapInstructions::buildPixmapCache() {
-  QDir dir("../assets/navigation");
-  for (QString fn : dir.entryList({"*" + ICON_SUFFIX}, QDir::Files)) {
-    QPixmap pm(dir.filePath(fn));
-    QString key = fn.left(fn.size() - ICON_SUFFIX.length());
-    pm = pm.scaledToWidth(200, Qt::SmoothTransformation);
-
-    // Maneuver icons
-    pixmap_cache[key] = pm;
-    // lane direction icons
-    if (key.contains("turn_")) {
-      pixmap_cache["lane_" + key] = pm.scaled({125, 125}, Qt::IgnoreAspectRatio, Qt::SmoothTransformation);
-    }
-
-    // for rhd, reflect direction and then flip
-    if (key.contains("_left")) {
-      pixmap_cache["rhd_" + key.replace("_left", "_right")] = pm.transformed(QTransform().scale(-1, 1));
-    } else if (key.contains("_right")) {
-      pixmap_cache["rhd_" + key.replace("_right", "_left")] = pm.transformed(QTransform().scale(-1, 1));
-    }
-  }
-}
-
-void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) {
-  setUpdatesEnabled(false);
-
-  // Show instruction text
-  QString primary_str = QString::fromStdString(instruction.getManeuverPrimaryText());
-  QString secondary_str = QString::fromStdString(instruction.getManeuverSecondaryText());
-
-  primary->setText(primary_str);
-  secondary->setVisible(secondary_str.length() > 0);
-  secondary->setText(secondary_str);
-
-  auto distance_str_pair = map_format_distance(instruction.getManeuverDistance(), uiState()->scene.is_metric);
-  distance->setText(QString("%1 %2").arg(distance_str_pair.first, distance_str_pair.second));
-
-  // Show arrow with direction
-  QString type = QString::fromStdString(instruction.getManeuverType());
-  QString modifier = QString::fromStdString(instruction.getManeuverModifier());
-  if (!type.isEmpty()) {
-    QString fn = "direction_" + type;
-    if (!modifier.isEmpty()) {
-      fn += "_" + modifier;
-    }
-    fn = fn.replace(' ', '_');
-    bool rhd = is_rhd && (fn.contains("_left") || fn.contains("_right"));
-    icon_01->setPixmap(pixmap_cache[!rhd ? fn : "rhd_" + fn]);
-    icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
-    icon_01->setVisible(true);
-  } else {
-    icon_01->setVisible(false);
-  }
-
-  // Hide distance after arrival
-  distance->setVisible(type != "arrive" || instruction.getManeuverDistance() > 0);
-
-  // Show lanes
-  auto lanes = instruction.getLanes();
-  for (int i = 0; i < lanes.size(); ++i) {
-    bool active = lanes[i].getActive();
-    const auto active_direction = lanes[i].getActiveDirection();
-
-    // TODO: Make more images based on active direction and combined directions
-    QString fn = "lane_direction_";
-
-    // active direction has precedence
-    if (active && active_direction != cereal::NavInstruction::Direction::NONE) {
-      fn += "turn_" + DIRECTIONS[active_direction];
-    } else {
-      for (auto const &direction : lanes[i].getDirections()) {
-        if (direction != cereal::NavInstruction::Direction::NONE) {
-          fn += "turn_" + DIRECTIONS[direction];
-          break;
-        }
-      }
-    }
-
-    if (!active) {
-      fn += "_inactive";
-    }
-
-    QLabel *label = (i < lane_labels.size()) ? lane_labels[i] : lane_labels.emplace_back(new QLabel);
-    if (!label->parentWidget()) {
-      lane_layout->addWidget(label);
-    }
-    label->setPixmap(pixmap_cache[fn]);
-    label->setVisible(true);
-  }
-
-  for (int i = lanes.size(); i < lane_labels.size(); ++i) {
-    lane_labels[i]->setVisible(false);
-  }
-
-  setUpdatesEnabled(true);
-  setVisible(true);
-}
diff --git a/selfdrive/ui/qt/maps/map_instructions.h b/selfdrive/ui/qt/maps/map_instructions.h
deleted file mode 100644
index 06a943d27fb0a8..00000000000000
--- a/selfdrive/ui/qt/maps/map_instructions.h
+++ /dev/null
@@ -1,38 +0,0 @@
-#pragma once
-
-#include <map>
-#include <vector>
-
-#include <QHash>
-#include <QHBoxLayout>
-#include <QLabel>
-
-#include "cereal/gen/cpp/log.capnp.h"
-
-static std::map<cereal::NavInstruction::Direction, QString> DIRECTIONS = {
-  {cereal::NavInstruction::Direction::NONE, "none"},
-  {cereal::NavInstruction::Direction::LEFT, "left"},
-  {cereal::NavInstruction::Direction::RIGHT, "right"},
-  {cereal::NavInstruction::Direction::STRAIGHT, "straight"},
-  {cereal::NavInstruction::Direction::SLIGHT_LEFT, "slight_left"},
-  {cereal::NavInstruction::Direction::SLIGHT_RIGHT, "slight_right"},
-};
-
-class MapInstructions : public QWidget {
-  Q_OBJECT
-
-private:
-  QLabel *distance;
-  QLabel *primary;
-  QLabel *secondary;
-  QLabel *icon_01;
-  QHBoxLayout *lane_layout;
-  bool is_rhd = false;
-  std::vector<QLabel *> lane_labels;
-  QHash<QString, QPixmap> pixmap_cache;
-
-public:
-  MapInstructions(QWidget * parent=nullptr);
-  void buildPixmapCache();
-  void updateInstructions(cereal::NavInstruction::Reader instruction);
-};
diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc
deleted file mode 100644
index c4cc20e21d3a75..00000000000000
--- a/selfdrive/ui/qt/maps/map_panel.cc
+++ /dev/null
@@ -1,43 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_panel.h"
-
-#include <QHBoxLayout>
-#include <QWidget>
-
-#include "selfdrive/ui/qt/maps/map.h"
-#include "selfdrive/ui/qt/maps/map_settings.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/ui.h"
-
-MapPanel::MapPanel(const QMapLibre::Settings &mapboxSettings, QWidget *parent) : QFrame(parent) {
-  content_stack = new QStackedLayout(this);
-  content_stack->setContentsMargins(0, 0, 0, 0);
-
-  auto map = new MapWindow(mapboxSettings);
-  QObject::connect(uiState(), &UIState::offroadTransition, map, &MapWindow::offroadTransition);
-  QObject::connect(device(), &Device::interactiveTimeout, this, [=]() {
-    content_stack->setCurrentIndex(0);
-  });
-  QObject::connect(map, &MapWindow::requestVisible, this, [=](bool visible) {
-    // when we show the map for a new route, signal HomeWindow to hide the sidebar
-    if (visible) { emit mapPanelRequested(); }
-    setVisible(visible);
-  });
-  QObject::connect(map, &MapWindow::requestSettings, this, [=](bool settings) {
-    content_stack->setCurrentIndex(settings ? 1 : 0);
-  });
-  content_stack->addWidget(map);
-
-  auto settings = new MapSettings(true, parent);
-  QObject::connect(settings, &MapSettings::closeSettings, this, [=]() {
-    content_stack->setCurrentIndex(0);
-  });
-  content_stack->addWidget(settings);
-}
-
-void MapPanel::toggleMapSettings() {
-  // show settings if not visible, then toggle between map and settings
-  int new_index = isVisible() ? (1 - content_stack->currentIndex()) : 1;
-  content_stack->setCurrentIndex(new_index);
-  emit mapPanelRequested();
-  show();
-}
diff --git a/selfdrive/ui/qt/maps/map_panel.h b/selfdrive/ui/qt/maps/map_panel.h
deleted file mode 100644
index 190bb634464db5..00000000000000
--- a/selfdrive/ui/qt/maps/map_panel.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#pragma once
-
-#include <QFrame>
-#include <QMapLibre/Settings>
-#include <QStackedLayout>
-
-class MapPanel : public QFrame {
-  Q_OBJECT
-
-public:
-  explicit MapPanel(const QMapLibre::Settings &settings, QWidget *parent = nullptr);
-
-signals:
-  void mapPanelRequested();
-
-public slots:
-  void toggleMapSettings();
-
-private:
-  QStackedLayout *content_stack;
-};
diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc
deleted file mode 100644
index 4d655be36cd81f..00000000000000
--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ /dev/null
@@ -1,385 +0,0 @@
-#include "selfdrive/ui/qt/maps/map_settings.h"
-
-#include <utility>
-
-#include <QApplication>
-#include <QDebug>
-
-#include "common/util.h"
-#include "selfdrive/ui/qt/request_repeater.h"
-#include "selfdrive/ui/qt/widgets/scrollview.h"
-
-static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); }
-
-static bool locationEqual(const QJsonValue &v1, const QJsonValue &v2) {
-  return v1["latitude"] == v2["latitude"] && v1["longitude"] == v2["longitude"];
-}
-
-static qint64 convertTimestampToEpoch(const QString &timestamp) {
-  QDateTime dt = QDateTime::fromString(timestamp, Qt::ISODate);
-  return dt.isValid() ? dt.toSecsSinceEpoch() : 0;
-}
-
-MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
-  setContentsMargins(0, 0, 0, 0);
-  setAttribute(Qt::WA_NoMousePropagation);
-
-  auto *frame = new QVBoxLayout(this);
-  frame->setContentsMargins(40, 40, 40, 0);
-  frame->setSpacing(0);
-
-  auto *heading_frame = new QHBoxLayout;
-  heading_frame->setContentsMargins(0, 0, 0, 0);
-  heading_frame->setSpacing(32);
-  {
-    if (closeable) {
-      auto *close_btn = new QPushButton("←");
-      close_btn->setStyleSheet(R"(
-        QPushButton {
-          color: #FFFFFF;
-          font-size: 100px;
-          padding-bottom: 8px;
-          border 1px grey solid;
-          border-radius: 70px;
-          background-color: #292929;
-          font-weight: 500;
-        }
-        QPushButton:pressed {
-          background-color: #3B3B3B;
-        }
-      )");
-      close_btn->setFixedSize(140, 140);
-      QObject::connect(close_btn, &QPushButton::clicked, [=]() { emit closeSettings(); });
-      // TODO: read map_on_left from ui state
-      heading_frame->addWidget(close_btn);
-    }
-
-    auto *heading = new QVBoxLayout;
-    heading->setContentsMargins(0, 0, 0, 0);
-    heading->setSpacing(16);
-    {
-      auto *title = new QLabel(tr("NAVIGATION"), this);
-      title->setStyleSheet("color: #FFFFFF; font-size: 54px; font-weight: 600;");
-      heading->addWidget(title);
-
-      auto *subtitle = new QLabel(tr("Manage at connect.comma.ai"), this);
-      subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;");
-      heading->addWidget(subtitle);
-    }
-    heading_frame->addLayout(heading, 1);
-  }
-  frame->addLayout(heading_frame);
-  frame->addSpacing(32);
-
-  current_widget = new DestinationWidget(this);
-  QObject::connect(current_widget, &DestinationWidget::actionClicked,
-                   []() { NavManager::instance()->setCurrentDestination({}); });
-  frame->addWidget(current_widget);
-  frame->addSpacing(32);
-
-  QWidget *destinations_container = new QWidget(this);
-  destinations_layout = new QVBoxLayout(destinations_container);
-  destinations_layout->setContentsMargins(0, 32, 0, 32);
-  destinations_layout->setSpacing(20);
-  destinations_layout->addWidget(home_widget = new DestinationWidget(this));
-  destinations_layout->addWidget(work_widget = new DestinationWidget(this));
-  QObject::connect(home_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
-  QObject::connect(work_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
-  destinations_layout->addStretch();
-
-  ScrollView *destinations_scroller = new ScrollView(destinations_container, this);
-  destinations_scroller->setFrameShape(QFrame::NoFrame);
-  frame->addWidget(destinations_scroller);
-
-  setStyleSheet("MapSettings { background-color: #333333; }");
-  QObject::connect(NavManager::instance(), &NavManager::updated, this, &MapSettings::refresh);
-}
-
-void MapSettings::showEvent(QShowEvent *event) {
-  refresh();
-}
-
-void MapSettings::refresh() {
-  if (!isVisible()) return;
-
-  setUpdatesEnabled(false);
-
-  auto get_w = [this](int i) {
-    auto w = i < widgets.size() ? widgets[i] : widgets.emplace_back(new DestinationWidget);
-    if (!w->parentWidget()) {
-      destinations_layout->insertWidget(destinations_layout->count() - 1, w);
-      QObject::connect(w, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
-    }
-    return w;
-  };
-
-  const auto current_dest = NavManager::instance()->currentDestination();
-  if (!current_dest.isEmpty()) {
-    current_widget->set(current_dest, true);
-  } else {
-    current_widget->unset("", true);
-  }
-  home_widget->unset(NAV_FAVORITE_LABEL_HOME);
-  work_widget->unset(NAV_FAVORITE_LABEL_WORK);
-
-  int n = 0;
-  for (auto location : NavManager::instance()->currentLocations()) {
-    DestinationWidget *w = nullptr;
-    auto dest = location.toObject();
-    if (dest["save_type"].toString() == NAV_TYPE_FAVORITE) {
-      auto label = dest["label"].toString();
-      if (label == NAV_FAVORITE_LABEL_HOME) w = home_widget;
-      if (label == NAV_FAVORITE_LABEL_WORK) w = work_widget;
-    }
-    w = w ? w : get_w(n++);
-    w->set(dest, false);
-    w->setVisible(!locationEqual(dest, current_dest));
-  }
-  for (; n < widgets.size(); ++n) widgets[n]->setVisible(false);
-
-  setUpdatesEnabled(true);
-}
-
-void MapSettings::navigateTo(const QJsonObject &place) {
-  NavManager::instance()->setCurrentDestination(place);
-  emit closeSettings();
-}
-
-DestinationWidget::DestinationWidget(QWidget *parent) : QPushButton(parent) {
-  setContentsMargins(0, 0, 0, 0);
-
-  auto *frame = new QHBoxLayout(this);
-  frame->setContentsMargins(32, 24, 32, 24);
-  frame->setSpacing(32);
-
-  icon = new QLabel(this);
-  icon->setAlignment(Qt::AlignCenter);
-  icon->setFixedSize(96, 96);
-  icon->setObjectName("icon");
-  frame->addWidget(icon);
-
-  auto *inner_frame = new QVBoxLayout;
-  inner_frame->setContentsMargins(0, 0, 0, 0);
-  inner_frame->setSpacing(0);
-  {
-    title = new ElidedLabel(this);
-    title->setAttribute(Qt::WA_TransparentForMouseEvents);
-    inner_frame->addWidget(title);
-
-    subtitle = new ElidedLabel(this);
-    subtitle->setAttribute(Qt::WA_TransparentForMouseEvents);
-    subtitle->setObjectName("subtitle");
-    inner_frame->addWidget(subtitle);
-  }
-  frame->addLayout(inner_frame, 1);
-
-  action = new QPushButton(this);
-  action->setFixedSize(96, 96);
-  action->setObjectName("action");
-  action->setStyleSheet("font-size: 65px; font-weight: 600;");
-  QObject::connect(action, &QPushButton::clicked, this, &QPushButton::clicked);
-  QObject::connect(action, &QPushButton::clicked, this,  &DestinationWidget::actionClicked);
-  frame->addWidget(action);
-
-  setFixedHeight(164);
-  setStyleSheet(R"(
-    DestinationWidget { background-color: #202123; border-radius: 10px; }
-    QLabel { color: #FFFFFF; font-size: 48px; font-weight: 400; }
-    #icon { background-color: #3B4356; border-radius: 48px; }
-    #subtitle { color: #9BA0A5; }
-    #action { border: none; border-radius: 48px; color: #FFFFFF; padding-bottom: 4px; }
-
-    /* current destination */
-    [current="true"] { background-color: #E8E8E8; }
-    [current="true"] QLabel { color: #000000; }
-    [current="true"] #icon { background-color: #42906B; }
-    [current="true"] #subtitle { color: #333333; }
-    [current="true"] #action { color: #202123; }
-
-    /* no saved destination */
-    [set="false"] QLabel { color: #9BA0A5; }
-    [current="true"][set="false"] QLabel { color: #A0000000; }
-
-    /* pressed */
-    [current="false"]:pressed { background-color: #18191B; }
-    [current="true"] #action:pressed { background-color: #D6D6D6; }
-  )");
-  QObject::connect(this, &QPushButton::clicked, [this]() { if (!dest.isEmpty()) emit navigateTo(dest); });
-}
-
-void DestinationWidget::set(const QJsonObject &destination, bool current) {
-  if (dest == destination) return;
-
-  dest = destination;
-  setProperty("current", current);
-  setProperty("set", true);
-
-  auto icon_pixmap = current ? icons().directions : icons().recent;
-  auto title_text = destination["place_name"].toString();
-  auto subtitle_text = destination["place_details"].toString();
-
-  if (destination["save_type"] == NAV_TYPE_FAVORITE) {
-    if (destination["label"] == NAV_FAVORITE_LABEL_HOME) {
-      icon_pixmap = icons().home;
-      subtitle_text = title_text + ", " + subtitle_text;
-      title_text = tr("Home");
-    } else if (destination["label"] == NAV_FAVORITE_LABEL_WORK) {
-      icon_pixmap = icons().work;
-      subtitle_text = title_text + ", " + subtitle_text;
-      title_text = tr("Work");
-    } else {
-      icon_pixmap = icons().favorite;
-    }
-  }
-
-  icon->setPixmap(icon_pixmap);
-
-  title->setText(title_text);
-  subtitle->setText(subtitle_text);
-  subtitle->setVisible(true);
-
-  // TODO: use pixmap
-  action->setAttribute(Qt::WA_TransparentForMouseEvents, !current);
-  action->setText(current ? "×" : "→");
-  action->setVisible(true);
-
-  setStyleSheet(styleSheet());
-}
-
-void DestinationWidget::unset(const QString &label, bool current) {
-  dest = {};
-  setProperty("current", current);
-  setProperty("set", false);
-
-  if (label.isEmpty()) {
-    icon->setPixmap(icons().directions);
-    title->setText(tr("No destination set"));
-  } else {
-    QString title_text = label == NAV_FAVORITE_LABEL_HOME ? tr("home") : tr("work");
-    icon->setPixmap(label == NAV_FAVORITE_LABEL_HOME ? icons().home : icons().work);
-    title->setText(tr("No %1 location set").arg(title_text));
-  }
-
-  subtitle->setVisible(false);
-  action->setVisible(false);
-
-  setStyleSheet(styleSheet());
-  setVisible(true);
-}
-
-// singleton NavManager
-
-NavManager *NavManager::instance() {
-  static NavManager *request = new NavManager(qApp);
-  return request;
-}
-
-NavManager::NavManager(QObject *parent) : QObject(parent) {
-  locations = QJsonDocument::fromJson(params.get("NavPastDestinations").c_str()).array();
-  current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object();
-  if (auto dongle_id = getDongleId()) {
-    {
-      // Fetch favorite and recent locations
-      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations";
-      RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true);
-      QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavManager::parseLocationsResponse);
-    }
-    {
-      auto param_watcher = new ParamWatcher(this);
-      QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavManager::updated);
-
-      // Destination set while offline
-      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next";
-      HttpRequest *deleter = new HttpRequest(this);
-      RequestRepeater *repeater = new RequestRepeater(this, url, "", 10, true);
-      QObject::connect(repeater, &RequestRepeater::requestDone, [=](const QString &resp, bool success) {
-        if (success && resp != "null") {
-          if (params.get("NavDestination").empty()) {
-            qWarning() << "Setting NavDestination from /next" << resp;
-            params.put("NavDestination", resp.toStdString());
-          } else {
-            qWarning() << "Got location from /next, but NavDestination already set";
-          }
-          // Send DELETE to clear destination server side
-          deleter->sendRequest(url, HttpRequest::Method::DELETE);
-        }
-
-        // athena can set destination at any time
-        param_watcher->addParam("NavDestination");
-        current_dest = QJsonDocument::fromJson(params.get("NavDestination").c_str()).object();
-        emit updated();
-      });
-    }
-  }
-}
-
-void NavManager::parseLocationsResponse(const QString &response, bool success) {
-  if (!success || response == prev_response) return;
-
-  prev_response = response;
-  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
-  if (doc.isNull()) {
-    qWarning() << "JSON Parse failed on navigation locations" << response;
-    return;
-  }
-
-  // set last activity time.
-  auto remote_locations = doc.array();
-  for (QJsonValueRef loc : remote_locations) {
-    auto obj = loc.toObject();
-    auto serverTime = convertTimestampToEpoch(obj["modified"].toString());
-    obj.insert("time", qMax(serverTime, getLastActivity(obj)));
-    loc = obj;
-  }
-
-  locations = remote_locations;
-  sortLocations();
-  emit updated();
-}
-
-void NavManager::sortLocations() {
-  // Sort: alphabetical FAVORITES, and then most recent.
-  // We don't need to care about the ordering of HOME and WORK. DestinationWidget always displays them at the top.
-  std::stable_sort(locations.begin(), locations.end(), [](const QJsonValue &a, const QJsonValue &b) {
-    if (a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE) {
-      return (std::tuple(a["save_type"].toString(), a["place_name"].toString()) <
-              std::tuple(b["save_type"].toString(), b["place_name"].toString()));
-    } else {
-      return a["time"].toVariant().toLongLong() > b["time"].toVariant().toLongLong();
-    }
-  });
-
-  write_param_future = std::async(std::launch::async, [destinations = QJsonArray(locations)]() {
-    Params().put("NavPastDestinations", QJsonDocument(destinations).toJson().toStdString());
-  });
-}
-
-qint64 NavManager::getLastActivity(const QJsonObject &loc) const {
-  qint64 last_activity = 0;
-  auto it = std::find_if(locations.begin(), locations.end(),
-                         [&loc](const QJsonValue &l) { return locationEqual(loc, l); });
-  if (it != locations.end()) {
-    auto tm = it->toObject().value("time");
-    if (!tm.isUndefined() && !tm.isNull()) {
-      last_activity = tm.toVariant().toLongLong();
-    }
-  }
-  return last_activity;
-}
-
-void NavManager::setCurrentDestination(const QJsonObject &loc) {
-  current_dest = loc;
-  if (!current_dest.isEmpty()) {
-    current_dest["time"] = QDateTime::currentSecsSinceEpoch();
-    auto it = std::find_if(locations.begin(), locations.end(),
-                           [&loc](const QJsonValue &l) { return locationEqual(loc, l); });
-    if (it != locations.end()) {
-      *it = current_dest;
-      sortLocations();
-    }
-    params.put("NavDestination", QJsonDocument(current_dest).toJson().toStdString());
-  } else {
-    params.remove("NavDestination");
-  }
-  emit updated();
-}
diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h
deleted file mode 100644
index 0e151df4ad4ccd..00000000000000
--- a/selfdrive/ui/qt/maps/map_settings.h
+++ /dev/null
@@ -1,102 +0,0 @@
-#pragma once
-
-#include <future>
-#include <vector>
-
-#include <QFrame>
-#include <QJsonArray>
-#include <QJsonDocument>
-#include <QJsonObject>
-#include <QLabel>
-#include <QPushButton>
-#include <QVBoxLayout>
-
-#include "common/params.h"
-#include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
-
-const QString NAV_TYPE_FAVORITE = "favorite";
-const QString NAV_TYPE_RECENT = "recent";
-
-const QString NAV_FAVORITE_LABEL_HOME = "home";
-const QString NAV_FAVORITE_LABEL_WORK = "work";
-
-class DestinationWidget;
-
-class NavManager : public QObject {
-  Q_OBJECT
-
-public:
-  static NavManager *instance();
-  QJsonArray currentLocations() const { return locations; }
-  QJsonObject currentDestination() const { return current_dest; }
-  void setCurrentDestination(const QJsonObject &loc);
-  qint64 getLastActivity(const QJsonObject &loc) const;
-
-signals:
-  void updated();
-
-private:
-  NavManager(QObject *parent);
-  void parseLocationsResponse(const QString &response, bool success);
-  void sortLocations();
-
-  Params params;
-  QString prev_response;
-  QJsonArray locations;
-  QJsonObject current_dest;
-  std::future<void> write_param_future;
-};
-
-class MapSettings : public QFrame {
-  Q_OBJECT
-public:
-  explicit MapSettings(bool closeable = false, QWidget *parent = nullptr);
-  void navigateTo(const QJsonObject &place);
-
-private:
-  void showEvent(QShowEvent *event) override;
-  void refresh();
-
-  QVBoxLayout *destinations_layout;
-  DestinationWidget *current_widget;
-  DestinationWidget *home_widget;
-  DestinationWidget *work_widget;
-  std::vector<DestinationWidget *> widgets;
-
-signals:
-  void closeSettings();
-};
-
-class DestinationWidget : public QPushButton {
-  Q_OBJECT
-public:
-  explicit DestinationWidget(QWidget *parent = nullptr);
-  void set(const QJsonObject &location, bool current = false);
-  void unset(const QString &label, bool current = false);
-
-signals:
-  void actionClicked();
-  void navigateTo(const QJsonObject &destination);
-
-private:
-  struct NavIcons {
-    QPixmap home, work, favorite, recent, directions;
-  };
-
-  static NavIcons icons() {
-    static NavIcons nav_icons {
-      loadPixmap("../assets/navigation/icon_home.svg", {48, 48}),
-      loadPixmap("../assets/navigation/icon_work.svg", {48, 48}),
-      loadPixmap("../assets/navigation/icon_favorite.svg", {48, 48}),
-      loadPixmap("../assets/navigation/icon_recent.svg", {48, 48}),
-      loadPixmap("../assets/navigation/icon_directions.svg", {48, 48}),
-    };
-    return nav_icons;
-  }
-
-private:
-  QLabel *icon, *title, *subtitle;
-  QPushButton *action;
-  QJsonObject dest;
-};
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 96fe6585cc81e9..dc60d40e4825a9 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -69,20 +69,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       tr("Display speed in km/h instead of mph."),
       "../assets/offroad/icon_metric.png",
     },
-#ifdef ENABLE_MAPS
-    {
-      "NavSettingTime24h",
-      tr("Show ETA in 24h Format"),
-      tr("Use 24h format instead of am/pm"),
-      "../assets/offroad/icon_metric.png",
-    },
-    {
-      "NavSettingLeftSide",
-      tr("Show Map on Left Side of UI"),
-      tr("Show map on left side when in split screen view."),
-      "../assets/offroad/icon_road.png",
-    },
-#endif
   };
 
 
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index 241bb6ed343ded..484075b3e23c65 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -20,9 +20,6 @@ AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* par
   experimental_btn = new ExperimentalButton(this);
   main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
 
-  map_settings_btn = new MapSettingsButton(this);
-  main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
-
   dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
 }
 
@@ -31,16 +28,16 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
   const bool cs_alive = sm.alive("controlsState");
-  const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid();
   const auto cs = sm["controlsState"].getControlsState();
   const auto car_state = sm["carState"].getCarState();
-  const auto nav_instruction = sm["navInstruction"].getNavInstruction();
+
+  is_metric = s.scene.is_metric;
 
   // Handle older routes where vCruiseCluster is not set
   float v_cruise = cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
   setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
   is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
-  if (is_cruise_set && !s.scene.is_metric) {
+  if (is_cruise_set && !is_metric) {
     setSpeed *= KM_TO_MILE;
   }
 
@@ -48,16 +45,9 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
   float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
   speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
-  speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
-
-  auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
-  speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
-  speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
+  speed *= is_metric ? MS_TO_KPH : MS_TO_MPH;
 
-  has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
-  has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
-  is_metric = s.scene.is_metric;
-  speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
+  speedUnit = is_metric ? tr("km/h") : tr("mph");
   hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
   status = s.status;
 
@@ -70,12 +60,6 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
   rightHandDM = dm_state.getIsRHD();
   // DM icon transition
   dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0);
-
-  // hide map settings button for alerts and flip for right hand DM
-  if (map_settings_btn->isEnabled()) {
-    map_settings_btn->setVisible(!hideBottomIcons);
-    main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
-  }
 }
 
 void AnnotatedCameraWidget::drawHud(QPainter &p) {
@@ -87,30 +71,18 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
   p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg);
 
-  QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
   QString speedStr = QString::number(std::nearbyint(speed));
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed)) : "–";
 
-  // Draw outer box + border to contain set speed and speed limit
-  const int sign_margin = 12;
-  const int us_sign_height = 186;
-  const int eu_sign_size = 176;
-
+  // Draw outer box + border to contain set speed
   const QSize default_size = {172, 204};
   QSize set_speed_size = default_size;
-  if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
-  if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
-
-  if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
-  else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
-
-  int top_radius = 32;
-  int bottom_radius = has_eu_speed_limit ? 100 : 32;
+  if (is_metric) set_speed_size.rwidth() = 200;
 
   QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
   p.setPen(QPen(whiteColor(75), 6));
   p.setBrush(blackColor(166));
-  drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
+  p.drawRoundedRect(set_speed_rect, 32, 32);
 
   // Draw MAX
   QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
@@ -120,12 +92,6 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
       max_color = whiteColor();
     } else if (status == STATUS_OVERRIDE) {
       max_color = QColor(0x91, 0x9b, 0x95, 0xff);
-    } else if (speedLimit > 0) {
-      auto interp_color = [=](QColor c1, QColor c2, QColor c3) {
-        return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1;
-      };
-      max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf));
-      set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00));
     }
   } else {
     max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
@@ -138,35 +104,6 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   p.setPen(set_speed_color);
   p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
 
-  const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
-  // US/Canada (MUTCD style) sign
-  if (has_us_speed_limit) {
-    p.setPen(Qt::NoPen);
-    p.setBrush(whiteColor());
-    p.drawRoundedRect(sign_rect, 24, 24);
-    p.setPen(QPen(blackColor(), 6));
-    p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
-
-    p.setFont(InterFont(28, QFont::DemiBold));
-    p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
-    p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
-    p.setFont(InterFont(70, QFont::Bold));
-    p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
-  }
-
-  // EU (Vienna style) sign
-  if (has_eu_speed_limit) {
-    p.setPen(Qt::NoPen);
-    p.setBrush(whiteColor());
-    p.drawEllipse(sign_rect);
-    p.setPen(QPen(Qt::red, 20));
-    p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));
-
-    p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
-    p.setPen(blackColor());
-    p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
-  }
-
   // current speed
   p.setFont(InterFont(176, QFont::Bold));
   drawText(p, rect().center().x(), 210, speedStr);
@@ -240,10 +177,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
 
     for (int i = 0; i < max_len; ++i) {
       // Some points are out of frame
-      if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue;
+      int track_idx = (scene.track_vertices.length() / 2) - i;  // flip idx to start from top
+      if (scene.track_vertices[track_idx].y() < 0 || scene.track_vertices[track_idx].y() > height()) continue;
 
       // Flip so 0 is bottom of frame
-      float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
+      float lin_grad_point = (height() - scene.track_vertices[track_idx].y()) / height();
 
       // speed up: 120, slow down: 0
       float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index 0be4adfffa68dd..465ba23e049636 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -13,8 +13,6 @@ class AnnotatedCameraWidget : public CameraWidget {
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
   void updateState(const UIState &s);
 
-  MapSettingsButton *map_settings_btn;
-
 private:
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
 
@@ -24,15 +22,12 @@ class AnnotatedCameraWidget : public CameraWidget {
   float speed;
   QString speedUnit;
   float setSpeed;
-  float speedLimit;
   bool is_cruise_set = false;
   bool is_metric = false;
   bool dmActive = false;
   bool hideBottomIcons = false;
   bool rightHandDM = false;
   float dm_fade_state = 1.0;
-  bool has_us_speed_limit = false;
-  bool has_eu_speed_limit = false;
   bool v_ego_cluster_seen = false;
   int status = STATUS_DISENGAGED;
   std::unique_ptr<PubMaster> pm;
diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc
index 75ec3161740d7a..92bcea11b5c3f4 100644
--- a/selfdrive/ui/qt/onroad/buttons.cc
+++ b/selfdrive/ui/qt/onroad/buttons.cc
@@ -47,18 +47,3 @@ void ExperimentalButton::paintEvent(QPaintEvent *event) {
   QPixmap img = experimental_mode ? experimental_img : engage_img;
   drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
 }
-
-// MapSettingsButton
-MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
-  setFixedSize(btn_size, btn_size);
-  settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});
-
-  // hidden by default, made visible if map is created (has prime or mapbox token)
-  setVisible(false);
-  setEnabled(false);
-}
-
-void MapSettingsButton::paintEvent(QPaintEvent *event) {
-  QPainter p(this);
-  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0);
-}
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
index b0757795fb56d8..9c91bc3c7b649f 100644
--- a/selfdrive/ui/qt/onroad/buttons.h
+++ b/selfdrive/ui/qt/onroad/buttons.h
@@ -25,17 +25,4 @@ class ExperimentalButton : public QPushButton {
   bool engageable;
 };
 
-
-class MapSettingsButton : public QPushButton {
-  Q_OBJECT
-
-public:
-  explicit MapSettingsButton(QWidget *parent = 0);
-
-private:
-  void paintEvent(QPaintEvent *event) override;
-
-  QPixmap settings_img;
-};
-
 void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity);
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 66eb1812e63a94..823e14bf3c58a4 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -3,11 +3,6 @@
 #include <QPainter>
 #include <QStackedLayout>
 
-#ifdef ENABLE_MAPS
-#include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/qt/maps/map_panel.h"
-#endif
-
 #include "selfdrive/ui/qt/util.h"
 
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
@@ -30,11 +25,6 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
     split->insertWidget(0, arCam);
   }
 
-  if (getenv("MAP_RENDER_VIEW")) {
-    CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
-    split->insertWidget(0, map_render);
-  }
-
   stacked_layout->addWidget(split_wrapper);
 
   alerts = new OnroadAlerts(this);
@@ -47,7 +37,6 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
-  QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged);
 }
 
 void OnroadWindow::updateState(const UIState &s) {
@@ -55,12 +44,6 @@ void OnroadWindow::updateState(const UIState &s) {
     return;
   }
 
-  if (s.scene.map_on_left) {
-    split->setDirection(QBoxLayout::LeftToRight);
-  } else {
-    split->setDirection(QBoxLayout::RightToLeft);
-  }
-
   alerts->updateState(s);
   nvg->updateState(s);
 
@@ -72,57 +55,10 @@ void OnroadWindow::updateState(const UIState &s) {
   }
 }
 
-void OnroadWindow::mousePressEvent(QMouseEvent* e) {
-#ifdef ENABLE_MAPS
-  if (map != nullptr) {
-    bool sidebarVisible = geometry().x() > 0;
-    bool show_map = !sidebarVisible;
-    map->setVisible(show_map && !map->isVisible());
-  }
-#endif
-  // propagation event to parent(HomeWindow)
-  QWidget::mousePressEvent(e);
-}
-
-void OnroadWindow::createMapWidget() {
-#ifdef ENABLE_MAPS
-  auto m = new MapPanel(get_mapbox_settings());
-  map = m;
-  QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
-  QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
-  nvg->map_settings_btn->setEnabled(true);
-
-  m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
-  split->insertWidget(0, m);
-  // hidden by default, made visible when navRoute is published
-  m->setVisible(false);
-#endif
-}
-
 void OnroadWindow::offroadTransition(bool offroad) {
-#ifdef ENABLE_MAPS
-  if (!offroad) {
-    if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) {
-      createMapWidget();
-    }
-  }
-#endif
   alerts->clear();
 }
 
-void OnroadWindow::primeChanged(bool prime) {
-#ifdef ENABLE_MAPS
-  if (map && (!prime && MAPBOX_TOKEN.isEmpty())) {
-    nvg->map_settings_btn->setEnabled(false);
-    nvg->map_settings_btn->setVisible(false);
-    map->deleteLater();
-    map = nullptr;
-  } else if (!map && (prime || !MAPBOX_TOKEN.isEmpty())) {
-    createMapWidget();
-  }
-#endif
-}
-
 void OnroadWindow::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   p.fillRect(rect(), QColor(bg.red(), bg.green(), bg.blue(), 255));
diff --git a/selfdrive/ui/qt/onroad/onroad_home.h b/selfdrive/ui/qt/onroad/onroad_home.h
index 4976f56a67cace..c321d2d44f479c 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.h
+++ b/selfdrive/ui/qt/onroad/onroad_home.h
@@ -8,24 +8,15 @@ class OnroadWindow : public QWidget {
 
 public:
   OnroadWindow(QWidget* parent = 0);
-  bool isMapVisible() const { return map && map->isVisible(); }
-  void showMapPanel(bool show) { if (map) map->setVisible(show); }
-
-signals:
-  void mapPanelRequested();
 
 private:
-  void createMapWidget();
   void paintEvent(QPaintEvent *event);
-  void mousePressEvent(QMouseEvent* e) override;
   OnroadAlerts *alerts;
   AnnotatedCameraWidget *nvg;
   QColor bg = bg_colors[STATUS_DISENGAGED];
-  QWidget *map = nullptr;
   QHBoxLayout* split;
 
 private slots:
   void offroadTransition(bool offroad);
-  void primeChanged(bool prime);
   void updateState(const UIState &s);
 };
diff --git a/selfdrive/ui/qt/qt_window.cc b/selfdrive/ui/qt/qt_window.cc
index f71cea04e9da8c..8d3d7cf72e400f 100644
--- a/selfdrive/ui/qt/qt_window.cc
+++ b/selfdrive/ui/qt/qt_window.cc
@@ -18,7 +18,9 @@ void setMainWindow(QWidget *w) {
   wl_surface *s = reinterpret_cast<wl_surface*>(native->nativeResourceForWindow("surface", w->windowHandle()));
   wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270);
   wl_surface_commit(s);
-  w->showFullScreen();
+
+  w->setWindowState(Qt::WindowFullScreen);
+  w->setVisible(true);
 
   // ensure we have a valid eglDisplay, otherwise the ui will silently fail
   void *egl = native->nativeResourceForWindow("egldisplay", w->windowHandle());
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 0bf5f2865e240a..399a1a98d7b374 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -156,60 +156,6 @@ QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMo
   }
 }
 
-void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom){
-  qreal w_2 = rect.width() / 2;
-  qreal h_2 = rect.height() / 2;
-
-  xRadiusTop = 100 * qMin(xRadiusTop, w_2) / w_2;
-  yRadiusTop = 100 * qMin(yRadiusTop, h_2) / h_2;
-
-  xRadiusBottom = 100 * qMin(xRadiusBottom, w_2) / w_2;
-  yRadiusBottom = 100 * qMin(yRadiusBottom, h_2) / h_2;
-
-  qreal x = rect.x();
-  qreal y = rect.y();
-  qreal w = rect.width();
-  qreal h = rect.height();
-
-  qreal rxx2Top = w*xRadiusTop/100;
-  qreal ryy2Top = h*yRadiusTop/100;
-
-  qreal rxx2Bottom = w*xRadiusBottom/100;
-  qreal ryy2Bottom = h*yRadiusBottom/100;
-
-  QPainterPath path;
-  path.arcMoveTo(x, y, rxx2Top, ryy2Top, 180);
-  path.arcTo(x, y, rxx2Top, ryy2Top, 180, -90);
-  path.arcTo(x+w-rxx2Top, y, rxx2Top, ryy2Top, 90, -90);
-  path.arcTo(x+w-rxx2Bottom, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 0, -90);
-  path.arcTo(x, y+h-ryy2Bottom, rxx2Bottom, ryy2Bottom, 270, -90);
-  path.closeSubpath();
-
-  painter.drawPath(path);
-}
-
-QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp) {
-  assert(xp.size() == fp.size());
-
-  int N = xp.size();
-  int hi = 0;
-
-  while (hi < N and xv > xp[hi]) hi++;
-  int low = hi - 1;
-
-  if (hi == N && xv > xp[low]) {
-    return fp[fp.size() - 1];
-  } else if (hi == 0){
-    return fp[0];
-  } else {
-    return QColor(
-      (xv - xp[low]) * (fp[hi].red() - fp[low].red()) / (xp[hi] - xp[low]) + fp[low].red(),
-      (xv - xp[low]) * (fp[hi].green() - fp[low].green()) / (xp[hi] - xp[low]) + fp[low].green(),
-      (xv - xp[low]) * (fp[hi].blue() - fp[low].blue()) / (xp[hi] - xp[low]) + fp[low].blue(),
-      (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha());
-  }
-}
-
 static QHash<QString, QByteArray> load_bootstrap_icons() {
   QHash<QString, QByteArray> icons;
 
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 2aae97b8602d3e..2bf1a70a62a437 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -26,9 +26,6 @@ void initApp(int argc, char *argv[], bool disable_hidpi = true);
 QWidget* topWidget(QWidget* widget);
 QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
 QPixmap bootstrapPixmap(const QString &id);
-
-void drawRoundedRect(QPainter &painter, const QRectF &rect, qreal xRadiusTop, qreal yRadiusTop, qreal xRadiusBottom, qreal yRadiusBottom);
-QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp);
 bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params);
 
 struct InterFont : public QFont {
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index 2621612f67f432..25712c26c71395 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -155,7 +155,7 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
   main_layout->addWidget(features, 0, Qt::AlignBottom);
   main_layout->addSpacing(30);
 
-  QVector<QString> bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Turn-by-turn navigation")};
+  QVector<QString> bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Remote snapshots")};
   for (auto &b : bullets) {
     const QString check = "<b><font color='#465BEA'>✓</font></b> ";
     QLabel *l = new QLabel(check + b);
@@ -225,9 +225,6 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   content_layout->setContentsMargins(0, 0, 0, 0);
   content_layout->setSpacing(30);
 
-  primeUser = new PrimeUserWidget;
-  content_layout->addWidget(primeUser);
-
   WiFiPromptWidget *wifi_prompt = new WiFiPromptWidget;
   QObject::connect(wifi_prompt, &WiFiPromptWidget::openSettings, this, &SetupWidget::openSettings);
   content_layout->addWidget(wifi_prompt);
@@ -235,7 +232,6 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
 
   mainLayout->addWidget(content);
 
-  primeUser->setVisible(uiState()->hasPrime());
   mainLayout->setCurrentIndex(1);
 
   setStyleSheet(R"(
@@ -277,8 +273,6 @@ void SetupWidget::replyFinished(const QString &response, bool success) {
     mainLayout->setCurrentIndex(0);
   } else {
     popup->reject();
-
-    primeUser->setVisible(uiState()->hasPrime());
     mainLayout->setCurrentIndex(1);
   }
 }
diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h
index 63341c4ceae8d9..eac71bcddb12b7 100644
--- a/selfdrive/ui/qt/widgets/prime.h
+++ b/selfdrive/ui/qt/widgets/prime.h
@@ -66,7 +66,6 @@ class SetupWidget : public QFrame {
 private:
   PairingPopup *popup;
   QStackedWidget *mainLayout;
-  PrimeUserWidget *primeUser;
 
 private slots:
   void replyFinished(const QString &response, bool success);
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index 6c624b66d3ecc8..8e0147f9883243 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -1,6 +1,4 @@
 test
-playsound
-test_sound
 test_translations
 ui_snapshot
 test_ui/report
\ No newline at end of file
diff --git a/selfdrive/ui/tests/playsound.cc b/selfdrive/ui/tests/playsound.cc
deleted file mode 100644
index 6487d0479038c2..00000000000000
--- a/selfdrive/ui/tests/playsound.cc
+++ /dev/null
@@ -1,30 +0,0 @@
-#include <QApplication>
-#include <QSoundEffect>
-#include <QTimer>
-#include <QDebug>
-
-int main(int argc, char **argv) {
-
-  QApplication a(argc, argv);
-
-  QTimer::singleShot(0, [=]{
-    QSoundEffect s;
-    const char *vol = getenv("VOLUME");
-    s.setVolume(vol ? atof(vol) : 1.0);
-    for (int i = 1; i < argc; i++) {
-      QString fn = argv[i];
-      qDebug() << "playing" << fn;
-
-      QEventLoop loop;
-      s.setSource(QUrl::fromLocalFile(fn));
-      QEventLoop::connect(&s, &QSoundEffect::loadedChanged, &loop, &QEventLoop::quit);
-      loop.exec();
-      s.play();
-      QEventLoop::connect(&s, &QSoundEffect::playingChanged, &loop, &QEventLoop::quit);
-      loop.exec();
-    }
-    QCoreApplication::exit();
-  });
-
-  return a.exec();
-}
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index 1d33c103a4d02b..0b1d8424999c5a 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -19,7 +19,6 @@
 from openpilot.common.transformations.camera import DEVICE_CAMERAS
 from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
-from openpilot.tools.webcam.camera import Camera
 
 UI_DELAY = 0.5 # may be slower on CI?
 
@@ -76,7 +75,7 @@ def setup_onroad(click, pm: PubMaster):
 
   time.sleep(0.5) # give time for vipc server to start
 
-  IMG = Camera.bgr2nv12(np.random.randint(0, 255, (d.fcam.width, d.fcam.height, 3), dtype=np.uint8))
+  IMG = np.zeros((int(d.fcam.width*1.5), d.fcam.height), dtype=np.uint8)
   IMG_BYTES = IMG.flatten().tobytes()
 
   cams = ('roadCameraState', 'wideRoadCameraState')
@@ -116,7 +115,7 @@ def setup_onroad_sidebar(click, pm: PubMaster):
 
 TEST_DIR = pathlib.Path(__file__).parent
 
-TEST_OUTPUT_DIR = TEST_DIR / "report"
+TEST_OUTPUT_DIR = TEST_DIR / "report_1"
 SCREENSHOTS_DIR = TEST_OUTPUT_DIR / "screenshots"
 
 
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index 321cdeedd2e0db..132b5088d7e199 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -3,6 +3,7 @@
   "Deutsch": "main_de",
   "Français": "main_fr",
   "Português": "main_pt-BR",
+  "Español": "main_es",
   "Türkçe": "main_tr",
   "العربية": "main_ar",
   "ไทย": "main_th",
diff --git a/selfdrive/ui/translations/main_ar.ts b/selfdrive/ui/translations/main_ar.ts
index d8146723a4dc5c..a8a1f29d233e1b 100644
--- a/selfdrive/ui/translations/main_ar.ts
+++ b/selfdrive/ui/translations/main_ar.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -136,33 +128,6 @@
         <translation>رفض، إلغاء التثبيت %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>المنزل</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>العمل</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>لم يتم ضبط الوجهة</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>المنزل</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>العمل</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>لم يتم ضبط %1 موقع</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -349,47 +314,6 @@
         <translation>جارٍ التثبيت...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>الوصول</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>د</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>س</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>التنقل</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>الإدارة في connect.comma.ai</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>تحميل الخريطة</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>بانتظار GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>بانتظار الطريق</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -568,8 +492,8 @@
         <translation>سنة واحدة من تخزين القرص</translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>التنقل خطوة بخطوة</translation>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -630,22 +554,6 @@
             <numerusform>منذ %n يوم</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>كم</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>م</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>ميل</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>قدم</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>الآن</translation>
@@ -1090,22 +998,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>عند تمكين هذه الميزة، فإن الضغط على دواسة الوقود سيؤدي إلى فك ارتباط openpilot.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>إظهار الوقت المقدر للوصول بصيغة 24 ساعة</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>استخدام صيغة 24 ساعة بدلاً من صباحاً/مساء</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>عرض الخريطة على الجانب الأيسر من واجهة المستخدم</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>عرض الخريطة عل الجانب الأيسر عندما تكون وضعية العرض بطريقة الشاشة المنقسمة.</translation>
-    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation>التحكم الطولي openpilot (ألفا)</translation>
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
index 010aa4d30485cd..0b2b794ac4e913 100644
--- a/selfdrive/ui/translations/main_de.ts
+++ b/selfdrive/ui/translations/main_de.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>Geschwindigkeit</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -136,33 +128,6 @@
         <translation>Ablehnen, deinstallieren %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -345,47 +310,6 @@
         <translation>Installiere...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>Ankunft</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>min</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>std</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Karte wird geladen</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>Warten auf GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -559,11 +483,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
+        <source>1 year of drive storage</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>1 year of drive storage</source>
+        <source>Remote snapshots</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -613,22 +537,6 @@
             <numerusform>vor %n Tagen</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>fuß</translation>
-    </message>
     <message>
         <source>now</source>
         <translation type="unfinished"></translation>
@@ -1070,24 +978,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>Wenn aktiviert, deaktiviert sich Openpilot sobald das Gaspedal betätigt wird.</translation>
     </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>Benutze das 24Stunden Format anstatt am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translatorcomment>Too long for UI</translatorcomment>
-        <translation>Zeige die Karte auf der linken Seite</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Zeige die Karte auf der linken Seite der Benutzeroberfläche bei geteilten Bildschirm.</translation>
-    </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translatorcomment>Too long for UI</translatorcomment>
-        <translation>Zeige die Ankunftszeit im 24 Stunden Format</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Experimenteller Modus</translation>
diff --git a/selfdrive/ui/translations/main_es.ts b/selfdrive/ui/translations/main_es.ts
new file mode 100644
index 00000000000000..c8093e3029dc21
--- /dev/null
+++ b/selfdrive/ui/translations/main_es.ts
@@ -0,0 +1,1147 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="es_ES">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <source>Close</source>
+        <translation>Cerrar</translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation>Posponer Actualización</translation>
+    </message>
+    <message>
+        <source>Reboot and Update</source>
+        <translation>Reiniciar y Actualizar</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <source>Back</source>
+        <translation>Volver</translation>
+    </message>
+    <message>
+        <source>Enable Tethering</source>
+        <translation>Activar Tether</translation>
+    </message>
+    <message>
+        <source>Tethering Password</source>
+        <translation>Contraseña de Tethering</translation>
+    </message>
+    <message>
+        <source>EDIT</source>
+        <translation>EDITAR</translation>
+    </message>
+    <message>
+        <source>Enter new tethering password</source>
+        <translation>Nueva contraseña de tethering</translation>
+    </message>
+    <message>
+        <source>IP Address</source>
+        <translation>Dirección IP</translation>
+    </message>
+    <message>
+        <source>Enable Roaming</source>
+        <translation>Activar Roaming</translation>
+    </message>
+    <message>
+        <source>APN Setting</source>
+        <translation>Configuración de APN</translation>
+    </message>
+    <message>
+        <source>Enter APN</source>
+        <translation>Insertar APN</translation>
+    </message>
+    <message>
+        <source>leave blank for automatic configuration</source>
+        <translation>dejar en blanco para configuración automática</translation>
+    </message>
+    <message>
+        <source>Cellular Metered</source>
+        <translation>Plano de datos limitado</translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered connection</source>
+        <translation>Evitar grandes descargas de datos cuando tenga una conexión limitada</translation>
+    </message>
+    <message>
+        <source>Hidden Network</source>
+        <translation>Red Oculta</translation>
+    </message>
+    <message>
+        <source>CONNECT</source>
+        <translation>CONECTAR</translation>
+    </message>
+    <message>
+        <source>Enter SSID</source>
+        <translation>Ingrese SSID</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Ingrese contraseña</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>para &quot;%1&quot;</translation>
+    </message>
+</context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <source>Ok</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>Debe aceptar los términos y condiciones para poder utilizar openpilot.</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Atrás</translation>
+    </message>
+    <message>
+        <source>Decline, uninstall %1</source>
+        <translation>Rechazar, desinstalar %1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <source>Dongle ID</source>
+        <translation>Dongle ID</translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <source>Serial</source>
+        <translation>Serial</translation>
+    </message>
+    <message>
+        <source>Pair Device</source>
+        <translation>Emparejar Dispositivo</translation>
+    </message>
+    <message>
+        <source>PAIR</source>
+        <translation>EMPAREJAR</translation>
+    </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Empareja tu dispositivo con comma connect (connect.comma.ai) y reclama tu oferta de comma prime.</translation>
+    </message>
+    <message>
+        <source>Driver Camera</source>
+        <translation>Cámara del conductor</translation>
+    </message>
+    <message>
+        <source>PREVIEW</source>
+        <translation>VISUALIZAR</translation>
+    </message>
+    <message>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>Previsualizar la cámara del conductor para garantizar que la monitorización del sistema tenga buena visibilidad (el vehículo tiene que estar apagado)</translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation>Formatear Calibración</translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation>REINICIAR</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>¿Seguro que quiere formatear la calibración?</translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation>Formatear</translation>
+    </message>
+    <message>
+        <source>Review Training Guide</source>
+        <translation>Revisar la Guía de Entrenamiento</translation>
+    </message>
+    <message>
+        <source>REVIEW</source>
+        <translation>REVISAR</translation>
+    </message>
+    <message>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>Revisar las reglas, características y limitaciones de openpilot</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>¿Seguro que quiere revisar la guía de entrenamiento?</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation>Revisar</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation>Regulador</translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation>VER</translation>
+    </message>
+    <message>
+        <source>Change Language</source>
+        <translation>Cambiar Idioma</translation>
+    </message>
+    <message>
+        <source>CHANGE</source>
+        <translation>CAMBIAR</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation>Seleccione el idioma</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation>Apagar</translation>
+    </message>
+    <message>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot requiere que el dispositivo sea montado entre 4° grados a la izquierda o derecha y entre 5° grados hacia arriba o 9° grados hacia abajo. openpilot está constantemente en calibración, formatear rara vez es necesario.</translation>
+    </message>
+    <message>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> Su dispositivo está apuntando %1° %2 y %3° %4.</translation>
+    </message>
+    <message>
+        <source>down</source>
+        <translation>abajo</translation>
+    </message>
+    <message>
+        <source>up</source>
+        <translation>arriba</translation>
+    </message>
+    <message>
+        <source>left</source>
+        <translation>izquierda</translation>
+    </message>
+    <message>
+        <source>right</source>
+        <translation>derecha</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reboot?</source>
+        <translation>¿Seguro qué quiere reiniciar?</translation>
+    </message>
+    <message>
+        <source>Disengage to Reboot</source>
+        <translation>Desactivar para Reiniciar</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to power off?</source>
+        <translation>¿Seguro qué quiere apagar?</translation>
+    </message>
+    <message>
+        <source>Disengage to Power Off</source>
+        <translation>Desactivar para apagar</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewWindow</name>
+    <message>
+        <source>camera starting</source>
+        <translation>iniciando cámara</translation>
+    </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
+    <message>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>MODO EXPERIMENTAL</translation>
+    </message>
+    <message>
+        <source>CHILL MODE ON</source>
+        <translation>MODO CHILL</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>¡Necesita mínimo %n caracter!</numerusform>
+            <numerusform>¡Necesita mínimo %n caracteres!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <source>Installing...</source>
+        <translation>Instalando...</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>Seleccionar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>Avanzado</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Ingresar contraseña</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>para &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>Contraseña incorrecta</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>La temperatura del dispositivo es muy alta. El sistema se está enfriando antes de iniciar. Temperatura actual del componente interno: %1</translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>Conéctese inmediatamente al internet para buscar actualizaciones. Si no se conecta al internet, openpilot no iniciará en %1</translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>Conectese al internet para buscar actualizaciones. openpilot no iniciará automáticamente hasta conectarse al internet para buscar actualizaciones.</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>Incapaz de descargar actualizaciones.
+%1</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Tomando capturas de las cámaras. El sistema no se iniciará hasta que finalice.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>Se está descargando una actualización del sistema operativo de su dispositivo en segundo plano. Se le pedirá que actualice cuando esté listo para instalarse.</translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>El dispositivo no pudo registrarse. No se conectará ni subirá datos a los servidores de comma.ai y no recibe soporte de comma.ai. Si este es un dispositivo oficial, visite https://comma.ai/support.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>Unidad NVMe no montada.</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>Se detectó una unidad NVMe incompatible. El dispositivo puede consumir mucha más energía y sobrecalentarse debido a esto.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot no pudo identificar su automóvil. Su automóvil no es compatible o no se reconocen sus ECU. Por favor haga un pull request para agregar las versiones de firmware del vehículo adecuado. ¿Necesita ayuda? Únase a discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot no pudo identificar su automóvil. Verifique la integridad de los cables y asegúrese de que todas las conexiones estén seguras, en particular que el comma power esté completamente insertado en el puerto OBD-II del vehículo. ¿Necesita ayuda? Únase discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot detectó un cambio en la posición de montaje del dispositivo. Asegúrese de que el dispositivo esté completamente asentado en el soporte y que el soporte esté firmemente asegurado al parabrisas.</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>ACTUALIZAR</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> ALERTAS</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> ALERTA</translation>
+    </message>
+</context>
+<context>
+    <name>OnroadAlerts</name>
+    <message>
+        <source>openpilot Unavailable</source>
+        <translation>openpilot no disponible</translation>
+    </message>
+    <message>
+        <source>Waiting for controls to start</source>
+        <translation>Esperando que los controles inicien</translation>
+    </message>
+    <message>
+        <source>TAKE CONTROL IMMEDIATELY</source>
+        <translation>TOME CONTROL INMEDIATAMENTE</translation>
+    </message>
+    <message>
+        <source>Controls Unresponsive</source>
+        <translation>Controles no responden</translation>
+    </message>
+    <message>
+        <source>Reboot Device</source>
+        <translation>Reiniciar Dispositivo</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>Empareje su dispositivo con su cuenta de comma</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>Vaya a https://connect.comma.ai en su teléfono</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>Seleccione &quot;agregar nuevo dispositivo&quot; y escanee el código QR a la derecha</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>Añada connect.comma.ai a su pantalla de inicio para usarlo como una aplicación</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Enable</source>
+        <translation>Activar</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <source>Upgrade Now</source>
+        <translation>Actualizar Ahora</translation>
+    </message>
+    <message>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>Hazte miembro de comma prime en connect.comma.ai</translation>
+    </message>
+    <message>
+        <source>PRIME FEATURES:</source>
+        <translation>BENEFICIOS PRIME:</translation>
+    </message>
+    <message>
+        <source>Remote access</source>
+        <translation>Acceso remoto</translation>
+    </message>
+    <message>
+        <source>24/7 LTE connectivity</source>
+        <translation>Conectividad LTE 24/7</translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation>1 año de almacenamiento</translation>
+    </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation>Capturas remotas</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ SUSCRITO</translation>
+    </message>
+    <message>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Exit</source>
+        <translation>Salir</translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <source>now</source>
+        <translation>ahora</translation>
+    </message>
+    <message numerus="yes">
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>hace %n min</numerusform>
+            <numerusform>hace %n mins</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>hace %n hora</numerusform>
+            <numerusform>hace %n horas</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>hace %n día</numerusform>
+            <numerusform>hace %n días</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>Formateo fallido. Reinicie para reintentar.</translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>formateando dispositivo...
+Esto puede tardar un minuto.</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>¿Seguro que quiere formatear su dispositivo?</translation>
+    </message>
+    <message>
+        <source>System Reset</source>
+        <translation>Formatear Sistema</translation>
+    </message>
+    <message>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>Formateo del sistema activado. Presione confirmar para borrar todo el contenido y la configuración. Presione cancelar para reanudar el inicio.</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation>Confirmar</translation>
+    </message>
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>No es posible montar una partición de datos. La partición podría estar corrompida. Confirme para borrar y formatear su dispositivo.</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>Dispositivo</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>Red</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>Ajustes</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>Software</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>Algo ha ido mal. Reinicie el dispositivo.</translation>
+    </message>
+    <message>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>Asegúrese de que la URL insertada es válida y que el dispositivo tiene buena conexión.</translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>No encontramos software personalizado en esta URL.</translation>
+    </message>
+    <message>
+        <source>WARNING: Low Voltage</source>
+        <translation>ALERTA: Voltaje bajo</translation>
+    </message>
+    <message>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>Encienda su dispositivo en un auto con el arnés o proceda bajo su propio riesgo.</translation>
+    </message>
+    <message>
+        <source>Power off</source>
+        <translation>Apagar</translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation>Continuar</translation>
+    </message>
+    <message>
+        <source>Getting Started</source>
+        <translation>Comenzando</translation>
+    </message>
+    <message>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>Antes de ponernos en marcha, terminemos la instalación y cubramos algunos detalles.</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi</source>
+        <translation>Conectarse al Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Volver</translation>
+    </message>
+    <message>
+        <source>Continue without Wi-Fi</source>
+        <translation>Continuar sin Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Waiting for internet</source>
+        <translation>Esperando conexión a internet</translation>
+    </message>
+    <message>
+        <source>Choose Software to Install</source>
+        <translation>Elija el software a instalar</translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <source>Custom Software</source>
+        <translation>Software personalizado</translation>
+    </message>
+    <message>
+        <source>Enter URL</source>
+        <translation>Insertar URL</translation>
+    </message>
+    <message>
+        <source>for Custom Software</source>
+        <translation>para Software personalizado</translation>
+    </message>
+    <message>
+        <source>Downloading...</source>
+        <translation>Descargando...</translation>
+    </message>
+    <message>
+        <source>Download Failed</source>
+        <translation>Descarga fallida</translation>
+    </message>
+    <message>
+        <source>Reboot device</source>
+        <translation>Reiniciar Dispositivo</translation>
+    </message>
+    <message>
+        <source>Start over</source>
+        <translation>Comenzar de nuevo</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation>Seleccione un idioma</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <source>Finish Setup</source>
+        <translation>Terminar configuración</translation>
+    </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Empareje su dispositivo con comma connect (connect.comma.ai) y reclame su oferta de comma prime.</translation>
+    </message>
+    <message>
+        <source>Pair device</source>
+        <translation>Emparejar dispositivo</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <source>CONNECT</source>
+        <translation>CONNECT</translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation>OFFLINE</translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation>EN LÍNEA</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation>ERROR</translation>
+    </message>
+    <message>
+        <source>TEMP</source>
+        <translation>TEMP</translation>
+    </message>
+    <message>
+        <source>HIGH</source>
+        <translation>ALTA</translation>
+    </message>
+    <message>
+        <source>GOOD</source>
+        <translation>BUENA</translation>
+    </message>
+    <message>
+        <source>OK</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <source>VEHICLE</source>
+        <translation>VEHÍCULO</translation>
+    </message>
+    <message>
+        <source>NO</source>
+        <translation>SIN</translation>
+    </message>
+    <message>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation>BÚSQUEDA</translation>
+    </message>
+    <message>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <source>ETH</source>
+        <translation>ETH</translation>
+    </message>
+    <message>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <source>Updates are only downloaded while the car is off.</source>
+        <translation>Actualizaciones solo se descargan con el auto apagado.</translation>
+    </message>
+    <message>
+        <source>Current Version</source>
+        <translation>Versión Actual</translation>
+    </message>
+    <message>
+        <source>Download</source>
+        <translation>Descargar</translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation>VERIFICAR</translation>
+    </message>
+    <message>
+        <source>Install Update</source>
+        <translation>Actualizar</translation>
+    </message>
+    <message>
+        <source>INSTALL</source>
+        <translation>INSTALAR</translation>
+    </message>
+    <message>
+        <source>Target Branch</source>
+        <translation>Rama objetivo</translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation>SELECCIONAR</translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation>Selecione una rama</translation>
+    </message>
+    <message>
+        <source>Uninstall %1</source>
+        <translation>Desinstalar %1</translation>
+    </message>
+    <message>
+        <source>UNINSTALL</source>
+        <translation>DESINSTALAR</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>¿Seguro qué desea desinstalar?</translation>
+    </message>
+    <message>
+        <source>Uninstall</source>
+        <translation>Desinstalar</translation>
+    </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>no se pudo buscar actualizaciones</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>DESCARGAR</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>actualización disponible</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>nunca</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>actualizado, último chequeo %1</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <source>SSH Keys</source>
+        <translation>Clave SSH</translation>
+    </message>
+    <message>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>Aviso: Esto otorga acceso SSH a todas las claves públicas en su Github. Nunca ingrese un nombre de usuario de Github que no sea suyo. Un empleado de comma NUNCA le pedirá que añada un usuario de Github que no sea el suyo.</translation>
+    </message>
+    <message>
+        <source>ADD</source>
+        <translation>AÑADIR</translation>
+    </message>
+    <message>
+        <source>Enter your GitHub username</source>
+        <translation>Ingrese su usuario de GitHub</translation>
+    </message>
+    <message>
+        <source>LOADING</source>
+        <translation>CARGANDO</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation>ELIMINAR</translation>
+    </message>
+    <message>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>El usuario &quot;%1” no tiene claves en GitHub</translation>
+    </message>
+    <message>
+        <source>Request timed out</source>
+        <translation>Solicitud expirada</translation>
+    </message>
+    <message>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>El usuario &apos;%1&apos; no existe en Github</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <source>Enable SSH</source>
+        <translation>Habilitar SSH</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <source>Terms &amp; Conditions</source>
+        <translation>Términos &amp; Condiciones</translation>
+    </message>
+    <message>
+        <source>Decline</source>
+        <translation>Rechazar</translation>
+    </message>
+    <message>
+        <source>Scroll to accept</source>
+        <translation>Desliza para aceptar</translation>
+    </message>
+    <message>
+        <source>Agree</source>
+        <translation>Aceptar</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <source>Enable openpilot</source>
+        <translation>Activar openpilot</translation>
+    </message>
+    <message>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>Utilice el sistema openpilot para acceder a un autocrucero adaptativo y asistencia al conductor para mantenerse en el carril. Se requiere su atención en todo momento para utilizar esta función. Cambiar esta configuración solo tendrá efecto con el auto apagado.</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>Control longitudinal de openpilot (fase experimental)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>AVISO: el control longitudinal de openpilot está en fase experimental para este automóvil y desactivará el Frenado Automático de Emergencia (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>En este automóvil, openpilot se configura de manera predeterminada con el Autocrucero Adaptativo (ACC) incorporado en el automóvil en lugar del control longitudinal de openpilot. Habilita esta opción para cambiar al control longitudinal de openpilot. Se recomienda activar el modo experimental al habilitar el control longitudinal de openpilot (aún en fase experimental).</translation>
+    </message>
+    <message>
+        <source>Experimental Mode</source>
+        <translation>Modo Experimental</translation>
+    </message>
+    <message>
+        <source>Disengage on Accelerator Pedal</source>
+        <translation>Desactivar con el Acelerador</translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>Cuando esté activado, presionar el acelerador deshabilitará openpilot.</translation>
+    </message>
+    <message>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>Activar Avisos de Salida de Carril</translation>
+    </message>
+    <message>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>Recibir alertas para volver al carril cuando su vehículo se salga fuera del carril sin que esté activada la señal de giro y esté conduciendo por encima de 50 km/h (31 mph).</translation>
+    </message>
+    <message>
+        <source>Always-On Driver Monitoring</source>
+        <translation>Monitoreo Permanente del Conductor</translation>
+    </message>
+    <message>
+        <source>Enable driver monitoring even when openpilot is not engaged.</source>
+        <translation>Habilitar el monitoreo del conductor incluso cuando Openpilot no esté activado.</translation>
+    </message>
+    <message>
+        <source>Record and Upload Driver Camera</source>
+        <translation>Grabar y Subir Cámara del Conductor</translation>
+    </message>
+    <message>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>Subir datos de la cámara del conductor para ayudar a mejorar el algoritmo de monitoreo del conductor.</translation>
+    </message>
+    <message>
+        <source>Use Metric System</source>
+        <translation>Usar Sistema Métrico</translation>
+    </message>
+    <message>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>Mostrar velocidad en km/h en vez de mph.</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>Agresivo</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>Estándar</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>Relajado</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>Personalidad de conducción</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars. On supported cars, you can cycle through these personalities with your steering wheel distance button.</source>
+        <translation>Se recomienda el modo estándar. En el modo agresivo, openpilot seguirá más cerca a los autos delante suyo y será más agresivo con el acelerador y el freno. En modo relajado, openpilot se mantendrá más alejado de los autos delante suyo. En automóviles compatibles, puede recorrer estas personalidades con el botón de distancia del volante.</translation>
+    </message>
+    <message>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>openpilot por defecto conduce en &lt;b&gt;modo chill&lt;/b&gt;. El modo Experimental activa &lt;b&gt;funcionalidades en fase experimental&lt;/b&gt;, que no están listas para el modo chill. Las funcionalidades del modo expeimental están listados abajo:</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>Control Longitudinal de Punta a Punta</translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>Dajar que el modelo de conducción controle la aceleración y el frenado. openpilot conducirá como piensa que lo haría una persona, incluiyendo parar en los semáforos en rojo y las señales de alto. Dado que el modelo decide la velocidad de conducción, la velocidad de crucero establecida solo actuará como el límite superior. Este recurso aún está en fase experimental; deberían esperarse errores.</translation>
+    </message>
+    <message>
+        <source>New Driving Visualization</source>
+        <translation>Nueva Visualización de la conducción</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
+        <translation>La visualización de la conducción cambiará a la cámara que enfoca la carretera a velocidades bajas para mostrar mejor los giros. El logo del modo experimental también se mostrará en la esquina superior derecha.</translation>
+    </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>El modo Experimental no está disponible actualmente para este auto, ya que el ACC default del auto está siendo usado para el control longitudinal.</translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>El control longitudinal de openpilot podrá llegar en futuras actualizaciones.</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>Se puede probar una versión experimental del control longitudinal openpilot, junto con el modo Experimental, en ramas no liberadas.</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>Activar el control longitudinal (fase experimental) para permitir el modo Experimental.</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <source>Update Required</source>
+        <translation>Actualización Requerida</translation>
+    </message>
+    <message>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>Es necesario la actualización del sistema operativo. Conecte su dispositivo al Wi-Fi para una actualización rápida. El tamaño de descarga es de aproximadamente 1GB.</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi</source>
+        <translation>Conectarse a la Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Install</source>
+        <translation>Instalar</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Volver</translation>
+    </message>
+    <message>
+        <source>Loading...</source>
+        <translation>Cargando...</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Reiniciar</translation>
+    </message>
+    <message>
+        <source>Update failed</source>
+        <translation>Actualización fallida</translation>
+    </message>
+</context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>Configurar Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>Conectarse al Wi-Fi para subir los datos de conducción y mejorar openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>Abrir Configuraciones</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>Listo para subir</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>Los datos de entrenamiento se extraerán periódicamente mientras tu dispositivo esté conectado a Wi-Fi</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <source>Scanning for networks...</source>
+        <translation>Buscando redes...</translation>
+    </message>
+    <message>
+        <source>CONNECTING...</source>
+        <translation>CONECTANDO...</translation>
+    </message>
+    <message>
+        <source>FORGET</source>
+        <translation>OLVIDAR</translation>
+    </message>
+    <message>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>¿Olvidar la Red de Wi-Fi &quot;%1&quot;?</translation>
+    </message>
+    <message>
+        <source>Forget</source>
+        <translation>Olvidar</translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
index dde6adadd3ca5a..480d70c481092a 100644
--- a/selfdrive/ui/translations/main_fr.ts
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>VITESSE</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMITE</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -136,33 +128,6 @@
         <translation>Refuser, désinstaller %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>Domicile</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>Travail</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>Aucune destination définie</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>domicile</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>travail</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>Aucun lieu %1 défini</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -345,47 +310,6 @@
         <translation>Installation...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>eta</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>min</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>h</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>NAVIGATION</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>Gérer sur connect.comma.ai</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Chargement de la carte</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>En attente du GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>En attente d&apos;un trajet</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -564,8 +488,8 @@
         <translation>1 an de stockage de trajets</translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>Navigation étape par étape</translation>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -614,22 +538,6 @@
             <numerusform>il y a %n jours</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation type="unfinished"></translation>
@@ -1090,22 +998,6 @@ Cela peut prendre jusqu&apos;à une minute.</translation>
         <source>Display speed in km/h instead of mph.</source>
         <translation>Afficher la vitesse en km/h au lieu de mph.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>Afficher l&apos;heure d&apos;arrivée en format 24h</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>Utiliser le format 24h plutôt que am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>Afficher la carte à gauche de l&apos;interface</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Afficher la carte à gauche en mode écran scindé.</translation>
-    </message>
     <message>
         <source>Aggressive</source>
         <translation>Aggressif</translation>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index e0fb60620bc64f..c4481868239acd 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>最高速度</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>速度</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>制限速度</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -136,33 +128,6 @@
         <translation>拒否して %1 をｱﾝｲﾝｽﾄｰﾙ</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +309,6 @@
         <translation>インストールしています...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>到着予定時間</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>分</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>時間</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>マップを読み込んでいます</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>GPS信号を探しています</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -558,11 +482,11 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
+        <source>1 year of drive storage</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>1 year of drive storage</source>
+        <source>Remote snapshots</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -609,22 +533,6 @@
             <numerusform>%n 日前</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>ｷﾛﾒｰﾄﾙ</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>ﾒｰﾄﾙ</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>ﾏｲﾙ</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ﾌｨｰﾄ</translation>
-    </message>
     <message>
         <source>now</source>
         <translation type="unfinished"></translation>
@@ -1068,22 +976,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>この機能を有効化すると、openpilotを利用中にアクセルを踏むとopenpilotによる運転サポートを中断します。</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>24時間表示</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>AM/PM の代わりに24時間形式を使用します</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>ﾃﾞｨｽﾌﾟﾚｲの左側にﾏｯﾌﾟを表示</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>分割画面表示の場合、ディスプレイの左側にマップを表示します。</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>実験モード</translation>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index 56fc5014eed4b2..40d07d9b1c6c42 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -136,33 +128,6 @@
         <translation>거절, %1 제거</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>집</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>회사</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>목적지가 설정되지 않았습니다</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>%1 위치가 설정되지 않았습니다</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>집</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>회사</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +309,6 @@
         <translation>설치 중...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>도착</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>분</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>시간</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>내비게이션</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>connect.comma.ai에서 관리하세요</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>지도 로딩 중</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>GPS 수신 중</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>경로를 기다리는 중</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -558,14 +482,14 @@
         <source>24/7 LTE connectivity</source>
         <translation>항상 LTE 연결</translation>
     </message>
-    <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>내비게이션 경로안내</translation>
-    </message>
     <message>
         <source>1 year of drive storage</source>
         <translation>1년간 드라이브 로그 저장</translation>
     </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -610,22 +534,6 @@
             <numerusform>%n 일 전</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>now</translation>
@@ -1070,22 +978,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>활성화된 경우 가속 페달을 밟으면 openpilot이 해제됩니다.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>24시간 형식으로 도착 예정 시간 표시</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>오전/오후 대신 24시간 형식 사용</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>UI 왼쪽에 지도 표시</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>분할 화면 보기에서 지도를 왼쪽에 표시합니다.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>실험 모드</translation>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index feaa6e86a14abb..c0c7fcb3e83df0 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>LIMITE</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>MAX</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>VELO</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -136,33 +128,6 @@
         <translation>Rejeitar, desintalar %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>Casa</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>Trabalho</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>Nenhum destino definido</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>Endereço de %1 não definido</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>casa</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>trabalho</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -345,47 +310,6 @@
         <translation>Instalando...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>eta</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>min</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>hr</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>NAVEGAÇÃO</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>Gerencie em connect.comma.ai</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Carregando Mapa</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>Aguardando GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>Aguardando rota</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -559,14 +483,14 @@
         <source>24/7 LTE connectivity</source>
         <translation>Conectividade LTE (só nos EUA)</translation>
     </message>
-    <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>Navegação passo a passo</translation>
-    </message>
     <message>
         <source>1 year of drive storage</source>
         <translation>1 ano de dados em nuvem</translation>
     </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation>Captura remota</translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -614,22 +538,6 @@
             <numerusform>há %n dias</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>milha</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>pés</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>agora</translation>
@@ -1074,22 +982,6 @@ Isso pode levar até um minuto.</translation>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>Quando ativado, pressionar o pedal do acelerador desacionará o openpilot.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>Mostrar ETA em Formato 24h</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>Use o formato 24h em vez de am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>Exibir Mapa no Lado Esquerdo</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Exibir mapa do lado esquerdo quando a tela for dividida.</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>Modo Experimental</translation>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index e594a6975f4c1a..1d7aa3df00541f 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>สูงสุด</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>ความเร็ว</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>จำกัด</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -136,33 +128,6 @@
         <translation>ปฏิเสธ และถอนการติดตั้ง %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>บ้าน</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>ที่ทำงาน</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>ยังไม่ได้เลือกจุดหมาย</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>บ้าน</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>ที่ทำงาน</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>ยังไม่ได้เลือกตำแหน่ง%1</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +309,6 @@
         <translation>กำลังติดตั้ง...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>eta</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>นาที</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>ชม.</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>การนำทาง</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>จัดการได้ที่ connect.comma.ai</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>กำลังโหลดแผนที่</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>กำลังรอสัญญาณ GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>กำลังรอเส้นทาง</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -563,8 +487,8 @@
         <translation>จัดเก็บข้อมูลการขับขี่นาน 1 ปี</translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>การนำทางแบบเลี้ยวต่อเลี้ยว</translation>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -610,22 +534,6 @@
             <numerusform>%n วันที่แล้ว</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>กม.</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>ม.</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>ไมล์</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ฟุต</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>ตอนนี้</translation>
@@ -1070,22 +978,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>เมื่อเปิดใช้งาน การกดแป้นคันเร่งจะเป็นการยกเลิกระบบช่วยขับโดย openpilot</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>แสดงเวลา ETA ในรูปแบบ 24 ชั่วโมง</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>ใช้รูปแบบเวลา 24 ชั่วโมง แทน am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>แสดงแผนที่ที่ด้านซ้ายของหน้าจอ</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>โหมดทดลอง</translation>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
index 48615f169933b3..3fabd5a384cb9c 100644
--- a/selfdrive/ui/translations/main_tr.ts
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation type="unfinished">MAX</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation type="unfinished">HIZ</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation type="unfinished">LİMİT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -136,33 +128,6 @@
         <translation>Reddet, Kurulumu kaldır. %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +309,6 @@
         <translation>Yükleniyor...</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>tahmini varış süresi</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>dk</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>saat</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>Harita yükleniyor</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>GPS verisi bekleniyor...</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation type="unfinished"></translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -562,7 +486,7 @@
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Turn-by-turn navigation</source>
+        <source>Remote snapshots</source>
         <translation type="unfinished"></translation>
     </message>
 </context>
@@ -609,22 +533,6 @@
             <numerusform>%n gün önce</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mil</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation type="unfinished"></translation>
@@ -1064,22 +972,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>Aktifleştirilirse eğer gaz pedalına basınca openpilot devre dışı kalır.</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>Tahmini varış süresini 24 saat formatı şeklinde göster</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>24 saat formatını kullan</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>Haritayı arayüzün sol tarafında göster</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>Bölünmüş ekran görünümündeyken haritayı sol tarafta göster.</translation>
-    </message>
     <message>
         <source>openpilot Longitudinal Control (Alpha)</source>
         <translation type="unfinished"></translation>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 32119ee10f4d78..255886a15e0987 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>最高定速</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>SPEED</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>LIMIT</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -136,33 +128,6 @@
         <translation>拒绝并卸载%1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>住家</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>工作</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>尚未设置目的地</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>尚未设置 %1 的位置</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>住家</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>工作</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +309,6 @@
         <translation>正在安装……</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>抵达</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>分钟</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>小时</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>导航</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>请在 connect.comma.ai 上管理</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>地图加载中</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>等待 GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>等待路线</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -558,14 +482,14 @@
         <source>24/7 LTE connectivity</source>
         <translation>全天候 LTE 連線</translation>
     </message>
-    <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>领航功能</translation>
-    </message>
     <message>
         <source>1 year of drive storage</source>
         <translation>一年的行驶记录储存空间</translation>
     </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -610,22 +534,6 @@
             <numerusform>%n 天前</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>现在</translation>
@@ -1070,22 +978,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>启用后，踩下油门踏板将取消openpilot。</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>以24小时格式显示预计到达时间</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>使用24小时制代替am/pm</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>在介面左侧显示地图</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>在分屏模式中，将地图置于屏幕左侧。</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>测试模式</translation>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 9d1c16db9f08ad..9cea6a1bbc4e50 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -101,14 +101,6 @@
         <source>MAX</source>
         <translation>最高</translation>
     </message>
-    <message>
-        <source>SPEED</source>
-        <translation>速度</translation>
-    </message>
-    <message>
-        <source>LIMIT</source>
-        <translation>速限</translation>
-    </message>
 </context>
 <context>
     <name>ConfirmationDialog</name>
@@ -136,33 +128,6 @@
         <translation>拒絕並解除安裝 %1</translation>
     </message>
 </context>
-<context>
-    <name>DestinationWidget</name>
-    <message>
-        <source>Home</source>
-        <translation>住家</translation>
-    </message>
-    <message>
-        <source>Work</source>
-        <translation>工作</translation>
-    </message>
-    <message>
-        <source>No destination set</source>
-        <translation>尚未設定目的地</translation>
-    </message>
-    <message>
-        <source>No %1 location set</source>
-        <translation>尚未設定 %1 的位置</translation>
-    </message>
-    <message>
-        <source>home</source>
-        <translation>住家</translation>
-    </message>
-    <message>
-        <source>work</source>
-        <translation>工作</translation>
-    </message>
-</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -344,47 +309,6 @@
         <translation>安裝中…</translation>
     </message>
 </context>
-<context>
-    <name>MapETA</name>
-    <message>
-        <source>eta</source>
-        <translation>抵達</translation>
-    </message>
-    <message>
-        <source>min</source>
-        <translation>分鐘</translation>
-    </message>
-    <message>
-        <source>hr</source>
-        <translation>小時</translation>
-    </message>
-</context>
-<context>
-    <name>MapSettings</name>
-    <message>
-        <source>NAVIGATION</source>
-        <translation>導航</translation>
-    </message>
-    <message>
-        <source>Manage at connect.comma.ai</source>
-        <translation>請在 connect.comma.ai 上管理</translation>
-    </message>
-</context>
-<context>
-    <name>MapWindow</name>
-    <message>
-        <source>Map Loading</source>
-        <translation>地圖載入中</translation>
-    </message>
-    <message>
-        <source>Waiting for GPS</source>
-        <translation>等待 GPS</translation>
-    </message>
-    <message>
-        <source>Waiting for route</source>
-        <translation>等待路線</translation>
-    </message>
-</context>
 <context>
     <name>MultiOptionDialog</name>
     <message>
@@ -558,14 +482,14 @@
         <source>24/7 LTE connectivity</source>
         <translation>24/7 LTE 連線</translation>
     </message>
-    <message>
-        <source>Turn-by-turn navigation</source>
-        <translation>導航功能</translation>
-    </message>
     <message>
         <source>1 year of drive storage</source>
         <translation>一年的行駛記錄儲存空間</translation>
     </message>
+    <message>
+        <source>Remote snapshots</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>PrimeUserWidget</name>
@@ -610,22 +534,6 @@
             <numerusform>%n 天前</numerusform>
         </translation>
     </message>
-    <message>
-        <source>km</source>
-        <translation>km</translation>
-    </message>
-    <message>
-        <source>m</source>
-        <translation>m</translation>
-    </message>
-    <message>
-        <source>mi</source>
-        <translation>mi</translation>
-    </message>
-    <message>
-        <source>ft</source>
-        <translation>ft</translation>
-    </message>
     <message>
         <source>now</source>
         <translation>現在</translation>
@@ -1070,22 +978,6 @@ This may take up to a minute.</source>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
         <translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation>
     </message>
-    <message>
-        <source>Show ETA in 24h Format</source>
-        <translation>預計到達時間單位改用 24 小時制</translation>
-    </message>
-    <message>
-        <source>Use 24h format instead of am/pm</source>
-        <translation>使用 24 小時制。(預設值為 12 小時制)</translation>
-    </message>
-    <message>
-        <source>Show Map on Left Side of UI</source>
-        <translation>將地圖顯示在畫面的左側</translation>
-    </message>
-    <message>
-        <source>Show map on left side when in split screen view.</source>
-        <translation>進入分割畫面後，地圖將會顯示在畫面的左側。</translation>
-    </message>
     <message>
         <source>Experimental Mode</source>
         <translation>實驗模式</translation>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 06b8b13bc18871..bd26741193b625 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -214,7 +214,6 @@ static void update_state(UIState *s) {
 void ui_update_params(UIState *s) {
   auto params = Params();
   s->scene.is_metric = params.getBool("IsMetric");
-  s->scene.map_on_left = params.getBool("NavSettingLeftSide");
 }
 
 void UIState::updateStatus() {
@@ -244,7 +243,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState",
     "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "clocks",
+    "wideRoadCameraState", "managerState", "clocks",
   });
 
   Params params;
@@ -265,6 +264,10 @@ void UIState::update() {
   update_state(this);
   updateStatus();
 
+  if (std::getenv("PRIME_TYPE")) {
+      setPrimeType((PrimeType)atoi(std::getenv("PRIME_TYPE")));
+  }
+
   if (sm->frame % UI_FREQ == 0) {
     watchdog_kick(nanos_since_boot());
   }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 9ef79b2effc26e..237abe122416fd 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -98,7 +98,7 @@ typedef struct UIScene {
   cereal::LongitudinalPersonality personality;
 
   float light_sensor = -1;
-  bool started, ignition, is_metric, map_on_left, longitudinal_control;
+  bool started, ignition, is_metric, longitudinal_control;
   bool world_objects_visible = false;
   uint64_t started_frame;
 } UIScene;
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
index ec35c29b6b4c55..c14e03aa6ea70f 100644
--- a/selfdrive/ui/watch3.cc
+++ b/selfdrive/ui/watch3.cc
@@ -19,7 +19,6 @@ int main(int argc, char *argv[]) {
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
-    hlayout->addWidget(new CameraWidget("navd", VISION_STREAM_MAP, false));
     hlayout->addWidget(new CameraWidget("camerad", VISION_STREAM_ROAD, false));
   }
 
diff --git a/site_scons/site_tools/cython.py b/site_scons/site_tools/cython.py
index c2914755336b40..f11db1d71bebca 100644
--- a/site_scons/site_tools/cython.py
+++ b/site_scons/site_tools/cython.py
@@ -2,14 +2,17 @@
 import SCons
 from SCons.Action import Action
 from SCons.Scanner import Scanner
+import numpy as np
 
 pyx_from_import_re = re.compile(r'^from\s+(\S+)\s+cimport', re.M)
 pyx_import_re = re.compile(r'^cimport\s+(\S+)', re.M)
 cdef_import_re = re.compile(r'^cdef extern from\s+.(\S+).:', re.M)
 
+np_version = SCons.Script.Value(np.__version__)
 
 def pyx_scan(node, env, path, arg=None):
   contents = node.get_text_contents()
+  env.Depends(str(node).split('.')[0] + env['CYTHONCFILESUFFIX'], np_version)
 
   # from <module> cimport ...
   matches = pyx_from_import_re.findall(contents)
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 9eec7a931b72c9..52e3a29ac8653f 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -2,7 +2,6 @@
 from __future__ import annotations
 
 import base64
-import bz2
 import hashlib
 import io
 import json
@@ -15,6 +14,7 @@
 import tempfile
 import threading
 import time
+import zstandard as zstd
 from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial
@@ -35,6 +35,7 @@
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.loggerd.uploader import LOG_COMPRESSION_LEVEL
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.version import get_build_metadata
@@ -103,8 +104,8 @@ def from_dict(cls, d: dict) -> UploadItem:
 cur_upload_items: dict[int, UploadItem | None] = {}
 
 
-def strip_bz2_extension(fn: str) -> str:
-  if fn.endswith('.bz2'):
+def strip_zst_extension(fn: str) -> str:
+  if fn.endswith('.zst'):
     return fn[:-4]
   return fn
 
@@ -283,16 +284,16 @@ def _do_upload(upload_item: UploadItem, callback: Callable = None) -> requests.R
   path = upload_item.path
   compress = False
 
-  # If file does not exist, but does exist without the .bz2 extension we will compress on the fly
-  if not os.path.exists(path) and os.path.exists(strip_bz2_extension(path)):
-    path = strip_bz2_extension(path)
+  # If file does not exist, but does exist without the .zst extension we will compress on the fly
+  if not os.path.exists(path) and os.path.exists(strip_zst_extension(path)):
+    path = strip_zst_extension(path)
     compress = True
 
   with open(path, "rb") as f:
     content = f.read()
     if compress:
       cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
-      content = bz2.compress(content)
+      content = zstd.compress(content, LOG_COMPRESSION_LEVEL)
 
   with io.BytesIO(content) as data:
     return requests.put(upload_item.url,
@@ -328,19 +329,6 @@ def getVersion() -> dict[str, str]:
   }
 
 
-@dispatcher.add_method
-def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: str = None, place_details: str = None) -> dict[str, int]:
-  destination = {
-    "latitude": latitude,
-    "longitude": longitude,
-    "place_name": place_name,
-    "place_details": place_details,
-  }
-  Params().put("NavDestination", json.dumps(destination))
-
-  return {"success": 1}
-
-
 def scan_dir(path: str, prefix: str) -> list[str]:
   files = []
   # only walk directories that match the prefix
@@ -388,7 +376,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
       continue
 
     path = os.path.join(Paths.log_root(), file.fn)
-    if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
+    if not os.path.exists(path) and not os.path.exists(strip_zst_extension(path)):
       failed.append(file.fn)
       continue
 
@@ -414,6 +402,7 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
 
   resp: UploadFilesToUrlResponse = {"enqueued": len(items), "items": items}
   if failed:
+    cloudlog.event("athena.uploadFilesToUrls.failed", failed=failed, error=True)
     resp["failed"] = failed
 
   return resp
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index 48519a0ffd2a0e..413255b587618a 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -29,7 +29,7 @@ def seed_athena_server(host, port):
   with Timeout(2, 'HTTP Server seeding failed'):
     while True:
       try:
-        requests.put(f'http://{host}:{port}/qlog.bz2', data='', timeout=10)
+        requests.put(f'http://{host}:{port}/qlog.zst', data='', timeout=10)
         break
       except requests.exceptions.ConnectionError:
         time.sleep(0.1)
@@ -174,54 +174,59 @@ def test_list_data_directory(self):
     assert resp, 'list empty!'
     assert len(resp) == len(expected)
 
-  def test_strip_bz2_extension(self):
+  def test_strip_extension(self):
+    # any requested log file with an invalid extension won't return as existing
     fn = self._create_file('qlog.bz2')
     if fn.endswith('.bz2'):
-      assert athenad.strip_bz2_extension(fn) == fn[:-4]
+      assert athenad.strip_zst_extension(fn) == fn
+
+    fn = self._create_file('qlog.zst')
+    if fn.endswith('.zst'):
+      assert athenad.strip_zst_extension(fn) == fn[:-4]
 
   @pytest.mark.parametrize("compress", [True, False])
   def test_do_upload(self, host, compress):
     # random bytes to ensure rather large object post-compression
     fn = self._create_file('qlog', data=os.urandom(10000 * 1024))
 
-    upload_fn = fn + ('.bz2' if compress else '')
+    upload_fn = fn + ('.zst' if compress else '')
     item = athenad.UploadItem(path=upload_fn, url="http://localhost:1238", headers={}, created_at=int(time.time()*1000), id='')
     with pytest.raises(requests.exceptions.ConnectionError):
       athenad._do_upload(item)
 
-    item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='')
+    item = athenad.UploadItem(path=upload_fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='')
     resp = athenad._do_upload(item)
     assert resp.status_code == 201
 
   def test_upload_file_to_url(self, host):
-    fn = self._create_file('qlog.bz2')
+    fn = self._create_file('qlog.zst')
 
-    resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
+    resp = dispatcher["uploadFileToUrl"]("qlog.zst", f"{host}/qlog.zst", {})
     assert resp['enqueued'] == 1
     assert 'failed' not in resp
-    assert {"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items() <= resp['items'][0].items()
+    assert {"path": fn, "url": f"{host}/qlog.zst", "headers": {}}.items() <= resp['items'][0].items()
     assert resp['items'][0].get('id') is not None
     assert athenad.upload_queue.qsize() == 1
 
   def test_upload_file_to_url_duplicate(self, host):
-    self._create_file('qlog.bz2')
+    self._create_file('qlog.zst')
 
-    url1 = f"{host}/qlog.bz2?sig=sig1"
-    dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {})
+    url1 = f"{host}/qlog.zst?sig=sig1"
+    dispatcher["uploadFileToUrl"]("qlog.zst", url1, {})
 
     # Upload same file again, but with different signature
-    url2 = f"{host}/qlog.bz2?sig=sig2"
-    resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {})
+    url2 = f"{host}/qlog.zst?sig=sig2"
+    resp = dispatcher["uploadFileToUrl"]("qlog.zst", url2, {})
     assert resp == {'enqueued': 0, 'items': []}
 
   def test_upload_file_to_url_does_not_exist(self, host):
-    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
-    assert not_exists_resp == {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']}
+    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.zst", "http://localhost:1238", {})
+    assert not_exists_resp == {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.zst']}
 
   @with_upload_handler
   def test_upload_handler(self, host):
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -236,8 +241,8 @@ def test_upload_handler(self, host):
   def test_upload_handler_retry(self, mocker, host, status, retry):
     mock_put = mocker.patch('requests.put')
     mock_put.return_value.status_code = status
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -251,8 +256,8 @@ def test_upload_handler_retry(self, mocker, host, status, retry):
   @with_upload_handler
   def test_upload_handler_timeout(self):
     """When an upload times out or fails to connect it should be placed back in the queue"""
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
     item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT)
 
     athenad.upload_queue.put_nowait(item_no_retry)
@@ -272,7 +277,7 @@ def test_upload_handler_timeout(self):
 
   @with_upload_handler
   def test_cancel_upload(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+    item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
                               created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
@@ -291,8 +296,8 @@ def test_cancel_expiry(self):
     ts = int(t_future.strftime("%s")) * 1000
 
     # Item that would time out if actually uploaded
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=ts, id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.zst", headers={}, created_at=ts, id='', allow_cellular=True)
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -306,8 +311,8 @@ def test_list_upload_queue_empty(self):
 
   @with_upload_handler
   def test_list_upload_queue_current(self, host: str):
-    fn = self._create_file('qlog.bz2')
-    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
+    fn = self._create_file('qlog.zst')
+    item = athenad.UploadItem(path=fn, url=f"{host}/qlog.zst", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
     athenad.upload_queue.put_nowait(item)
     self._wait_for_upload()
@@ -317,7 +322,7 @@ def test_list_upload_queue_current(self, host: str):
     assert items[0]['current']
 
   def test_list_upload_queue(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+    item = athenad.UploadItem(path="qlog.zst", url="http://localhost:44444/qlog.zst", headers={},
                               created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
 
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 9d82284d9f97b8..542be29d80aa46 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -244,7 +244,7 @@ static kj::Array<capnp::byte> yuv420_to_jpeg(const CameraBuf *b, int thumbnail_w
   return dat;
 }
 
-static void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
+void publish_thumbnail(PubMaster *pm, const CameraBuf *b) {
   auto thumbnail = yuv420_to_jpeg(b, b->rgb_width / 4, b->rgb_height / 4);
   if (thumbnail.size() == 0) return;
 
@@ -284,36 +284,6 @@ float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_sk
   return lum_med / 256.0;
 }
 
-void *processing_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) {
-  const char *thread_name = nullptr;
-  if (cs == &cameras->road_cam) {
-    thread_name = "RoadCamera";
-  } else if (cs == &cameras->driver_cam) {
-    thread_name = "DriverCamera";
-  } else {
-    thread_name = "WideRoadCamera";
-  }
-  util::set_thread_name(thread_name);
-
-  uint32_t cnt = 0;
-  while (!do_exit) {
-    if (!cs->buf.acquire()) continue;
-
-    callback(cameras, cs, cnt);
-
-    if (cs == &(cameras->road_cam) && cameras->pm && cnt % 100 == 3) {
-      // this takes 10ms???
-      publish_thumbnail(cameras->pm, &(cs->buf));
-    }
-    ++cnt;
-  }
-  return NULL;
-}
-
-std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback) {
-  return std::thread(processing_thread, cameras, cs, callback);
-}
-
 void camerad_thread() {
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
 #ifdef QCOM2
@@ -324,7 +294,7 @@ void camerad_thread() {
 #endif
 
   {
-    MultiCameraState cameras = {};
+    MultiCameraState cameras;
     VisionIpcServer vipc_server("camerad", device_id, context);
 
     cameras_open(&cameras);
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 555362ab8bc7ab..d58f4d3195fdec 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -2,7 +2,6 @@
 
 #include <fcntl.h>
 #include <memory>
-#include <thread>
 
 #include "cereal/messaging/messaging.h"
 #include "msgq/visionipc/visionipc_server.h"
@@ -18,9 +17,6 @@ enum CameraType {
 };
 
 // for debugging
-const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
-const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
-const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 const bool env_ctrl_exp_from_params = getenv("CTRL_EXP_FROM_PARAMS") != NULL;
@@ -72,13 +68,10 @@ class CameraBuf {
   void queue(size_t buf_idx);
 };
 
-typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
-
 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data, CameraState *c);
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, Rect ae_xywh, int x_skip, int y_skip);
-std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
-
+void publish_thumbnail(PubMaster *pm, const CameraBuf *b);
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx);
 void cameras_open(MultiCameraState *s);
 void cameras_run(MultiCameraState *s);
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 096e288cc2e4a2..2729aa264c1590 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -26,6 +26,16 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 
 extern ExitHandler do_exit;
 
+CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
+  : multi_cam_state(multi_camera_state),
+    camera_num(config.camera_num),
+    stream_type(config.stream_type),
+    focal_len(config.focal_len),
+    publish_name(config.publish_name),
+    init_camera_state(config.init_camera_state),
+    enabled(config.enabled) {
+}
+
 int CameraState::clear_req_queue() {
   struct cam_req_mgr_flush_info req_mgr_flush_request = {0};
   req_mgr_flush_request.session_hdl = session_handle;
@@ -425,50 +435,50 @@ void CameraState::set_exposure_rect() {
 }
 
 void CameraState::sensor_set_parameters() {
-  target_grey_fraction = 0.3;
-
-  dc_gain_enabled = false;
   dc_gain_weight = ci->dc_gain_min_weight;
   gain_idx = ci->analog_gain_rec_idx;
-  exposure_time = 5;
   cur_ev[0] = cur_ev[1] = cur_ev[2] = (1 + dc_gain_weight * (ci->dc_gain_factor-1) / ci->dc_gain_max_weight) * ci->sensor_analog_gains[gain_idx] * exposure_time;
 }
 
-void CameraState::camera_map_bufs(MultiCameraState *s) {
+void CameraState::camera_map_bufs() {
   for (int i = 0; i < FRAME_BUF_COUNT; i++) {
     // configure ISP to put the image in place
     struct cam_mem_mgr_map_cmd mem_mgr_map_cmd = {0};
-    mem_mgr_map_cmd.mmu_hdls[0] = s->device_iommu;
+    mem_mgr_map_cmd.mmu_hdls[0] = multi_cam_state->device_iommu;
     mem_mgr_map_cmd.num_hdl = 1;
     mem_mgr_map_cmd.flags = CAM_MEM_FLAG_HW_READ_WRITE;
     mem_mgr_map_cmd.fd = buf.camera_bufs[i].fd;
-    int ret = do_cam_control(s->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
+    int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_MAP_BUF, &mem_mgr_map_cmd, sizeof(mem_mgr_map_cmd));
     LOGD("map buf req: (fd: %d) 0x%x %d", buf.camera_bufs[i].fd, mem_mgr_map_cmd.out.buf_handle, ret);
     buf_handle[i] = mem_mgr_map_cmd.out.buf_handle;
   }
   enqueue_req_multi(1, FRAME_BUF_COUNT, 0);
 }
 
-void CameraState::camera_init(MultiCameraState *s, VisionIpcServer * v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len) {
+void CameraState::camera_init(VisionIpcServer * v, cl_device_id device_id, cl_context ctx) {
   if (!enabled) return;
 
   LOGD("camera init %d", camera_num);
-  request_id_last = 0;
-  skipped = true;
-
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
-  camera_map_bufs(s);
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, stream_type);
+  camera_map_bufs();
 
   fl_pix = focal_len / ci->pixel_size_mm;
   set_exposure_rect();
 }
 
-void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num_, bool enabled_) {
-  multi_cam_state = multi_cam_state_;
-  camera_num = camera_num_;
-  enabled = enabled_;
+void CameraState::camera_open() {
   if (!enabled) return;
 
+  if (!openSensor()) {
+    return;
+  }
+
+  configISP();
+  configCSIPHY();
+  linkDevices();
+}
+
+bool CameraState::openSensor() {
   sensor_fd = open_v4l_by_name_and_index("cam-sensor-driver", camera_num);
   assert(sensor_fd >= 0);
   LOGD("opened sensor for %d", camera_num);
@@ -493,7 +503,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
       !init_sensor_lambda(new OS04C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", camera_num);
     enabled = false;
-    return;
+    return false;
   }
   LOGD("-- Probing sensor %d success", camera_num);
 
@@ -512,7 +522,10 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 
   LOG("-- Configuring sensor");
   sensors_i2c(ci->init_reg_array.data(), ci->init_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word);
+  return true;
+}
 
+void CameraState::configISP() {
   // NOTE: to be able to disable road and wide road, we still have to configure the sensor over i2c
   // If you don't do this, the strobe GPIO is an output (even in reset it seems!)
   if (!enabled) return;
@@ -570,6 +583,13 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   isp_dev_handle = *isp_dev_handle_;
   LOGD("acquire isp dev");
 
+  // config ISP
+  alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS |
+                  CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
+  config_isp(0, 0, 1, buf0_handle, 0);
+}
+
+void CameraState::configCSIPHY() {
   csiphy_fd = open_v4l_by_name_and_index("cam-csiphy-driver", camera_num);
   assert(csiphy_fd >= 0);
   LOGD("opened csiphy for %d", camera_num);
@@ -580,11 +600,6 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   csiphy_dev_handle = *csiphy_dev_handle_;
   LOGD("acquire csiphy dev");
 
-  // config ISP
-  alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS |
-                  CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
-  config_isp(0, 0, 1, buf0_handle, 0);
-
   // config csiphy
   LOG("-- Config CSI PHY");
   {
@@ -612,15 +627,16 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
     int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
     assert(ret_ == 0);
   }
+}
 
-  // link devices
+void CameraState::linkDevices() {
   LOG("-- Link devices");
   struct cam_req_mgr_link_info req_mgr_link_info = {0};
   req_mgr_link_info.session_hdl = session_handle;
   req_mgr_link_info.num_devices = 2;
   req_mgr_link_info.dev_hdls[0] = isp_dev_handle;
   req_mgr_link_info.dev_hdls[1] = sensor_dev_handle;
-  ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
+  int ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_LINK, &req_mgr_link_info, sizeof(req_mgr_link_info));
   link_handle = req_mgr_link_info.link_hdl;
   LOGD("link: %d session: 0x%X isp: 0x%X sensors: 0x%X link: 0x%X", ret, session_handle, isp_dev_handle, sensor_dev_handle, link_handle);
 
@@ -644,9 +660,9 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_DRIVER, DRIVER_FL_MM);
-  s->road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_ROAD, ROAD_FL_MM);
-  s->wide_road_cam.camera_init(s, v, device_id, ctx, VISION_STREAM_WIDE_ROAD, WIDE_FL_MM);
+  s->driver_cam.camera_init(v, device_id, ctx);
+  s->road_cam.camera_init(v, device_id, ctx);
+  s->wide_road_cam.camera_init(v, device_id, ctx);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@@ -690,11 +706,11 @@ void cameras_open(MultiCameraState *s) {
   ret = HANDLE_EINTR(ioctl(s->video0_fd, VIDIOC_SUBSCRIBE_EVENT, &sub));
   LOGD("req mgr subscribe: %d", ret);
 
-  s->driver_cam.camera_open(s, 2, !env_disable_driver);
+  s->driver_cam.camera_open();
   LOGD("driver camera opened");
-  s->road_cam.camera_open(s, 1, !env_disable_road);
+  s->road_cam.camera_open();
   LOGD("road camera opened");
-  s->wide_road_cam.camera_open(s, 0, !env_disable_wide_road);
+  s->wide_road_cam.camera_open();
   LOGD("wide road camera opened");
 }
 
@@ -927,42 +943,50 @@ void CameraState::set_camera_exposure(float grey_frac) {
   sensors_i2c(exp_reg_array.data(), exp_reg_array.size(), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, ci->data_word);
 }
 
-static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  c->set_camera_exposure(set_exposure_target(&c->buf, c->ae_xywh, 2, 4));
+void CameraState::run() {
+  util::set_thread_name(publish_name);
 
-  MessageBuilder msg;
-  auto framed = msg.initEvent().initDriverCameraState();
-  framed.setFrameType(cereal::FrameData::FrameType::FRONT);
-  fill_frame_data(framed, c->buf.cur_frame_data, c);
+  for (uint32_t cnt = 0; !do_exit; ++cnt) {
+    // Acquire the buffer; continue if acquisition fails
+    if (!buf.acquire()) continue;
 
-  c->ci->processRegisters(c, framed);
-  s->pm->send("driverCameraState", msg);
-}
+    MessageBuilder msg;
+    auto framed = (msg.initEvent().*init_camera_state)();
+    fill_frame_data(framed, buf.cur_frame_data, this);
 
-void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
-  const CameraBuf *b = &c->buf;
+    // Log raw frames for road camera
+    if (env_log_raw_frames && stream_type == VISION_STREAM_ROAD && cnt % 100 == 5) {  // no overlap with qlog decimation
+      framed.setImage(get_raw_frame_image(&buf));
+    }
+    // Log frame id for road and wide road cameras
+    if (stream_type != VISION_STREAM_DRIVER) {
+      LOGT(buf.cur_frame_data.frame_id, "%s: Image set", publish_name);
+    }
 
-  MessageBuilder msg;
-  auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState();
-  fill_frame_data(framed, b->cur_frame_data, c);
-  if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) {  // no overlap with qlog decimation
-    framed.setImage(get_raw_frame_image(b));
-  }
-  LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
+    // Process camera registers and set camera exposure
+    ci->processRegisters(this, framed);
+    set_camera_exposure(set_exposure_target(&buf, ae_xywh, 2, stream_type != VISION_STREAM_DRIVER ? 2 : 4));
 
-  c->ci->processRegisters(c, framed);
-  s->pm->send(c == &s->road_cam ? "roadCameraState" : "wideRoadCameraState", msg);
+    // Send the message
+    multi_cam_state->pm->send(publish_name, msg);
+    if (stream_type == VISION_STREAM_ROAD && cnt % 100 == 3) {
+      publish_thumbnail(multi_cam_state->pm, &buf);  // this takes 10ms???
+    }
+  }
+}
 
-  const int skip = 2;
-  c->set_camera_exposure(set_exposure_target(b, c->ae_xywh, skip, skip));
+MultiCameraState::MultiCameraState()
+  : driver_cam(this, DRIVER_CAMERA_CONFIG),
+    road_cam(this, ROAD_CAMERA_CONFIG),
+    wide_road_cam(this, WIDE_ROAD_CAMERA_CONFIG) {
 }
 
 void cameras_run(MultiCameraState *s) {
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
-  if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
-  if (s->road_cam.enabled) threads.push_back(start_process_thread(s, &s->road_cam, process_road_camera));
-  if (s->wide_road_cam.enabled) threads.push_back(start_process_thread(s, &s->wide_road_cam, process_road_camera));
+  if (s->driver_cam.enabled) threads.emplace_back(&CameraState::run, &s->driver_cam);
+  if (s->road_cam.enabled) threads.emplace_back(&CameraState::run, &s->road_cam);
+  if (s->wide_road_cam.enabled) threads.emplace_back(&CameraState::run, &s->wide_road_cam);
 
   // start devices
   LOG("-- Starting devices");
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 0b15c9c3f04f06..1b27fb18b83bbd 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -11,67 +11,105 @@
 
 #define FRAME_BUF_COUNT 4
 
-#define ROAD_FL_MM 8.0f
-#define WIDE_FL_MM 1.71f
-#define DRIVER_FL_MM 1.71f
+struct CameraConfig {
+  int camera_num;
+  VisionStreamType stream_type;
+  float focal_len;  // millimeters
+  const char *publish_name;
+  cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)();
+  bool enabled;
+};
+
+const CameraConfig WIDE_ROAD_CAMERA_CONFIG = {
+  .camera_num = 0,
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .focal_len = 1.71,
+  .publish_name = "wideRoadCameraState",
+  .init_camera_state = &cereal::Event::Builder::initWideRoadCameraState,
+  .enabled = !getenv("DISABLE_WIDE_ROAD"),
+};
+
+const CameraConfig ROAD_CAMERA_CONFIG = {
+  .camera_num = 1,
+  .stream_type = VISION_STREAM_ROAD,
+  .focal_len = 8.0,
+  .publish_name = "roadCameraState",
+  .init_camera_state = &cereal::Event::Builder::initRoadCameraState,
+  .enabled = !getenv("DISABLE_ROAD"),
+};
+
+const CameraConfig DRIVER_CAMERA_CONFIG = {
+  .camera_num = 2,
+  .stream_type = VISION_STREAM_DRIVER,
+  .focal_len = 1.71,
+  .publish_name = "driverCameraState",
+  .init_camera_state = &cereal::Event::Builder::initDriverCameraState,
+  .enabled = !getenv("DISABLE_DRIVER"),
+};
 
 class CameraState {
 public:
-  MultiCameraState *multi_cam_state;
+  MultiCameraState *multi_cam_state = nullptr;
   std::unique_ptr<const SensorInfo> ci;
-  bool enabled;
+  bool enabled = true;
+  VisionStreamType stream_type;
+  const char *publish_name = nullptr;
+  cereal::FrameData::Builder (cereal::Event::Builder::*init_camera_state)() = nullptr;
+  float focal_len = 0;
 
   std::mutex exp_lock;
 
-  int exposure_time;
-  bool dc_gain_enabled;
-  int dc_gain_weight;
-  int gain_idx;
-  float analog_gain_frac;
+  int exposure_time = 5;
+  bool dc_gain_enabled = false;
+  int dc_gain_weight = 0;
+  int gain_idx = 0;
+  float analog_gain_frac = 0;
 
-  float cur_ev[3];
-  float best_ev_score;
-  int new_exp_g;
-  int new_exp_t;
+  float cur_ev[3] = {};
+  float best_ev_score = 0;
+  int new_exp_g = 0;
+  int new_exp_t = 0;
 
-  Rect ae_xywh;
-  float measured_grey_fraction;
-  float target_grey_fraction;
+  Rect ae_xywh = {};
+  float measured_grey_fraction = 0;
+  float target_grey_fraction = 0.3;
 
   unique_fd sensor_fd;
   unique_fd csiphy_fd;
 
-  int camera_num;
-  float fl_pix;
+  int camera_num = 0;
+  float fl_pix = 0;
 
+  CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config);
   void handle_camera_event(void *evdat);
   void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
 
   void sensors_start();
 
-  void camera_open(MultiCameraState *multi_cam_state, int camera_num, bool enabled);
+  void camera_open();
   void set_exposure_rect();
   void sensor_set_parameters();
-  void camera_map_bufs(MultiCameraState *s);
-  void camera_init(MultiCameraState *s, VisionIpcServer *v, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, float focal_len);
+  void camera_map_bufs();
+  void camera_init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx);
   void camera_close();
+  void run();
 
-  int32_t session_handle;
-  int32_t sensor_dev_handle;
-  int32_t isp_dev_handle;
-  int32_t csiphy_dev_handle;
+  int32_t session_handle = -1;
+  int32_t sensor_dev_handle = -1;
+  int32_t isp_dev_handle = -1;
+  int32_t csiphy_dev_handle = -1;
 
-  int32_t link_handle;
+  int32_t link_handle = -1;
 
-  int buf0_handle;
-  int buf_handle[FRAME_BUF_COUNT];
-  int sync_objs[FRAME_BUF_COUNT];
-  int request_ids[FRAME_BUF_COUNT];
-  int request_id_last;
-  int frame_id_last;
-  int idx_offset;
-  bool skipped;
+  int buf0_handle = 0;
+  int buf_handle[FRAME_BUF_COUNT] = {};
+  int sync_objs[FRAME_BUF_COUNT] = {};
+  int request_ids[FRAME_BUF_COUNT] = {};
+  int request_id_last = 0;
+  int frame_id_last = 0;
+  int idx_offset = 0;
+  bool skipped = true;
 
   CameraBuf buf;
   MemoryManager mm;
@@ -86,20 +124,28 @@ class CameraState {
   void sensors_i2c(const struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word);
 
 private:
+  bool openSensor();
+  void configISP();
+  void configCSIPHY();
+  void linkDevices();
+
   // for debugging
   Params params;
 };
 
-typedef struct MultiCameraState {
+class MultiCameraState {
+public:
+  MultiCameraState();
+
   unique_fd video0_fd;
   unique_fd cam_sync_fd;
   unique_fd isp_fd;
-  int device_iommu;
-  int cdm_iommu;
+  int device_iommu = -1;
+  int cdm_iommu = -1;
 
   CameraState road_cam;
   CameraState wide_road_cam;
   CameraState driver_cam;
 
   PubMaster *pm;
-} MultiCameraState;
+};
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index e3a4c81711879e..ff34d95828f2cc 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -230,8 +230,8 @@ def hardware_thread(end_event, hw_queue) -> None:
         onroad_conditions["ignition"] = False
         cloudlog.error("panda timed out onroad")
 
-    # Run at 2Hz, plus rising edge of ignition
-    ign_edge = started_ts is None and onroad_conditions["ignition"]
+    # Run at 2Hz, plus either edge of ignition
+    ign_edge = (started_ts is not None) != onroad_conditions["ignition"]
     if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
       continue
 
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index a5dee88b562dba..eb524dbafaa5e8 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -563,8 +563,10 @@ def has_internal_panda(self):
 
   def reset_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
+    gpio_init(GPIO.STM_BOOT0, True)
 
     gpio_set(GPIO.STM_RST_N, 1)
+    gpio_set(GPIO.STM_BOOT0, 0)
     time.sleep(1)
     gpio_set(GPIO.STM_RST_N, 0)
 
diff --git a/tools/ssh/id_rsa b/system/hardware/tici/id_rsa
similarity index 100%
rename from tools/ssh/id_rsa
rename to system/hardware/tici/id_rsa
diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
index 2f0b96c90e02b9..7d83b490b0ff7f 100755
--- a/system/loggerd/deleter.py
+++ b/system/loggerd/deleter.py
@@ -37,9 +37,9 @@ def get_preserved_segments(dirs_by_creation: list[str]) -> list[str]:
     except ValueError:
       continue
 
-    # preserve segment and its prior
-    preserved.append(d)
-    preserved.append(f"{date_str}--{seg_num - 1}")
+    # preserve segment and two prior
+    for _seg_num in range(max(0, seg_num - 2), seg_num + 1):
+      preserved.append(f"{date_str}--{_seg_num}")
 
   return preserved
 
diff --git a/system/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
index 6591198281b992..fa716002635a08 100644
--- a/system/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -62,10 +62,10 @@ def gen_files(self, lock=False, xattr: bytes = None, boot=True) -> list[Path]:
   def gen_order(self, seg1: list[int], seg2: list[int], boot=True) -> list[str]:
     keys = []
     if boot:
-      keys += [f"boot/{self.seg_format.format(i)}.bz2" for i in seg1]
-      keys += [f"boot/{self.seg_format2.format(i)}.bz2" for i in seg2]
-    keys += [f"{self.seg_format.format(i)}/qlog.bz2" for i in seg1]
-    keys += [f"{self.seg_format2.format(i)}/qlog.bz2" for i in seg2]
+      keys += [f"boot/{self.seg_format.format(i)}.zst" for i in seg1]
+      keys += [f"boot/{self.seg_format2.format(i)}.zst" for i in seg2]
+    keys += [f"{self.seg_format.format(i)}/qlog.zst" for i in seg1]
+    keys += [f"{self.seg_format2.format(i)}/qlog.zst" for i in seg2]
     return keys
 
   def test_upload(self):
@@ -159,7 +159,7 @@ def test_no_upload_with_lock_file(self):
     self.join_thread()
 
     for f_path in f_paths:
-      fn = f_path.with_suffix(f_path.suffix.replace(".bz2", ""))
+      fn = f_path.with_suffix(f_path.suffix.replace(".zst", ""))
       uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
       assert not uploaded, "File upload when locked"
 
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index 832a227798e49d..965d74bef8653d 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-import bz2
 import io
 import json
 import os
@@ -9,7 +8,7 @@
 import time
 import traceback
 import datetime
-from typing import BinaryIO
+import zstandard as zstd
 from collections.abc import Iterator
 
 from cereal import log
@@ -26,6 +25,7 @@
 UPLOAD_ATTR_VALUE = b'1'
 
 UPLOAD_QLOG_QCAM_MAX_SIZE = 5 * 1e6  # MB
+LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
 allow_sleep = bool(os.getenv("UPLOADER_SLEEP", "1"))
 force_wifi = os.getenv("FORCEWIFI") is not None
@@ -83,7 +83,7 @@ def __init__(self, dongle_id: str, root: str):
     self.last_filename = ""
 
     self.immediate_folders = ["crash/", "boot/"]
-    self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
+    self.immediate_priority = {"qlog": 0, "qlog.zst": 0, "qcamera.ts": 1}
 
   def list_upload_files(self, metered: bool) -> Iterator[tuple[str, str, str]]:
     r = self.params.get("AthenadRecentlyViewedRoutes", encoding="utf8")
@@ -151,14 +151,12 @@ def do_upload(self, key: str, fn: str):
       return FakeResponse()
 
     with open(fn, "rb") as f:
-      data: BinaryIO
-      if key.endswith('.bz2') and not fn.endswith('.bz2'):
-        compressed = bz2.compress(f.read())
-        data = io.BytesIO(compressed)
-      else:
-        data = f
+      content = f.read()
+      if key.endswith('.zst') and not fn.endswith('.zst'):
+        content = zstd.compress(content, LOG_COMPRESSION_LEVEL)
 
-      return requests.put(url, data=data, headers=headers, timeout=10)
+      with io.BytesIO(content) as data:
+        return requests.put(url, data=data, headers=headers, timeout=10)
 
   def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
     try:
@@ -218,8 +216,8 @@ def step(self, network_type: int, metered: bool) -> bool | None:
     name, key, fn = d
 
     # qlogs and bootlogs need to be compressed before uploading
-    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.bz2')):
-      key += ".bz2"
+    if key.endswith(('qlog', 'rlog')) or (key.startswith('boot/') and not key.endswith('.zst')):
+      key += ".zst"
 
     return self.upload(name, key, fn, network_type, metered)
 
diff --git a/system/logmessaged.py b/system/logmessaged.py
index 46bf79b0b21cb6..c095c261926b8c 100755
--- a/system/logmessaged.py
+++ b/system/logmessaged.py
@@ -31,7 +31,7 @@ def main() -> NoReturn:
 
       if len(record) > 2*1024*1024:
         print("WARNING: log too big to publish", len(record))
-        print(print(record[:100]))
+        print(record[:100])
         continue
 
       # then we publish them
diff --git a/system/manager/process.py b/system/manager/process.py
index 9214e417c1ed39..c78d263dcc3af2 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -30,7 +30,7 @@ def launcher(proc: str, name: str) -> None:
     setthreadname(proc)
 
     # create new context since we forked
-    messaging.context = messaging.Context()
+    messaging.reset_context()
 
     # add daemon name tag to logs
     cloudlog.bind(daemon=name)
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index ced31077c9e14c..791d26a8f4a4fb 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -69,7 +69,6 @@ def only_offroad(started, params, CP: car.CarParams) -> bool:
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
   PythonProcess("qcomgpsd", "system.qcomgpsd.qcomgpsd", qcomgps, enabled=TICI),
   #PythonProcess("ugpsd", "system.ugpsd", only_onroad, enabled=TICI),
-  PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
   PythonProcess("pandad", "selfdrive.pandad.pandad", always_run),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
   NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
diff --git a/system/micd.py b/system/micd.py
index 8b738ebe939bcf..af1aa3136063a7 100755
--- a/system/micd.py
+++ b/system/micd.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import numpy as np
+from functools import cache
 
 from cereal import messaging
 from openpilot.common.realtime import Ratekeeper
@@ -10,7 +11,16 @@
 FFT_SAMPLES = 4096
 REFERENCE_SPL = 2e-5  # newtons/m^2
 SAMPLE_RATE = 44100
-SAMPLE_BUFFER = 4096 # (approx 100ms)
+SAMPLE_BUFFER = 4096  # approx 100ms
+
+
+@cache
+def get_a_weighting_filter():
+  # Calculate the A-weighting filter
+  # https://en.wikipedia.org/wiki/A-weighting
+  freqs = np.fft.fftfreq(FFT_SAMPLES, d=1 / SAMPLE_RATE)
+  A = 12194 ** 2 * freqs ** 4 / ((freqs ** 2 + 20.6 ** 2) * (freqs ** 2 + 12194 ** 2) * np.sqrt((freqs ** 2 + 107.7 ** 2) * (freqs ** 2 + 737.9 ** 2)))
+  return A / np.max(A)
 
 
 def calculate_spl(measurements):
@@ -27,16 +37,8 @@ def apply_a_weighting(measurements: np.ndarray) -> np.ndarray:
   # Generate a Hanning window of the same length as the audio measurements
   measurements_windowed = measurements * np.hanning(len(measurements))
 
-  # Calculate the frequency axis for the signal
-  freqs = np.fft.fftfreq(measurements_windowed.size, d=1 / SAMPLE_RATE)
-
-  # Calculate the A-weighting filter
-  # https://en.wikipedia.org/wiki/A-weighting
-  A = 12194 ** 2 * freqs ** 4 / ((freqs ** 2 + 20.6 ** 2) * (freqs ** 2 + 12194 ** 2) * np.sqrt((freqs ** 2 + 107.7 ** 2) * (freqs ** 2 + 737.9 ** 2)))
-  A /= np.max(A)  # Normalize the filter
-
   # Apply the A-weighting filter to the signal
-  return np.abs(np.fft.ifft(np.fft.fft(measurements_windowed) * A))
+  return np.abs(np.fft.ifft(np.fft.fft(measurements_windowed) * get_a_weighting_filter()))
 
 
 class Mic:
diff --git a/system/timed.py b/system/timed.py
index 2b9a42c455154e..6c85bf2a253e00 100755
--- a/system/timed.py
+++ b/system/timed.py
@@ -1,36 +1,12 @@
 #!/usr/bin/env python3
 import datetime
-import os
 import subprocess
 import time
 from typing import NoReturn
 
-from timezonefinder import TimezoneFinder
-
 import cereal.messaging as messaging
 from openpilot.common.time import system_time_valid
-from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.hardware import AGNOS
-
-
-def set_timezone(timezone):
-  valid_timezones = subprocess.check_output('timedatectl list-timezones', shell=True, encoding='utf8').strip().split('\n')
-  if timezone not in valid_timezones:
-    cloudlog.error(f"Timezone not supported {timezone}")
-    return
-
-  cloudlog.debug(f"Setting timezone to {timezone}")
-  try:
-    if AGNOS:
-      tzpath = os.path.join("/usr/share/zoneinfo/", timezone)
-      subprocess.check_call(f'sudo su -c "ln -snf {tzpath} /data/etc/tmptime && \
-                              mv /data/etc/tmptime /data/etc/localtime"', shell=True)
-      subprocess.check_call(f'sudo su -c "echo \"{timezone}\" > /data/etc/timezone"', shell=True)
-    else:
-      subprocess.check_call(f'sudo timedatectl set-timezone {timezone}', shell=True)
-  except subprocess.CalledProcessError:
-    cloudlog.exception(f"Error setting timezone to {timezone}")
 
 
 def set_time(new_time):
@@ -48,23 +24,13 @@ def set_time(new_time):
 
 def main() -> NoReturn:
   """
-    timed has two responsibilities:
+    timed has one responsibility:
     - getting the current time
-    - getting the current timezone
 
-    GPS directly gives time, and timezone is looked up from GPS position.
+    GPS directly gives time.
     AGNOS will also use NTP to update the time.
   """
 
-  params = Params()
-
-  # Restore timezone from param
-  tz = params.get("Timezone", encoding='utf8')
-  tf = TimezoneFinder()
-  if tz is not None:
-    cloudlog.debug("Restoring timezone from param")
-    set_timezone(tz)
-
   pm = messaging.PubMaster(['clocks'])
   sm = messaging.SubMaster(['liveLocationKalman'])
   while True:
@@ -84,16 +50,6 @@ def main() -> NoReturn:
     gps_time = datetime.datetime.fromtimestamp(llk.unixTimestampMillis / 1000.)
     set_time(gps_time)
 
-    # set timezone
-    pos = llk.positionGeodetic.value
-    if len(pos) == 3:
-      gps_timezone = tf.timezone_at(lat=pos[0], lng=pos[1])
-      if gps_timezone is None:
-        cloudlog.critical(f"No timezone found based on {pos=}")
-      else:
-        set_timezone(gps_timezone)
-        params.put_nonblocking("Timezone", gps_timezone)
-
     time.sleep(10)
 
 if __name__ == "__main__":
diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py
index 928d07cbe35892..52287c58f9b744 100644
--- a/system/updated/tests/test_base.py
+++ b/system/updated/tests/test_base.py
@@ -133,7 +133,7 @@ def _test_finalized_update(self, branch, version, agnos_version, release_notes):
 class ParamsBaseUpdateTest(TestBaseUpdate):
   def _test_finalized_update(self, branch, version, agnos_version, release_notes):
     assert self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}")
-    assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"<p>{release_notes}</p>\n"
+    assert self.params.get("UpdaterNewReleaseNotes", encoding="utf-8") == f"{release_notes}\n"
     super()._test_finalized_update(branch, version, agnos_version, release_notes)
 
   def send_check_for_updates_signal(self, updated: ManagerProcess):
diff --git a/teleoprtc_repo b/teleoprtc_repo
index fdcff87aaf2b1c..389815b8ca5302 160000
--- a/teleoprtc_repo
+++ b/teleoprtc_repo
@@ -1 +1 @@
-Subproject commit fdcff87aaf2b1ca099be4fc820044334cec02cc5
+Subproject commit 389815b8ca5302ce7c1504b7841d4eb61a8cd51b
diff --git a/third_party/libyuv/larch64/lib/libyuv.a b/third_party/libyuv/larch64/lib/libyuv.a
index fd18814ef1dc9a..1c91250231fa88 100644
--- a/third_party/libyuv/larch64/lib/libyuv.a
+++ b/third_party/libyuv/larch64/lib/libyuv.a
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:85e765be665eab8ce8b64d6a884148e0ff3905fadcef6c0daa75e4efd84bb5cb
-size 499734
+oid sha256:320bef5a75a62dd2731a496040921d5000f1ed237ae70fd7aeb6c010a1534363
+size 462482
diff --git a/third_party/maplibre-native-qt/.gitignore b/third_party/maplibre-native-qt/.gitignore
deleted file mode 100644
index 9adc6681c02299..00000000000000
--- a/third_party/maplibre-native-qt/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/maplibre/
diff --git a/third_party/maplibre-native-qt/aarch64 b/third_party/maplibre-native-qt/aarch64
deleted file mode 120000
index 062c65e8d99c64..00000000000000
--- a/third_party/maplibre-native-qt/aarch64
+++ /dev/null
@@ -1 +0,0 @@
-larch64/
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/build.sh b/third_party/maplibre-native-qt/build.sh
deleted file mode 100755
index a368026f0fe00e..00000000000000
--- a/third_party/maplibre-native-qt/build.sh
+++ /dev/null
@@ -1,36 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-
-ARCHNAME=$(uname -m)
-MAPLIBRE_FLAGS="-DMLN_QT_WITH_LOCATION=OFF"
-if [ -f /TICI ]; then
-  ARCHNAME="larch64"
-  #MAPLIBRE_FLAGS="$MAPLIBRE_FLAGS -DCMAKE_SYSTEM_NAME=Android -DANDROID_ABI=arm64-v8a"
-fi
-
-cd $DIR
-if [ ! -d maplibre ]; then
-  git clone --single-branch https://github.com/maplibre/maplibre-native-qt.git $DIR/maplibre
-fi
-
-cd maplibre
-git checkout 3726266e127c1f94ad64837c9dbe03d238255816
-git submodule update --depth=1 --recursive --init
-
-# build
-mkdir -p build
-cd build
-cmake $MAPLIBRE_FLAGS $DIR/maplibre
-make -j$(nproc)
-
-INSTALL_DIR="$DIR/$ARCHNAME"
-rm -rf $INSTALL_DIR
-mkdir -p $INSTALL_DIR
-
-rm -rf $DIR/include
-mkdir -p $INSTALL_DIR/lib $INSTALL_DIR/include $DIR/include
-cp -r $DIR/maplibre/build/src/core/*.so* $INSTALL_DIR/lib
-cp -r $DIR/maplibre/build/src/core/include/* $INSTALL_DIR/include
-cp -r $DIR/maplibre/src/**/*.hpp $DIR/include
diff --git a/third_party/maplibre-native-qt/include/conversion_p.hpp b/third_party/maplibre-native-qt/include/conversion_p.hpp
deleted file mode 100644
index 38b03d498e8939..00000000000000
--- a/third_party/maplibre-native-qt/include/conversion_p.hpp
+++ /dev/null
@@ -1,241 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2018 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "geojson_p.hpp"
-#include "types.hpp"
-
-#include <mbgl/style/conversion/geojson.hpp>
-#include <mbgl/style/conversion_impl.hpp>
-
-#include <QtCore/QVariant>
-#include <QtGui/QColor>
-
-#include <optional>
-
-namespace mbgl::style::conversion {
-
-std::string convertColor(const QColor &color);
-
-template <>
-class ConversionTraits<QVariant> {
-public:
-    static bool isUndefined(const QVariant &value) { return value.isNull() || !value.isValid(); }
-
-    static bool isArray(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        return QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::QVariantList));
-#else
-        return value.canConvert(QVariant::List);
-#endif
-    }
-
-    static std::size_t arrayLength(const QVariant &value) { return value.toList().size(); }
-
-    static QVariant arrayMember(const QVariant &value, std::size_t i) { return value.toList()[static_cast<int>(i)]; }
-
-    static bool isObject(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        return QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::QVariantMap)) ||
-               value.typeId() == QMetaType::QByteArray
-#else
-        return value.canConvert(QVariant::Map) || value.type() == QVariant::ByteArray
-#endif
-               || QString(value.typeName()) == QStringLiteral("QMapLibre::Feature") ||
-               value.userType() == qMetaTypeId<QVector<QMapLibre::Feature>>() ||
-               value.userType() == qMetaTypeId<QList<QMapLibre::Feature>>() ||
-               value.userType() == qMetaTypeId<std::list<QMapLibre::Feature>>();
-    }
-
-    static std::optional<QVariant> objectMember(const QVariant &value, const char *key) {
-        auto map = value.toMap();
-        auto iter = map.constFind(key);
-
-        if (iter != map.constEnd()) {
-            return iter.value();
-        }
-
-        return {};
-    }
-
-    template <class Fn>
-    static std::optional<Error> eachMember(const QVariant &value, Fn &&fn) {
-        auto map = value.toMap();
-        auto iter = map.constBegin();
-
-        while (iter != map.constEnd()) {
-            std::optional<Error> result = fn(iter.key().toStdString(), QVariant(iter.value()));
-            if (result) {
-                return result;
-            }
-
-            ++iter;
-        }
-
-        return {};
-    }
-
-    static std::optional<bool> toBool(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::Bool) {
-#else
-        if (value.type() == QVariant::Bool) {
-#endif
-            return value.toBool();
-        }
-
-        return {};
-    }
-
-    static std::optional<float> toNumber(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::Int || value.typeId() == QMetaType::Double ||
-            value.typeId() == QMetaType::Long || value.typeId() == QMetaType::LongLong ||
-            value.typeId() == QMetaType::ULong || value.typeId() == QMetaType::ULongLong) {
-#else
-        if (value.type() == QVariant::Int || value.type() == QVariant::Double || value.type() == QVariant::LongLong ||
-            value.type() == QVariant::ULongLong) {
-#endif
-            return value.toFloat();
-        }
-
-        return {};
-    }
-
-    static std::optional<double> toDouble(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::Int || value.typeId() == QMetaType::Double ||
-            value.typeId() == QMetaType::Long || value.typeId() == QMetaType::LongLong ||
-            value.typeId() == QMetaType::ULong || value.typeId() == QMetaType::ULongLong) {
-#else
-        if (value.type() == QVariant::Int || value.type() == QVariant::Double || value.type() == QVariant::LongLong ||
-            value.type() == QVariant::ULongLong) {
-#endif
-            return value.toDouble();
-        }
-
-        return {};
-    }
-
-    static std::optional<std::string> toString(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::QString) {
-            return value.toString().toStdString();
-        }
-
-        if (value.typeId() == QMetaType::QColor) {
-            return convertColor(value.value<QColor>());
-        }
-#else
-        if (value.type() == QVariant::String) {
-            return value.toString().toStdString();
-        }
-
-        if (value.type() == QVariant::Color) {
-            return convertColor(value.value<QColor>());
-        }
-#endif
-        return {};
-    }
-
-    static std::optional<Value> toValue(const QVariant &value) {
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() == QMetaType::Bool) {
-            return {value.toBool()};
-        }
-
-        if (value.typeId() == QMetaType::QString) {
-            return {value.toString().toStdString()};
-        }
-
-        if (value.typeId() == QMetaType::QColor) {
-            return {convertColor(value.value<QColor>())};
-        }
-
-        if (value.typeId() == QMetaType::Int) {
-            return {static_cast<int64_t>(value.toInt())};
-        }
-
-        if (QMetaType::canConvert(value.metaType(), QMetaType(QMetaType::Double))) {
-            return {value.toDouble()};
-        }
-#else
-        if (value.type() == QVariant::Bool) {
-            return {value.toBool()};
-        }
-
-        if (value.type() == QVariant::String) {
-            return {value.toString().toStdString()};
-        }
-
-        if (value.type() == QVariant::Color) {
-            return {convertColor(value.value<QColor>())};
-        }
-
-        if (value.type() == QVariant::Int) {
-            return {static_cast<int64_t>(value.toInt())};
-        }
-
-        if (value.canConvert(QVariant::Double)) {
-            return {value.toDouble()};
-        }
-#endif
-        return {};
-    }
-
-    static std::optional<GeoJSON> toGeoJSON(const QVariant &value, Error &error) {
-        if (value.typeName() == QStringLiteral("QMapLibre::Feature")) {
-            return GeoJSON{QMapLibre::GeoJSON::asFeature(value.value<QMapLibre::Feature>())};
-        }
-
-        if (value.userType() == qMetaTypeId<QVector<QMapLibre::Feature>>()) {
-            return featureCollectionToGeoJSON(value.value<QVector<QMapLibre::Feature>>());
-        }
-
-        if (value.userType() == qMetaTypeId<QList<QMapLibre::Feature>>()) {
-            return featureCollectionToGeoJSON(value.value<QList<QMapLibre::Feature>>());
-        }
-
-        if (value.userType() == qMetaTypeId<std::list<QMapLibre::Feature>>()) {
-            return featureCollectionToGeoJSON(value.value<std::list<QMapLibre::Feature>>());
-        }
-
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-        if (value.typeId() != QMetaType::QByteArray) {
-#else
-        if (value.type() != QVariant::ByteArray) {
-#endif
-            error = {"JSON data must be in QByteArray"};
-            return {};
-        }
-
-        const QByteArray data = value.toByteArray();
-        return parseGeoJSON(std::string(data.constData(), data.size()), error);
-    }
-
-private:
-    template <typename T>
-    static GeoJSON featureCollectionToGeoJSON(const T &features) {
-        mapbox::feature::feature_collection<double> collection;
-        collection.reserve(static_cast<std::size_t>(features.size()));
-        for (const auto &feature : features) {
-            collection.push_back(QMapLibre::GeoJSON::asFeature(feature));
-        }
-        return GeoJSON{std::move(collection)};
-    }
-};
-
-template <class T, class... Args>
-std::optional<T> convert(const QVariant &value, Error &error, Args &&...args) {
-    return convert<T>(Convertible(value), error, std::forward<Args>(args)...);
-}
-
-inline std::string convertColor(const QColor &color) {
-    return QString::asprintf("rgba(%d,%d,%d,%lf)", color.red(), color.green(), color.blue(), color.alphaF())
-        .toStdString();
-}
-
-} // namespace mbgl::style::conversion
diff --git a/third_party/maplibre-native-qt/include/export_core.hpp b/third_party/maplibre-native-qt/include/export_core.hpp
deleted file mode 100644
index bd5ad495db6a85..00000000000000
--- a/third_party/maplibre-native-qt/include/export_core.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_CORE_EXPORT_H
-#define QMAPLIBRE_CORE_EXPORT_H
-
-#include <QtCore/QtGlobal>
-
-#if !defined(QT_MAPLIBRE_STATIC)
-#if defined(QT_BUILD_MAPLIBRE_CORE_LIB)
-#define Q_MAPLIBRE_CORE_EXPORT Q_DECL_EXPORT
-#else
-#define Q_MAPLIBRE_CORE_EXPORT Q_DECL_IMPORT
-#endif
-#else
-#define Q_MAPLIBRE_CORE_EXPORT
-#endif
-
-#endif // QMAPLIBRE_CORE_EXPORT_H
diff --git a/third_party/maplibre-native-qt/include/export_location.hpp b/third_party/maplibre-native-qt/include/export_location.hpp
deleted file mode 100644
index a9863468841fa0..00000000000000
--- a/third_party/maplibre-native-qt/include/export_location.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_LOCATION_EXPORT_H
-#define QMAPLIBRE_LOCATION_EXPORT_H
-
-#include <QtCore/QtGlobal>
-
-#if !defined(QT_MAPLIBRE_STATIC)
-#if defined(QT_BUILD_MAPLIBRE_LOCATION_LIB)
-#define Q_MAPLIBRE_LOCATION_EXPORT Q_DECL_EXPORT
-#else
-#define Q_MAPLIBRE_LOCATION_EXPORT Q_DECL_IMPORT
-#endif
-#else
-#define Q_MAPLIBRE_LOCATION_EXPORT
-#endif
-
-#endif // QMAPLIBRE_LOCATION_EXPORT_H
diff --git a/third_party/maplibre-native-qt/include/export_widgets.hpp b/third_party/maplibre-native-qt/include/export_widgets.hpp
deleted file mode 100644
index 11bc28819033d1..00000000000000
--- a/third_party/maplibre-native-qt/include/export_widgets.hpp
+++ /dev/null
@@ -1,20 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_WIDGETS_EXPORT_H
-#define QMAPLIBRE_WIDGETS_EXPORT_H
-
-#include <QtCore/QtGlobal>
-
-#if !defined(QT_MAPLIBRE_STATIC)
-#if defined(QT_BUILD_MAPLIBRE_WIDGETS_LIB)
-#define Q_MAPLIBRE_WIDGETS_EXPORT Q_DECL_EXPORT
-#else
-#define Q_MAPLIBRE_WIDGETS_EXPORT Q_DECL_IMPORT
-#endif
-#else
-#define Q_MAPLIBRE_WIDGETS_EXPORT
-#endif
-
-#endif // QMAPLIBRE_WIDGETS_EXPORT_H
diff --git a/third_party/maplibre-native-qt/include/geojson_p.hpp b/third_party/maplibre-native-qt/include/geojson_p.hpp
deleted file mode 100644
index 8387f70c4b193b..00000000000000
--- a/third_party/maplibre-native-qt/include/geojson_p.hpp
+++ /dev/null
@@ -1,30 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "types.hpp"
-
-#include <mapbox/geojson.hpp>
-#include <mbgl/util/feature.hpp>
-#include <mbgl/util/geometry.hpp>
-
-#include <QtCore/QVariant>
-
-#include <string>
-
-namespace QMapLibre::GeoJSON {
-
-mbgl::Point<double> asPoint(const Coordinate &coordinate);
-mbgl::MultiPoint<double> asMultiPoint(const Coordinates &multiPoint);
-mbgl::LineString<double> asLineString(const Coordinates &lineString);
-mbgl::MultiLineString<double> asMultiLineString(const CoordinatesCollection &multiLineString);
-mbgl::Polygon<double> asPolygon(const CoordinatesCollection &polygon);
-mbgl::MultiPolygon<double> asMultiPolygon(const CoordinatesCollections &multiPolygon);
-mbgl::Value asPropertyValue(const QVariant &value);
-mbgl::FeatureIdentifier asFeatureIdentifier(const QVariant &id);
-mbgl::GeoJSONFeature asFeature(const Feature &feature);
-
-} // namespace QMapLibre::GeoJSON
diff --git a/third_party/maplibre-native-qt/include/gl_widget.hpp b/third_party/maplibre-native-qt/include/gl_widget.hpp
deleted file mode 100644
index b2630daea75548..00000000000000
--- a/third_party/maplibre-native-qt/include/gl_widget.hpp
+++ /dev/null
@@ -1,56 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_GL_WIDGET_H
-#define QMAPLIBRE_GL_WIDGET_H
-
-#include <QMapLibreWidgets/Export>
-
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-
-#include <QOpenGLWidget>
-
-#include <memory>
-
-QT_BEGIN_NAMESPACE
-
-class QKeyEvent;
-class QMouseEvent;
-class QWheelEvent;
-
-QT_END_NAMESPACE
-
-namespace QMapLibre {
-
-class GLWidgetPrivate;
-
-class Q_MAPLIBRE_WIDGETS_EXPORT GLWidget : public QOpenGLWidget {
-    Q_OBJECT
-
-public:
-    explicit GLWidget(const Settings &);
-    ~GLWidget() override;
-
-    Map *map();
-
-protected:
-    // QWidget implementation.
-    void mousePressEvent(QMouseEvent *event) override;
-    void mouseMoveEvent(QMouseEvent *event) override;
-    void wheelEvent(QWheelEvent *event) override;
-
-    // Q{,Open}GLWidget implementation.
-    void initializeGL() override;
-    void paintGL() override;
-
-private:
-    Q_DISABLE_COPY(GLWidget)
-
-    std::unique_ptr<GLWidgetPrivate> d_ptr;
-};
-
-} // namespace QMapLibre
-
-#endif // QMAPLIBRE_GL_WIDGET_H
diff --git a/third_party/maplibre-native-qt/include/gl_widget_p.hpp b/third_party/maplibre-native-qt/include/gl_widget_p.hpp
deleted file mode 100644
index c97781fd29d5cb..00000000000000
--- a/third_party/maplibre-native-qt/include/gl_widget_p.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include <QMapLibre/Map>
-#include <QMapLibre/Settings>
-
-#include <memory>
-
-QT_BEGIN_NAMESPACE
-
-class QKeyEvent;
-class QMouseEvent;
-class QWheelEvent;
-
-QT_END_NAMESPACE
-
-namespace QMapLibre {
-
-class GLWidgetPrivate : public QObject {
-    Q_OBJECT
-
-public:
-    explicit GLWidgetPrivate(QObject *parent, Settings settings);
-    ~GLWidgetPrivate() override;
-
-    void handleMousePressEvent(QMouseEvent *event);
-    void handleMouseMoveEvent(QMouseEvent *event);
-    void handleWheelEvent(QWheelEvent *event) const;
-
-    std::unique_ptr<Map> m_map{};
-    Settings m_settings;
-
-private:
-    Q_DISABLE_COPY(GLWidgetPrivate);
-
-    QPointF m_lastPos;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/map.hpp b/third_party/maplibre-native-qt/include/map.hpp
deleted file mode 100644
index cd56996185be72..00000000000000
--- a/third_party/maplibre-native-qt/include/map.hpp
+++ /dev/null
@@ -1,205 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_MAP_H
-#define QMAPLIBRE_MAP_H
-
-#include <QMapLibre/Export>
-#include <QMapLibre/Settings>
-#include <QMapLibre/Types>
-
-#include <QtCore/QMargins>
-#include <QtCore/QObject>
-#include <QtCore/QPointF>
-#include <QtCore/QSize>
-#include <QtCore/QString>
-#include <QtCore/QStringList>
-#include <QtGui/QImage>
-
-#include <functional>
-#include <memory>
-
-namespace QMapLibre {
-
-class MapPrivate;
-
-class Q_MAPLIBRE_CORE_EXPORT Map : public QObject {
-    Q_OBJECT
-    Q_PROPERTY(double latitude READ latitude WRITE setLatitude)
-    Q_PROPERTY(double longitude READ longitude WRITE setLongitude)
-    Q_PROPERTY(double zoom READ zoom WRITE setZoom)
-    Q_PROPERTY(double bearing READ bearing WRITE setBearing)
-    Q_PROPERTY(double pitch READ pitch WRITE setPitch)
-    Q_PROPERTY(QString styleJson READ styleJson WRITE setStyleJson)
-    Q_PROPERTY(QString styleUrl READ styleUrl WRITE setStyleUrl)
-    Q_PROPERTY(double scale READ scale WRITE setScale)
-    Q_PROPERTY(QMapLibre::Coordinate coordinate READ coordinate WRITE setCoordinate)
-    Q_PROPERTY(QMargins margins READ margins WRITE setMargins)
-
-public:
-    enum MapChange {
-        MapChangeRegionWillChange = 0,
-        MapChangeRegionWillChangeAnimated,
-        MapChangeRegionIsChanging,
-        MapChangeRegionDidChange,
-        MapChangeRegionDidChangeAnimated,
-        MapChangeWillStartLoadingMap,
-        MapChangeDidFinishLoadingMap,
-        MapChangeDidFailLoadingMap,
-        MapChangeWillStartRenderingFrame,
-        MapChangeDidFinishRenderingFrame,
-        MapChangeDidFinishRenderingFrameFullyRendered,
-        MapChangeWillStartRenderingMap,
-        MapChangeDidFinishRenderingMap,
-        MapChangeDidFinishRenderingMapFullyRendered,
-        MapChangeDidFinishLoadingStyle,
-        MapChangeSourceDidChange
-    };
-
-    enum MapLoadingFailure {
-        StyleParseFailure,
-        StyleLoadFailure,
-        NotFoundFailure,
-        UnknownFailure
-    };
-
-    // Determines the orientation of the map.
-    enum NorthOrientation {
-        NorthUpwards, // Default
-        NorthRightwards,
-        NorthDownwards,
-        NorthLeftwards,
-    };
-
-    explicit Map(QObject *parent = nullptr,
-                 const Settings &settings = Settings(),
-                 const QSize &size = QSize(),
-                 qreal pixelRatio = 1);
-    ~Map() override;
-
-    [[nodiscard]] QString styleJson() const;
-    [[nodiscard]] QString styleUrl() const;
-
-    void setStyleJson(const QString &);
-    void setStyleUrl(const QString &);
-
-    [[nodiscard]] double latitude() const;
-    void setLatitude(double latitude);
-
-    [[nodiscard]] double longitude() const;
-    void setLongitude(double longitude);
-
-    [[nodiscard]] double scale() const;
-    void setScale(double scale, const QPointF &center = QPointF());
-
-    [[nodiscard]] double zoom() const;
-    void setZoom(double zoom);
-
-    [[nodiscard]] double minimumZoom() const;
-    [[nodiscard]] double maximumZoom() const;
-
-    [[nodiscard]] double bearing() const;
-    void setBearing(double degrees);
-    void setBearing(double degrees, const QPointF &center);
-
-    [[nodiscard]] double pitch() const;
-    void setPitch(double pitch);
-    void pitchBy(double pitch);
-
-    [[nodiscard]] NorthOrientation northOrientation() const;
-    void setNorthOrientation(NorthOrientation);
-
-    [[nodiscard]] Coordinate coordinate() const;
-    void setCoordinate(const Coordinate &coordinate);
-    void setCoordinateZoom(const Coordinate &coordinate, double zoom);
-
-    void jumpTo(const CameraOptions &);
-
-    void setGestureInProgress(bool inProgress);
-
-    void setTransitionOptions(qint64 duration, qint64 delay = 0);
-
-    void addAnnotationIcon(const QString &name, const QImage &sprite);
-
-    AnnotationID addAnnotation(const Annotation &annotation);
-    void updateAnnotation(AnnotationID id, const Annotation &annotation);
-    void removeAnnotation(AnnotationID id);
-
-    bool setLayoutProperty(const QString &layerId, const QString &propertyName, const QVariant &value);
-    bool setPaintProperty(const QString &layerId, const QString &propertyName, const QVariant &value);
-
-    [[nodiscard]] bool isFullyLoaded() const;
-
-    void moveBy(const QPointF &offset);
-    void scaleBy(double scale, const QPointF &center = QPointF());
-    void rotateBy(const QPointF &first, const QPointF &second);
-
-    void resize(const QSize &size);
-
-    [[nodiscard]] QPointF pixelForCoordinate(const Coordinate &coordinate) const;
-    [[nodiscard]] Coordinate coordinateForPixel(const QPointF &pixel) const;
-
-    [[nodiscard]] CoordinateZoom coordinateZoomForBounds(const Coordinate &sw, const Coordinate &ne) const;
-    [[nodiscard]] CoordinateZoom coordinateZoomForBounds(const Coordinate &sw,
-                                                         const Coordinate &ne,
-                                                         double bearing,
-                                                         double pitch);
-
-    void setMargins(const QMargins &margins);
-    [[nodiscard]] QMargins margins() const;
-
-    void addSource(const QString &id, const QVariantMap &params);
-    bool sourceExists(const QString &id);
-    void updateSource(const QString &id, const QVariantMap &params);
-    void removeSource(const QString &id);
-
-    void addImage(const QString &id, const QImage &sprite);
-    void removeImage(const QString &id);
-
-    void addCustomLayer(const QString &id,
-                        std::unique_ptr<CustomLayerHostInterface> host,
-                        const QString &before = QString());
-    void addLayer(const QString &id, const QVariantMap &params, const QString &before = QString());
-    bool layerExists(const QString &id);
-    void removeLayer(const QString &id);
-
-    [[nodiscard]] QVector<QString> layerIds() const;
-
-    void setFilter(const QString &layerId, const QVariant &filter);
-    [[nodiscard]] QVariant getFilter(const QString &layerId) const;
-    // When rendering on a different thread,
-    // should be called on the render thread.
-    void createRenderer();
-    void destroyRenderer();
-    void setFramebufferObject(quint32 fbo, const QSize &size);
-
-public slots:
-    void render();
-    void setConnectionEstablished();
-
-    // Commit changes, load all the resources
-    // and renders the map when completed.
-    void startStaticRender();
-
-signals:
-    void needsRendering();
-    void mapChanged(Map::MapChange);
-    void mapLoadingFailed(Map::MapLoadingFailure, const QString &reason);
-    void copyrightsChanged(const QString &copyrightsHtml);
-
-    void staticRenderFinished(const QString &error);
-
-private:
-    Q_DISABLE_COPY(Map)
-
-    std::unique_ptr<MapPrivate> d_ptr;
-};
-
-} // namespace QMapLibre
-
-Q_DECLARE_METATYPE(QMapLibre::Map::MapChange);
-Q_DECLARE_METATYPE(QMapLibre::Map::MapLoadingFailure);
-
-#endif // QMAPLIBRE_MAP_H
diff --git a/third_party/maplibre-native-qt/include/map_observer_p.hpp b/third_party/maplibre-native-qt/include/map_observer_p.hpp
deleted file mode 100644
index e68c72b17b0571..00000000000000
--- a/third_party/maplibre-native-qt/include/map_observer_p.hpp
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "map.hpp"
-
-#include <mbgl/map/map_observer.hpp>
-#include <mbgl/style/style.hpp>
-
-#include <QtCore/QObject>
-
-#include <exception>
-#include <memory>
-
-namespace QMapLibre {
-
-class MapPrivate;
-
-class MapObserver : public QObject, public mbgl::MapObserver {
-    Q_OBJECT
-
-public:
-    explicit MapObserver(MapPrivate *ptr);
-    ~MapObserver() override;
-
-    // mbgl::MapObserver implementation.
-    void onCameraWillChange(mbgl::MapObserver::CameraChangeMode mode) final;
-    void onCameraIsChanging() final;
-    void onCameraDidChange(mbgl::MapObserver::CameraChangeMode mode) final;
-    void onWillStartLoadingMap() final;
-    void onDidFinishLoadingMap() final;
-    void onDidFailLoadingMap(mbgl::MapLoadError error, const std::string &what) final;
-    void onWillStartRenderingFrame() final;
-    void onDidFinishRenderingFrame(mbgl::MapObserver::RenderFrameStatus status) final;
-    void onWillStartRenderingMap() final;
-    void onDidFinishRenderingMap(mbgl::MapObserver::RenderMode mode) final;
-    void onDidFinishLoadingStyle() final;
-    void onSourceChanged(mbgl::style::Source &source) final;
-
-signals:
-    void mapChanged(Map::MapChange);
-    void mapLoadingFailed(Map::MapLoadingFailure, const QString &reason);
-    void copyrightsChanged(const QString &copyrightsHtml);
-
-private:
-    Q_DISABLE_COPY(MapObserver)
-
-    MapPrivate *d_ptrRef;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/map_p.hpp b/third_party/maplibre-native-qt/include/map_p.hpp
deleted file mode 100644
index 9ca0c7e6f5a983..00000000000000
--- a/third_party/maplibre-native-qt/include/map_p.hpp
+++ /dev/null
@@ -1,79 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "map.hpp"
-#include "map_observer_p.hpp"
-#include "map_renderer_p.hpp"
-
-#include <mbgl/actor/actor.hpp>
-#include <mbgl/map/map.hpp>
-#include <mbgl/renderer/renderer_frontend.hpp>
-#include <mbgl/storage/resource_transform.hpp>
-#include <mbgl/util/geo.hpp>
-
-#include <QtCore/QObject>
-#include <QtCore/QSize>
-
-#include <atomic>
-#include <memory>
-
-namespace QMapLibre {
-
-class MapPrivate : public QObject, public mbgl::RendererFrontend {
-    Q_OBJECT
-
-public:
-    explicit MapPrivate(Map *map, const Settings &settings, const QSize &size, qreal pixelRatio);
-    ~MapPrivate() override;
-
-    // mbgl::RendererFrontend implementation.
-    void reset() final {}
-    void setObserver(mbgl::RendererObserver &observer) final;
-    void update(std::shared_ptr<mbgl::UpdateParameters> parameters) final;
-
-    // These need to be called on the same thread.
-    void createRenderer();
-    void destroyRenderer();
-    void render();
-    void setFramebufferObject(quint32 fbo, const QSize &size);
-
-    using PropertySetter = std::optional<mbgl::style::conversion::Error> (mbgl::style::Layer::*)(
-        const std::string &, const mbgl::style::conversion::Convertible &);
-    [[nodiscard]] bool setProperty(const PropertySetter &setter,
-                                   const QString &layerId,
-                                   const QString &name,
-                                   const QVariant &value) const;
-
-    mbgl::EdgeInsets margins;
-    std::unique_ptr<mbgl::Map> mapObj{};
-
-public slots:
-    void requestRendering();
-
-signals:
-    void needsRendering();
-
-private:
-    Q_DISABLE_COPY(MapPrivate)
-
-    std::recursive_mutex m_mapRendererMutex;
-    std::shared_ptr<mbgl::RendererObserver> m_rendererObserver{};
-    std::shared_ptr<mbgl::UpdateParameters> m_updateParameters{};
-
-    std::unique_ptr<MapObserver> m_mapObserver{};
-    std::unique_ptr<MapRenderer> m_mapRenderer{};
-    std::unique_ptr<mbgl::Actor<mbgl::ResourceTransform::TransformCallback>> m_resourceTransform{};
-
-    Settings::GLContextMode m_mode;
-    qreal m_pixelRatio;
-
-    QString m_localFontFamily;
-
-    std::atomic_flag m_renderQueued = ATOMIC_FLAG_INIT;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/map_renderer_p.hpp b/third_party/maplibre-native-qt/include/map_renderer_p.hpp
deleted file mode 100644
index b9a087c392ee80..00000000000000
--- a/third_party/maplibre-native-qt/include/map_renderer_p.hpp
+++ /dev/null
@@ -1,63 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "settings.hpp"
-
-#include "utils/renderer_backend.hpp"
-
-#include <mbgl/renderer/renderer.hpp>
-#include <mbgl/renderer/renderer_observer.hpp>
-#include <mbgl/util/util.hpp>
-
-#include <QtCore/QObject>
-
-#include <QtGlobal>
-
-#include <memory>
-#include <mutex>
-
-namespace mbgl {
-class Renderer;
-class UpdateParameters;
-} // namespace mbgl
-
-namespace QMapLibre {
-
-class RendererBackend;
-
-class MapRenderer : public QObject {
-    Q_OBJECT
-
-public:
-    MapRenderer(qreal pixelRatio, Settings::GLContextMode, const QString &localFontFamily);
-    ~MapRenderer() override;
-
-    void render();
-    void updateFramebuffer(quint32 fbo, const mbgl::Size &size);
-    void setObserver(mbgl::RendererObserver *observer);
-
-    // Thread-safe, called by the Frontend
-    void updateParameters(std::shared_ptr<mbgl::UpdateParameters> parameters);
-
-signals:
-    void needsRendering();
-
-private:
-    MBGL_STORE_THREAD(tid)
-
-    Q_DISABLE_COPY(MapRenderer)
-
-    std::mutex m_updateMutex;
-    std::shared_ptr<mbgl::UpdateParameters> m_updateParameters;
-
-    RendererBackend m_backend;
-    std::unique_ptr<mbgl::Renderer> m_renderer{};
-
-    bool m_forceScheduler{};
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/qgeomap.hpp b/third_party/maplibre-native-qt/include/qgeomap.hpp
deleted file mode 100644
index 5eb01805034bff..00000000000000
--- a/third_party/maplibre-native-qt/include/qgeomap.hpp
+++ /dev/null
@@ -1,54 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 The Qt Company Ltd.
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include "export_location.hpp"
-
-#include <QMapLibre/Map>
-#include <QMapLibre/StyleParameter>
-
-#include <QtLocation/private/qgeomap_p.h>
-
-namespace QMapLibre {
-
-class QGeoMapMapLibrePrivate;
-
-class Q_MAPLIBRE_LOCATION_EXPORT QGeoMapMapLibre : public QGeoMap {
-    Q_OBJECT
-    Q_DECLARE_PRIVATE(QGeoMapMapLibre)
-
-public:
-    explicit QGeoMapMapLibre(QGeoMappingManagerEngine *engine, QObject *parent = nullptr);
-    ~QGeoMapMapLibre() override;
-
-    [[nodiscard]] Capabilities capabilities() const override;
-
-    void setSettings(const Settings &settings);
-    void setMapItemsBefore(const QString &mapItemsBefore);
-
-    void addStyleParameter(StyleParameter *parameter);
-    void removeStyleParameter(StyleParameter *parameter);
-    void clearStyleParameters();
-
-private Q_SLOTS:
-    // QMapLibre
-    void onMapChanged(Map::MapChange);
-
-    // QDeclarativeGeoMapItemBase
-    void onMapItemPropertyChanged();
-    void onMapItemSubPropertyChanged();
-    void onMapItemUnsupportedPropertyChanged();
-    void onMapItemGeometryChanged();
-
-    // StyleParameter
-    void onStyleParameterUpdated(StyleParameter *parameter);
-
-private:
-    QSGNode *updateSceneGraph(QSGNode *oldNode, QQuickWindow *window) override;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/qgeomap_p.hpp b/third_party/maplibre-native-qt/include/qgeomap_p.hpp
deleted file mode 100644
index ce415d9bcf0af7..00000000000000
--- a/third_party/maplibre-native-qt/include/qgeomap_p.hpp
+++ /dev/null
@@ -1,93 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 The Qt Company Ltd.
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include "qgeomap.hpp"
-
-#include <QMapLibre/Settings>
-#include <QMapLibre/StyleParameter>
-
-#include <QtLocation/private/qgeomap_p_p.h>
-
-#include <QtCore/QHash>
-#include <QtCore/QList>
-#include <QtCore/QRectF>
-#include <QtCore/QSharedPointer>
-#include <QtCore/QTimer>
-#include <QtCore/QVariant>
-
-namespace QMapLibre {
-
-class Map;
-class StyleChange;
-
-class QGeoMapMapLibrePrivate : public QGeoMapPrivate {
-    Q_DECLARE_PUBLIC(QGeoMapMapLibre)
-
-public:
-    explicit QGeoMapMapLibrePrivate(QGeoMappingManagerEngine *engine);
-    ~QGeoMapMapLibrePrivate() override;
-
-    QSGNode *updateSceneGraph(QSGNode *oldNode, QQuickWindow *window);
-
-    QGeoMap::ItemTypes supportedMapItemTypes() const override;
-    void addMapItem(QDeclarativeGeoMapItemBase *item) override;
-    void removeMapItem(QDeclarativeGeoMapItemBase *item) override;
-
-    void addStyleParameter(StyleParameter *parameter);
-    void removeStyleParameter(StyleParameter *parameter);
-    void clearStyleParameters();
-
-    /* Data members */
-    enum SyncState : int {
-        NoSync = 0,
-        ViewportSync = 1 << 0,
-        CameraDataSync = 1 << 1,
-        MapTypeSync = 1 << 2,
-        VisibleAreaSync = 1 << 3
-    };
-    Q_DECLARE_FLAGS(SyncStates, SyncState);
-
-    Settings m_settings;
-    QString m_mapItemsBefore;
-
-    QList<StyleParameter *> m_mapParameters;
-
-    QTimer m_refresh;
-    bool m_shouldRefresh = true;
-    bool m_warned = false;
-    bool m_threadedRendering = false;
-    bool m_styleLoaded = false;
-
-    SyncStates m_syncState = NoSync;
-
-    std::vector<std::unique_ptr<StyleChange>> m_styleChanges;
-
-protected:
-    void changeViewportSize(const QSize &size) override;
-    void changeCameraData(const QGeoCameraData &data) override;
-#if QT_VERSION >= QT_VERSION_CHECK(6, 5, 0)
-    void changeActiveMapType(const QGeoMapType &mapType) override;
-#else
-    void changeActiveMapType(const QGeoMapType mapType) override;
-#endif
-
-    void setVisibleArea(const QRectF &visibleArea) override;
-    QRectF visibleArea() const override;
-
-private:
-    Q_DISABLE_COPY(QGeoMapMapLibrePrivate);
-
-    void syncStyleChanges(Map *map);
-    void threadedRenderingHack(QQuickWindow *window, Map *map);
-
-    QRectF m_visibleArea;
-};
-
-Q_DECLARE_OPERATORS_FOR_FLAGS(QGeoMapMapLibrePrivate::SyncStates)
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/qmaplibre.hpp b/third_party/maplibre-native-qt/include/qmaplibre.hpp
deleted file mode 100644
index a8dc445e2b6c46..00000000000000
--- a/third_party/maplibre-native-qt/include/qmaplibre.hpp
+++ /dev/null
@@ -1,9 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#include "export_core.hpp"
-#include "map.hpp"
-#include "settings.hpp"
-#include "types.hpp"
-#include "utils.hpp"
diff --git a/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp b/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp
deleted file mode 100644
index ebe9a8eea4cd67..00000000000000
--- a/third_party/maplibre-native-qt/include/qmaplibrewidgets.hpp
+++ /dev/null
@@ -1,6 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#include "export_widgets.hpp"
-#include "gl_widget.hpp"
diff --git a/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp b/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp
deleted file mode 100644
index 67cb4b56ced996..00000000000000
--- a/third_party/maplibre-native-qt/include/qt_mapping_engine.hpp
+++ /dev/null
@@ -1,31 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 The Qt Company Ltd.
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include "export_location.hpp"
-
-#include <QMapLibre/Settings>
-
-#include <QtLocation/private/qgeomappingmanagerengine_p.h>
-#include <QtLocation/QGeoServiceProvider>
-
-namespace QMapLibre {
-
-class Q_MAPLIBRE_LOCATION_EXPORT QtMappingEngine : public QGeoMappingManagerEngine {
-    Q_OBJECT
-
-public:
-    QtMappingEngine(const QVariantMap &parameters, QGeoServiceProvider::Error *error, QString *errorString);
-
-    QGeoMap *createMap() override;
-
-private:
-    Settings m_settings;
-    QString m_mapItemsBefore;
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/settings.hpp b/third_party/maplibre-native-qt/include/settings.hpp
deleted file mode 100644
index d6f88b871b7a7d..00000000000000
--- a/third_party/maplibre-native-qt/include/settings.hpp
+++ /dev/null
@@ -1,125 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_SETTINGS_H
-#define QMAPLIBRE_SETTINGS_H
-
-#include <QMapLibre/Export>
-#include <QMapLibre/Types>
-
-#include <QtCore/QString>
-#include <QtGui/QImage>
-
-#include <functional>
-#include <memory>
-
-// TODO: this will be wrapped at some point
-namespace mbgl {
-class TileServerOptions;
-} // namespace mbgl
-
-namespace QMapLibre {
-
-class SettingsPrivate;
-
-class Q_MAPLIBRE_CORE_EXPORT Settings {
-public:
-    enum GLContextMode : bool {
-        UniqueGLContext,
-        SharedGLContext
-    };
-
-    enum MapMode {
-        Continuous = 0,
-        Static
-    };
-
-    enum ConstrainMode {
-        NoConstrain = 0,
-        ConstrainHeightOnly,
-        ConstrainWidthAndHeight
-    };
-
-    enum ViewportMode {
-        DefaultViewport = 0,
-        FlippedYViewport
-    };
-
-    enum ProviderTemplate {
-        NoProvider = 0,
-        MapLibreProvider,
-        MapTilerProvider,
-        MapboxProvider
-    };
-
-    using ResourceTransformFunction = std::function<std::string(const std::string &)>;
-
-    explicit Settings(ProviderTemplate provider = NoProvider);
-    ~Settings();
-    Settings(const Settings &s);
-    Settings(Settings &&s) noexcept;
-    Settings &operator=(const Settings &s);
-    Settings &operator=(Settings &&s) noexcept;
-
-    [[nodiscard]] GLContextMode contextMode() const;
-    void setContextMode(GLContextMode);
-
-    [[nodiscard]] MapMode mapMode() const;
-    void setMapMode(MapMode);
-
-    [[nodiscard]] ConstrainMode constrainMode() const;
-    void setConstrainMode(ConstrainMode);
-
-    [[nodiscard]] ViewportMode viewportMode() const;
-    void setViewportMode(ViewportMode);
-
-    [[nodiscard]] unsigned cacheDatabaseMaximumSize() const;
-    void setCacheDatabaseMaximumSize(unsigned);
-
-    [[nodiscard]] QString cacheDatabasePath() const;
-    void setCacheDatabasePath(const QString &path);
-
-    [[nodiscard]] QString assetPath() const;
-    void setAssetPath(const QString &path);
-
-    [[nodiscard]] QString apiKey() const;
-    void setApiKey(const QString &key);
-
-    [[nodiscard]] QString apiBaseUrl() const;
-    void setApiBaseUrl(const QString &url);
-
-    [[nodiscard]] QString localFontFamily() const;
-    void setLocalFontFamily(const QString &family);
-
-    [[nodiscard]] QString clientName() const;
-    void setClientName(const QString &name);
-
-    [[nodiscard]] QString clientVersion() const;
-    void setClientVersion(const QString &version);
-
-    [[nodiscard]] ResourceTransformFunction resourceTransform() const;
-    void setResourceTransform(const ResourceTransformFunction &transform);
-
-    void setProviderTemplate(ProviderTemplate providerTemplate);
-    void setStyles(const Styles &styles);
-
-    [[nodiscard]] const Styles &styles() const;
-    [[nodiscard]] Styles providerStyles() const;
-
-    [[nodiscard]] Coordinate defaultCoordinate() const;
-    void setDefaultCoordinate(const Coordinate &coordinate);
-    [[nodiscard]] double defaultZoom() const;
-    void setDefaultZoom(double zoom);
-
-    [[nodiscard]] bool customTileServerOptions() const;
-    [[nodiscard]] const mbgl::TileServerOptions &tileServerOptions() const;
-
-private:
-    std::unique_ptr<SettingsPrivate> d_ptr;
-};
-
-} // namespace QMapLibre
-
-#endif // QMAPLIBRE_SETTINGS_H
diff --git a/third_party/maplibre-native-qt/include/settings_p.hpp b/third_party/maplibre-native-qt/include/settings_p.hpp
deleted file mode 100644
index 257bdfd5a9afdb..00000000000000
--- a/third_party/maplibre-native-qt/include/settings_p.hpp
+++ /dev/null
@@ -1,57 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#pragma once
-
-#include "settings.hpp"
-#include "types.hpp"
-
-#include <mbgl/util/tile_server_options.hpp>
-
-#include <QtCore/QString>
-#include <QtCore/QVector>
-
-#include <functional>
-#include <memory>
-
-namespace mbgl {
-class TileServerOptions;
-} // namespace mbgl
-
-namespace QMapLibre {
-
-class SettingsPrivate {
-public:
-    SettingsPrivate();
-
-    void setProviderTemplate(Settings::ProviderTemplate providerTemplate);
-    void setProviderApiBaseUrl(const QString &url);
-
-    Settings::GLContextMode m_contextMode{Settings::SharedGLContext};
-    Settings::MapMode m_mapMode{Settings::Continuous};
-    Settings::ConstrainMode m_constrainMode{Settings::ConstrainHeightOnly};
-    Settings::ViewportMode m_viewportMode{Settings::DefaultViewport};
-    Settings::ProviderTemplate m_providerTemplate{Settings::NoProvider};
-
-    unsigned m_cacheMaximumSize;
-    QString m_cacheDatabasePath;
-    QString m_assetPath;
-    QString m_apiKey;
-    QString m_localFontFamily;
-    QString m_clientName;
-    QString m_clientVersion;
-
-    Coordinate m_defaultCoordinate{};
-    double m_defaultZoom{};
-
-    Styles m_styles;
-
-    std::function<std::string(const std::string &)> m_resourceTransform;
-
-    bool m_customTileServerOptions{};
-    mbgl::TileServerOptions m_tileServerOptions{};
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/style_change_utils_p.hpp b/third_party/maplibre-native-qt/include/style_change_utils_p.hpp
deleted file mode 100644
index 991bb4077ea0d1..00000000000000
--- a/third_party/maplibre-native-qt/include/style_change_utils_p.hpp
+++ /dev/null
@@ -1,34 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include <QMapLibre/Types>
-
-#include <QtLocation/private/qdeclarativecirclemapitem_p.h>
-#include <QtLocation/private/qdeclarativegeomapitembase_p.h>
-#include <QtLocation/private/qdeclarativepolygonmapitem_p.h>
-#include <QtLocation/private/qdeclarativepolylinemapitem_p.h>
-#include <QtLocation/private/qdeclarativerectanglemapitem_p.h>
-
-namespace QMapLibre::StyleChangeUtils {
-
-Feature featureFromMapRectangle(QDeclarativeRectangleMapItem *item);
-Feature featureFromMapCircle(QDeclarativeCircleMapItem *item);
-Feature featureFromMapPolygon(QDeclarativePolygonMapItem *item);
-Feature featureFromMapPolyline(QDeclarativePolylineMapItem *item);
-Feature featureFromMapItem(QDeclarativeGeoMapItemBase *item);
-
-QString featureId(QDeclarativeGeoMapItemBase *item);
-std::vector<FeatureProperty> featureLayoutPropertiesFromMapPolyline(QDeclarativePolylineMapItem *item);
-std::vector<FeatureProperty> featureLayoutPropertiesFromMapItem(QDeclarativeGeoMapItemBase *item);
-std::vector<FeatureProperty> featurePaintPropertiesFromMapRectangle(QDeclarativeRectangleMapItem *item);
-std::vector<FeatureProperty> featurePaingPropertiesFromMapCircle(QDeclarativeCircleMapItem *item);
-std::vector<FeatureProperty> featurePaintPropertiesFromMapPolygon(QDeclarativePolygonMapItem *item);
-std::vector<FeatureProperty> featurePaintPropertiesFromMapPolyline(QDeclarativePolylineMapItem *item);
-std::vector<FeatureProperty> featurePaintPropertiesFromMapItem(QDeclarativeGeoMapItemBase *item);
-std::vector<FeatureProperty> featurePropertiesFromMapItem(QDeclarativeGeoMapItemBase *item);
-
-} // namespace QMapLibre::StyleChangeUtils
diff --git a/third_party/maplibre-native-qt/include/texture_node.hpp b/third_party/maplibre-native-qt/include/texture_node.hpp
deleted file mode 100644
index 96f63b353492f5..00000000000000
--- a/third_party/maplibre-native-qt/include/texture_node.hpp
+++ /dev/null
@@ -1,42 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2017 The Qt Company Ltd.
-// Copyright (C) 2017 Mapbox, Inc.
-
-// SPDX-License-Identifier: LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
-
-#pragma once
-
-#include <QtQuick/QQuickWindow>
-#include <QtQuick/QSGRenderNode>
-#include <QtQuick/QSGSimpleTextureNode>
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-#include <QtOpenGL/QOpenGLFramebufferObject>
-#else
-#include <QtGui/QOpenGLFramebufferObject>
-#endif
-
-#include <QMapLibre/Map>
-
-namespace QMapLibre {
-
-class QGeoMapMapLibre;
-
-class TextureNode : public QSGSimpleTextureNode {
-public:
-    TextureNode(const Settings &setting, const QSize &size, qreal pixelRatio, QGeoMapMapLibre *geoMap);
-
-    [[nodiscard]] Map *map() const;
-
-#if QT_VERSION >= QT_VERSION_CHECK(6, 0, 0)
-    void resize(const QSize &size, qreal pixelRatio, QQuickWindow *window);
-#else
-    void resize(const QSize &size, qreal pixelRatio);
-#endif
-    void render(QQuickWindow *);
-
-private:
-    std::unique_ptr<Map> m_map{};
-    std::unique_ptr<QOpenGLFramebufferObject> m_fbo{};
-};
-
-} // namespace QMapLibre
diff --git a/third_party/maplibre-native-qt/include/types.hpp b/third_party/maplibre-native-qt/include/types.hpp
deleted file mode 100644
index 696fab1a88f229..00000000000000
--- a/third_party/maplibre-native-qt/include/types.hpp
+++ /dev/null
@@ -1,206 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_TYPES_H
-#define QMAPLIBRE_TYPES_H
-
-#include <QMapLibre/Export>
-
-#include <QtCore/QPair>
-#include <QtCore/QString>
-#include <QtCore/QVariant>
-#include <QtCore/QVector>
-#include <QtGui/QColor>
-#include <utility>
-
-namespace QMapLibre {
-
-using Coordinate = QPair<double, double>;
-using CoordinateZoom = QPair<Coordinate, double>;
-using ProjectedMeters = QPair<double, double>;
-
-using Coordinates = QVector<Coordinate>;
-using CoordinatesCollection = QVector<Coordinates>;
-
-using CoordinatesCollections = QVector<CoordinatesCollection>;
-
-struct Q_MAPLIBRE_CORE_EXPORT Style {
-    enum Type { // Taken from Qt to be in sync with QtLocation
-        NoMap = 0,
-        StreetMap,
-        SatelliteMapDay,
-        SatelliteMapNight,
-        TerrainMap,
-        HybridMap,
-        TransitMap,
-        GrayStreetMap,
-        PedestrianMap,
-        CarNavigationMap,
-        CycleMap,
-        CustomMap = 100
-    };
-
-#if QT_VERSION >= QT_VERSION_CHECK(5, 15, 0)
-    explicit Style(QString url_, QString name_ = QString())
-        : url(std::move(url_)),
-          name(std::move(name_)) {}
-#else
-    explicit Style(QString url_ = QString(), QString name_ = QString())
-        : url(std::move(url_)),
-          name(std::move(name_)) {}
-#endif
-
-    QString url;
-    QString name;
-    QString description;
-    bool night{};
-    Type type{CustomMap};
-};
-
-using Styles = QVector<Style>;
-
-struct Q_MAPLIBRE_CORE_EXPORT Feature {
-    enum Type {
-        PointType = 1,
-        LineStringType,
-        PolygonType
-    };
-
-    /*! Class constructor. */
-    explicit Feature(Type type_ = PointType,
-                     CoordinatesCollections geometry_ = CoordinatesCollections(),
-                     QVariantMap properties_ = QVariantMap(),
-                     QVariant id_ = QVariant())
-        : type(type_),
-          geometry(std::move(geometry_)),
-          properties(std::move(properties_)),
-          id(std::move(id_)) {}
-
-    Type type;
-    CoordinatesCollections geometry;
-    QVariantMap properties;
-    QVariant id;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT FeatureProperty {
-    enum Type {
-        LayoutProperty = 1,
-        PaintProperty,
-    };
-
-    /*! Class constructor. */
-    explicit FeatureProperty(Type type_, QString name_, QVariant value_)
-        : type(type_),
-          name(std::move(name_)),
-          value(std::move(value_)) {}
-
-    Type type;
-    QString name;
-    QVariant value;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT ShapeAnnotationGeometry {
-    enum Type {
-        LineStringType = 1,
-        PolygonType,
-        MultiLineStringType,
-        MultiPolygonType
-    };
-
-    /*! Class constructor. */
-    explicit ShapeAnnotationGeometry(Type type_ = LineStringType,
-                                     CoordinatesCollections geometry_ = CoordinatesCollections())
-        : type(type_),
-          geometry(std::move(geometry_)) {}
-
-    Type type;
-    CoordinatesCollections geometry;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT SymbolAnnotation {
-    Coordinate geometry;
-    QString icon;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT LineAnnotation {
-    /*! Class constructor. */
-    explicit LineAnnotation(ShapeAnnotationGeometry geometry_ = ShapeAnnotationGeometry(),
-                            float opacity_ = 1.0f,
-                            float width_ = 1.0f,
-                            const QColor &color_ = Qt::black)
-        : geometry(std::move(geometry_)),
-          opacity(opacity_),
-          width(width_),
-          color(color_) {}
-
-    ShapeAnnotationGeometry geometry;
-    float opacity;
-    float width;
-    QColor color;
-};
-
-struct Q_MAPLIBRE_CORE_EXPORT FillAnnotation {
-    /*! Class constructor. */
-    explicit FillAnnotation(ShapeAnnotationGeometry geometry_ = ShapeAnnotationGeometry(),
-                            float opacity_ = 1.0f,
-                            const QColor &color_ = Qt::black,
-                            QVariant outlineColor_ = QVariant())
-        : geometry(std::move(geometry_)),
-          opacity(opacity_),
-          color(color_),
-          outlineColor(std::move(outlineColor_)) {}
-
-    ShapeAnnotationGeometry geometry;
-    float opacity;
-    QColor color;
-    QVariant outlineColor;
-};
-
-using Annotation = QVariant;
-using AnnotationID = quint32;
-using AnnotationIDs = QVector<AnnotationID>;
-
-struct Q_MAPLIBRE_CORE_EXPORT CameraOptions {
-    QVariant center;  // Coordinate
-    QVariant anchor;  // QPointF
-    QVariant zoom;    // double
-    QVariant bearing; // double
-    QVariant pitch;   // double
-};
-
-// This struct is a 1:1 copy of mbgl::CustomLayerRenderParameters.
-struct Q_MAPLIBRE_CORE_EXPORT CustomLayerRenderParameters {
-    double width;
-    double height;
-    double latitude;
-    double longitude;
-    double zoom;
-    double bearing;
-    double pitch;
-    double fieldOfView;
-};
-
-class Q_MAPLIBRE_CORE_EXPORT CustomLayerHostInterface {
-public:
-    virtual ~CustomLayerHostInterface() = default;
-    virtual void initialize() = 0;
-    virtual void render(const CustomLayerRenderParameters &) = 0;
-    virtual void deinitialize() = 0;
-};
-
-} // namespace QMapLibre
-
-Q_DECLARE_METATYPE(QMapLibre::Coordinate);
-Q_DECLARE_METATYPE(QMapLibre::Coordinates);
-Q_DECLARE_METATYPE(QMapLibre::CoordinatesCollection);
-Q_DECLARE_METATYPE(QMapLibre::CoordinatesCollections);
-Q_DECLARE_METATYPE(QMapLibre::Feature);
-
-Q_DECLARE_METATYPE(QMapLibre::SymbolAnnotation);
-Q_DECLARE_METATYPE(QMapLibre::ShapeAnnotationGeometry);
-Q_DECLARE_METATYPE(QMapLibre::LineAnnotation);
-Q_DECLARE_METATYPE(QMapLibre::FillAnnotation);
-
-#endif // QMAPLIBRE_TYPES_H
diff --git a/third_party/maplibre-native-qt/include/utils.hpp b/third_party/maplibre-native-qt/include/utils.hpp
deleted file mode 100644
index f70a5de0ba1e07..00000000000000
--- a/third_party/maplibre-native-qt/include/utils.hpp
+++ /dev/null
@@ -1,28 +0,0 @@
-// Copyright (C) 2023 MapLibre contributors
-// Copyright (C) 2019 Mapbox, Inc.
-
-// SPDX-License-Identifier: BSD-2-Clause
-
-#ifndef QMAPLIBRE_UTILS_H
-#define QMAPLIBRE_UTILS_H
-
-#include <QMapLibre/Export>
-#include <QMapLibre/Types>
-
-namespace QMapLibre {
-
-enum NetworkMode {
-    Online, // Default
-    Offline,
-};
-
-Q_MAPLIBRE_CORE_EXPORT NetworkMode networkMode();
-Q_MAPLIBRE_CORE_EXPORT void setNetworkMode(NetworkMode mode);
-
-Q_MAPLIBRE_CORE_EXPORT double metersPerPixelAtLatitude(double latitude, double zoom);
-Q_MAPLIBRE_CORE_EXPORT ProjectedMeters projectedMetersForCoordinate(const Coordinate &coordinate);
-Q_MAPLIBRE_CORE_EXPORT Coordinate coordinateForProjectedMeters(const ProjectedMeters &projectedMeters);
-
-} // namespace QMapLibre
-
-#endif // QMAPLIBRE_UTILS_H
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Export b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Export
deleted file mode 100644
index 00a9a7d0b44be2..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Export
+++ /dev/null
@@ -1 +0,0 @@
-#include "export_core.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/LayerParameter b/third_party/maplibre-native-qt/larch64/include/QMapLibre/LayerParameter
deleted file mode 100644
index 428f97fb12cec1..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/LayerParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "layer_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Map b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Map
deleted file mode 100644
index 6b055720db426b..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Map
+++ /dev/null
@@ -1 +0,0 @@
-#include "map.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/QMapLibre b/third_party/maplibre-native-qt/larch64/include/QMapLibre/QMapLibre
deleted file mode 100644
index 48d11d985ac690..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/QMapLibre
+++ /dev/null
@@ -1 +0,0 @@
-#include "qmaplibre"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Settings b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Settings
deleted file mode 100644
index 4fbc573ba78a75..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Settings
+++ /dev/null
@@ -1 +0,0 @@
-#include "settings.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/SourceParameter b/third_party/maplibre-native-qt/larch64/include/QMapLibre/SourceParameter
deleted file mode 100644
index ec7111e911f757..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/SourceParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "source_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/StyleParameter b/third_party/maplibre-native-qt/larch64/include/QMapLibre/StyleParameter
deleted file mode 100644
index 8f53e31cb14705..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/StyleParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "style_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Types b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Types
deleted file mode 100644
index 4c29ecb29fa832..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Types
+++ /dev/null
@@ -1 +0,0 @@
-#include "types.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Utils b/third_party/maplibre-native-qt/larch64/include/QMapLibre/Utils
deleted file mode 100644
index 0c58fd67a16a47..00000000000000
--- a/third_party/maplibre-native-qt/larch64/include/QMapLibre/Utils
+++ /dev/null
@@ -1 +0,0 @@
-#include "utils.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so b/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so
deleted file mode 100755
index 34d2968907189e..00000000000000
--- a/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:53ebf0802c8f5e581e7d99d743ea91271db531bfcdbddcf863760789f2962577
-size 10205096
diff --git a/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so.3.0.0 b/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so.3.0.0
deleted file mode 100755
index 34d2968907189e..00000000000000
--- a/third_party/maplibre-native-qt/larch64/lib/libQMapLibre.so.3.0.0
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:53ebf0802c8f5e581e7d99d743ea91271db531bfcdbddcf863760789f2962577
-size 10205096
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Export b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Export
deleted file mode 100644
index 00a9a7d0b44be2..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Export
+++ /dev/null
@@ -1 +0,0 @@
-#include "export_core.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/LayerParameter b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/LayerParameter
deleted file mode 100644
index 428f97fb12cec1..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/LayerParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "layer_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Map b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Map
deleted file mode 100644
index 6b055720db426b..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Map
+++ /dev/null
@@ -1 +0,0 @@
-#include "map.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/QMapLibre b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/QMapLibre
deleted file mode 100644
index 48d11d985ac690..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/QMapLibre
+++ /dev/null
@@ -1 +0,0 @@
-#include "qmaplibre"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Settings b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Settings
deleted file mode 100644
index 4fbc573ba78a75..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Settings
+++ /dev/null
@@ -1 +0,0 @@
-#include "settings.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/SourceParameter b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/SourceParameter
deleted file mode 100644
index ec7111e911f757..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/SourceParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "source_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/StyleParameter b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/StyleParameter
deleted file mode 100644
index 8f53e31cb14705..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/StyleParameter
+++ /dev/null
@@ -1 +0,0 @@
-#include "style_parameter.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Types b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Types
deleted file mode 100644
index 4c29ecb29fa832..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Types
+++ /dev/null
@@ -1 +0,0 @@
-#include "types.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Utils b/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Utils
deleted file mode 100644
index 0c58fd67a16a47..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/include/QMapLibre/Utils
+++ /dev/null
@@ -1 +0,0 @@
-#include "utils.hpp"
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so
deleted file mode 120000
index 9d440fa142429c..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so
+++ /dev/null
@@ -1 +0,0 @@
-libQMapLibre.so.3.0.0
\ No newline at end of file
diff --git a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0 b/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
deleted file mode 100755
index f2fcf107bc5bc0..00000000000000
--- a/third_party/maplibre-native-qt/x86_64/lib/libQMapLibre.so.3.0.0
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:b718e4ea770105893dc41f64be36f806586a9471e2bb9d18d5ad97e906434548
-size 11000296
diff --git a/tools/README.md b/tools/README.md
index 361a27deda4214..521a12ca927de5 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -2,11 +2,11 @@
 
 ## System Requirements
 
-openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
+openpilot is developed and tested on **Ubuntu 24.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
 
 Running natively on any other system is not recommended and will require modifications. On Windows you can use WSL, and on macOS or incompatible Linux systems, it is recommended to use the dev containers.
 
-## Native setup on Ubuntu 20.04
+## Native setup on Ubuntu 24.04
 
 **1. Clone openpilot**
 
@@ -26,16 +26,23 @@ git clone --recurse-submodules https://github.com/commaai/openpilot.git
 
 ``` bash
 cd openpilot
-git lfs pull
 tools/ubuntu_setup.sh
 ```
 
+**3. Git LFS**
+
+``` bash
+git lfs pull
+```
+
+**4. Activate a python shell**
+
 Activate a shell with the Python dependencies installed:
 ``` bash
-poetry shell
+source .venv/bin/activate
 ```
 
-**3. Build openpilot**
+**5. Build openpilot**
 
 ``` bash
 scons -u -j$(nproc)
@@ -55,7 +62,7 @@ GUI apps like `ui` or `cabana` can also run inside the container by leveraging X
 
 [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
 
-Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
+Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-24.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
 
 **NOTE**: If you are running WSL and any GUIs are failing (segfaulting or other strange issues) even after following the steps above, you may need to enable software rendering with `LIBGL_ALWAYS_SOFTWARE=1`, e.g. `LIBGL_ALWAYS_SOFTWARE=1 selfdrive/ui/ui`.
 
diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index 53723ef8a6c342..dbbdd8020ccbf1 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -29,4 +29,72 @@ Arguments:
                                  connect.comma.ai
 ```
 
-See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
+## Examples
+
+### Running Cabana in Demo Mode
+To run Cabana using a built-in demo route, use the following command:
+
+```shell
+cabana --demo
+```
+
+### Loading a Specific Route
+
+To load a specific route for replay, provide the route as an argument:
+
+```shell
+cabana "a2a0ccea32023010|2023-07-27--13-01-19"
+```
+
+Replace "0ccea32023010|2023-07-27--13-01-19" with your desired route identifier.
+
+
+### Running Cabana with multiple cameras
+To run Cabana with multiple cameras, use the following command:
+
+```shell
+cabana "a2a0ccea32023010|2023-07-27--13-01-19" --dcam --ecam
+```
+
+### Streaming CAN Messages from a comma Device
+
+[SSH into your device](https://github.com/commaai/openpilot/wiki/SSH) and start the bridge with the following command:
+
+```shell
+cd /data/openpilot/cereal/messaging/
+./bridge &
+```
+
+Then Run Cabana with the device's IP address:
+
+```shell
+cabana --stream <ipaddress>
+```
+
+Replace &lt;ipaddress&gt; with your comma device's IP address.
+
+While streaming from the device, Cabana will log the CAN messages to a local directory. By default, this directory is ~/cabana_live_stream/. You can change the log directory in Cabana by navigating to menu -> tools -> settings.
+
+After disconnecting from the device, you can replay the logged CAN messages from the stream selector dialog -> browse local route.
+
+### Streaming CAN Messages from Panda
+
+To read CAN messages from a connected Panda, use the following command:
+
+```shell
+cabana --panda
+```
+
+### Using the Stream Selector Dialog
+
+If you run Cabana without any arguments, a stream selector dialog will pop up, allowing you to choose the stream.
+
+```shell
+cabana
+```
+
+## Additional Information
+
+For more information, see the [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
+
+If you encounter any issues or have feature requests, please contribute bug reports or discussions at: [new cabana feedback](https://github.com/commaai/openpilot/discussions/26091)
\ No newline at end of file
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index ba4a1424510c27..04b768dc695a12 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -15,7 +15,7 @@ else:
 qt_libs = ['qt_util'] + base_libs
 
 cabana_env = qt_env.Clone()
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
+cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
 opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index 4a3b4126dd6b8b..a798d13a81b65e 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -38,26 +38,19 @@ int main(int argc, char *argv[]) {
   cmd_parser.addOption({"dbc", "dbc file to open", "dbc"});
   cmd_parser.process(app);
 
-  QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : "";
-
   AbstractStream *stream = nullptr;
+
   if (cmd_parser.isSet("stream")) {
     stream = new DeviceStream(&app, cmd_parser.value("zmq"));
   } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
-    PandaStreamConfig config = {};
-    if (cmd_parser.isSet("panda-serial")) {
-      config.serial = cmd_parser.value("panda-serial");
-    }
     try {
-      stream = new PandaStream(&app, config);
+      stream = new PandaStream(&app, {.serial = cmd_parser.value("panda-serial")});
     } catch (std::exception &e) {
       qWarning() << e.what();
       return 0;
     }
   } else if (cmd_parser.isSet("socketcan")) {
-    SocketCanStreamConfig config = {};
-    config.device = cmd_parser.value("socketcan");
-    stream = new SocketCanStream(&app, config);
+    stream = new SocketCanStream(&app, {.device = cmd_parser.value("socketcan")});
   } else {
     uint32_t replay_flags = REPLAY_FLAG_NONE;
     if (cmd_parser.isSet("ecam")) replay_flags |= REPLAY_FLAG_ECAM;
@@ -73,24 +66,14 @@ int main(int argc, char *argv[]) {
       route = DEMO_ROUTE;
     }
     if (!route.isEmpty()) {
-      auto replay_stream = new ReplayStream(&app);
+      auto replay_stream = std::make_unique<ReplayStream>(&app);
       if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
         return 0;
       }
-      stream = replay_stream;
+      stream = replay_stream.release();
     }
   }
 
-  MainWindow w;
-  if (stream) {
-    stream->start();
-    if (!dbc_file.isEmpty()) {
-      w.loadFile(dbc_file);
-    }
-  } else {
-    w.openStream();
-  }
-  w.show();
-
+  MainWindow w(stream, cmd_parser.value("dbc"));
   return app.exec();
 }
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
index fcf171a858923a..6c13252e80753b 100644
--- a/tools/cabana/chart/chart.cc
+++ b/tools/cabana/chart/chart.cc
@@ -155,11 +155,10 @@ void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
 }
 
 void ChartView::signalUpdated(const cabana::Signal *sig) {
-  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) {
-    for (const auto &s : sigs) {
-      if (s.sig == sig && s.series->color() != sig->color) {
-        setSeriesColor(s.series, sig->color);
-      }
+  auto it = std::find_if(sigs.begin(), sigs.end(), [sig](auto &s) { return s.sig == sig; });
+  if (it != sigs.end()) {
+    if (it->series->color() != sig->color) {
+      setSeriesColor(it->series, sig->color);
     }
     updateTitle();
     updateSeries(sig);
@@ -277,7 +276,7 @@ void ChartView::updateSeriesPoints() {
         }
         ((QScatterSeries *)s.series)->setMarkerSize(size);
       } else {
-        s.series->setPointsVisible(pixels_per_point > 20);
+        s.series->setPointsVisible(num_points == 1 || pixels_per_point > 20);
       }
     }
   }
@@ -289,10 +288,9 @@ void ChartView::appendCanEvents(const cabana::Signal *sig, const std::vector<con
   step_vals.reserve(step_vals.size() + events.capacity() * 2);
 
   double value = 0;
-  const uint64_t begin_mono_time = can->routeStartTime() * 1e9;
   for (const CanEvent *e : events) {
     if (sig->getValue(e->dat, e->size, &value)) {
-      const double ts = (e->mono_time - std::min(e->mono_time, begin_mono_time)) / 1e9;
+      const double ts = can->toSeconds(e->mono_time);
       vals.emplace_back(ts, value);
       if (!step_vals.empty())
         step_vals.emplace_back(ts, step_vals.back().y());
@@ -312,7 +310,7 @@ void ChartView::updateSeries(const cabana::Signal *sig, const MessageEventsMap *
       auto it = events->find(s.msg_id);
       if (it == events->end() || it->second.empty()) continue;
 
-      if (s.vals.empty() || (it->second.back()->mono_time / 1e9 - can->routeStartTime()) > s.vals.back().x()) {
+      if (s.vals.empty() || can->toSeconds(it->second.back()->mono_time) > s.vals.back().x()) {
         appendCanEvents(s.sig, it->second, s.vals, s.step_vals);
       } else {
         std::vector<QPointF> vals, step_vals;
@@ -421,13 +419,6 @@ qreal ChartView::niceNumber(qreal x, bool ceiling) {
   return q * z;
 }
 
-void ChartView::leaveEvent(QEvent *event) {
-  if (tip_label->isVisible()) {
-    charts_widget->showValueTip(-1);
-  }
-  QChartView::leaveEvent(event);
-}
-
 QPixmap getBlankShadowPixmap(const QPixmap &px, int radius) {
   QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect;
   e->setColor(QColor(40, 40, 40, 245));
@@ -507,13 +498,13 @@ void ChartView::mouseReleaseEvent(QMouseEvent *event) {
     rubber->hide();
     auto rect = rubber->geometry().normalized();
     // Prevent zooming/seeking past the end of the route
-    double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), 0., can->totalSeconds());
-    double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), 0., can->totalSeconds());
+    double min = std::clamp(chart()->mapToValue(rect.topLeft()).x(), can->minSeconds(), can->maxSeconds());
+    double max = std::clamp(chart()->mapToValue(rect.bottomRight()).x(), can->minSeconds(), can->maxSeconds());
     if (rubber->width() <= 0) {
       // no rubber dragged, seek to mouse position
       can->seekTo(min);
     } else if (rubber->width() > 10 && (max - min) > MIN_ZOOM_SECONDS) {
-      charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max}));
+      charts_widget->zoom_undo_stack->push(new ZoomCommand({min, max}));
     } else {
       viewport()->update();
     }
@@ -538,7 +529,7 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   // Scrubbing
   if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
     if (plot_area.contains(ev->pos())) {
-      can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), 0., can->totalSeconds()));
+      can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), can->minSeconds(), can->maxSeconds()));
     }
   }
 
@@ -546,9 +537,8 @@ void ChartView::mouseMoveEvent(QMouseEvent *ev) {
   bool is_zooming = rubber && rubber->isVisible();
   clearTrackPoints();
 
-  if (!is_zooming && plot_area.contains(ev->pos())) {
-    const double sec = chart()->mapToValue(ev->pos()).x();
-    charts_widget->showValueTip(sec);
+  if (!is_zooming && plot_area.contains(ev->pos()) && isActiveWindow()) {
+    charts_widget->showValueTip(secondsAtPoint(ev->pos()));
   } else if (tip_label->isVisible()) {
     charts_widget->showValueTip(-1);
   }
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
index d690a14d1cc112..f9472bd4f6a5d2 100644
--- a/tools/cabana/chart/chart.h
+++ b/tools/cabana/chart/chart.h
@@ -39,6 +39,7 @@ class ChartView : public QChartView {
   void showTip(double sec);
   void hideTip();
   void startAnimation();
+  double secondsAtPoint(const QPointF &pt) const { return chart()->mapToValue(pt).x(); }
 
   struct SigItem {
     MessageId msg_id;
@@ -76,7 +77,6 @@ private slots:
   void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); }
   void dragMoveEvent(QDragMoveEvent *event) override;
   void dropEvent(QDropEvent *event) override;
-  void leaveEvent(QEvent *event) override;
   void resizeEvent(QResizeEvent *event) override;
   QSize sizeHint() const override;
   void updateAxisY();
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index a7bdd746465ec9..27846f9c925990 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -93,7 +93,7 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   current_theme = settings.theme;
   column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
   max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60);
-  display_range = {0, max_chart_range};
+  display_range = std::make_pair(can->minSeconds(), can->minSeconds() + max_chart_range);
   range_slider->setValue(max_chart_range);
   updateToolBar();
 
@@ -103,6 +103,8 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
   QObject::connect(can, &AbstractStream::msgsReceived, this, &ChartsWidget::updateState);
+  QObject::connect(can, &AbstractStream::seeking, this, &ChartsWidget::updateState);
+  QObject::connect(can, &AbstractStream::timeRangeChanged, this, &ChartsWidget::timeRangeChanged);
   QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
   QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
   QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
@@ -114,13 +116,12 @@ ChartsWidget::ChartsWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) updateLayout(true);
   });
-  QObject::connect(dock_btn, &QToolButton::clicked, [this]() {
-    emit dock(!docking);
-    docking = !docking;
-    updateToolBar();
-  });
+  QObject::connect(dock_btn, &QToolButton::clicked, this, &ChartsWidget::toggleChartsDocking);
 
+  setIsDocked(true);
   newTab();
+  qApp->installEventFilter(this);
+
   setWhatsThis(tr(R"(
     <b>Chart view</b><br />
     <!-- TODO: add descprition here -->
@@ -159,16 +160,13 @@ void ChartsWidget::eventsMerged(const MessageEventsMap &new_events) {
   }
 }
 
-void ChartsWidget::setZoom(double min, double max) {
-  zoomed_range = {min, max};
-  is_zoomed = zoomed_range != display_range;
+void ChartsWidget::timeRangeChanged(const std::optional<std::pair<double, double>> &time_range) {
   updateToolBar();
   updateState();
-  emit rangeChanged(min, max, is_zoomed);
 }
 
 void ChartsWidget::zoomReset() {
-  setZoom(display_range.first, display_range.second);
+  can->setTimeRange(std::nullopt);
   zoom_undo_stack->clear();
 }
 
@@ -178,30 +176,30 @@ QRect ChartsWidget::chartVisibleRect(ChartView *chart) {
 }
 
 void ChartsWidget::showValueTip(double sec) {
+  if (sec < 0 && !value_tip_visible_) return;
+
+  value_tip_visible_ = sec >= 0;
   for (auto c : currentCharts()) {
-    sec >= 0 ? c->showTip(sec) : c->hideTip();
+    value_tip_visible_ ? c->showTip(sec) : c->hideTip();
   }
 }
 
 void ChartsWidget::updateState() {
   if (charts.isEmpty()) return;
 
+  const auto &time_range = can->timeRange();
   const double cur_sec = can->currentSec();
-  if (!is_zoomed) {
+  if (!time_range.has_value()) {
     double pos = (cur_sec - display_range.first) / std::max<float>(1.0, max_chart_range);
     if (pos < 0 || pos > 0.8) {
-      display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
+      display_range.first = std::max(can->minSeconds(), cur_sec - max_chart_range * 0.1);
     }
-    double max_sec = std::min(display_range.first + max_chart_range, can->totalSeconds());
-    display_range.first = std::max(0.0, max_sec - max_chart_range);
+    double max_sec = std::min(display_range.first + max_chart_range, can->maxSeconds());
+    display_range.first = std::max(can->minSeconds(), max_sec - max_chart_range);
     display_range.second = display_range.first + max_chart_range;
-  } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) {
-    // loop in zoomed range
-    QTimer::singleShot(0, [ts = zoomed_range.first]() { can->seekTo(ts);});
-    return;
   }
 
-  const auto &range = is_zoomed ? zoomed_range : display_range;
+  const auto &range = time_range ? *time_range : display_range;
   for (auto c : charts) {
     c->updatePlot(cur_sec, range.first, range.second);
   }
@@ -213,19 +211,25 @@ void ChartsWidget::setMaxChartRange(int value) {
   updateState();
 }
 
+void ChartsWidget::setIsDocked(bool docked) {
+  is_docked = docked;
+  dock_btn->setIcon(is_docked ? "arrow-up-right-square" : "arrow-down-left-square");
+  dock_btn->setToolTip(is_docked ? tr("Float the charts window") : tr("Dock the charts window"));
+}
+
 void ChartsWidget::updateToolBar() {
   title_label->setText(tr("Charts: %1").arg(charts.size()));
   columns_action->setText(tr("Column: %1").arg(column_count));
   range_lb->setText(utils::formatSeconds(max_chart_range));
+
+  bool is_zoomed = can->timeRange().has_value();
   range_lb_action->setVisible(!is_zoomed);
   range_slider_action->setVisible(!is_zoomed);
   undo_zoom_action->setVisible(is_zoomed);
   redo_zoom_action->setVisible(is_zoomed);
   reset_zoom_action->setVisible(is_zoomed);
-  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : "");
+  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(can->timeRange()->first, 0, 'f', 2).arg(can->timeRange()->second, 0, 'f', 2) : "");
   remove_all_btn->setEnabled(!charts.isEmpty());
-  dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
-  dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
 }
 
 void ChartsWidget::settingChanged() {
@@ -252,7 +256,7 @@ ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *si
 }
 
 ChartView *ChartsWidget::createChart() {
-  auto chart = new ChartView(is_zoomed ? zoomed_range : display_range, this);
+  auto chart = new ChartView(can->timeRange().value_or(display_range), this);
   chart->setFixedHeight(settings.chart_height);
   chart->setMinimumWidth(CHART_MIN_WIDTH);
   chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
@@ -377,11 +381,6 @@ QSize ChartsWidget::minimumSizeHint() const {
   return QSize(CHART_MIN_WIDTH, QWidget::minimumSizeHint().height());
 }
 
-void ChartsWidget::resizeEvent(QResizeEvent *event) {
-  QWidget::resizeEvent(event);
-  updateLayout();
-}
-
 void ChartsWidget::newChart() {
   SignalSelector dlg(tr("New Chart"), this);
   if (dlg.exec() == QDialog::Accepted) {
@@ -434,10 +433,22 @@ void ChartsWidget::alignCharts() {
   }
 }
 
-bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
-  if (obj != this && event->type() == QEvent::Close) {
-    emit dock_btn->clicked();
-    return true;
+bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
+  if (value_tip_visible_ && e->type() == QEvent::MouseMove) {
+    bool on_tip = qobject_cast<TipLabel *>(o) != nullptr;
+    auto global_pos = static_cast<QMouseEvent *>(e)->globalPos();
+
+    for (const auto &c : charts) {
+      auto local_pos = c->mapFromGlobal(global_pos);
+      if (c->chart()->plotArea().contains(local_pos)) {
+        if (on_tip) {
+          showValueTip(c->secondsAtPoint(local_pos));
+        }
+        return false;
+      }
+    }
+
+    showValueTip(-1);
   }
   return false;
 }
@@ -445,30 +456,25 @@ bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
 bool ChartsWidget::event(QEvent *event) {
   bool back_button = false;
   switch (event->type()) {
-    case QEvent::MouseButtonPress: {
-      QMouseEvent *ev = static_cast<QMouseEvent *>(event);
-      back_button = ev->button() == Qt::BackButton;
+    case QEvent::Resize:
+      updateLayout();
       break;
-    }
-    case QEvent::NativeGesture: {
-      QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
-      back_button = (ev->value() == 180);
+    case QEvent::MouseButtonPress:
+      back_button = static_cast<QMouseEvent *>(event)->button() == Qt::BackButton;
+      break;
+    case QEvent::NativeGesture:
+      back_button = (static_cast<QNativeGestureEvent *>(event)->value() == 180);
       break;
-    }
-    case QEvent::WindowActivate:
     case QEvent::WindowDeactivate:
-    case QEvent::FocusIn:
     case QEvent::FocusOut:
-    case QEvent::Leave:
       showValueTip(-1);
-      break;
     default:
       break;
   }
 
   if (back_button) {
     zoom_undo_stack->undo();
-    return true;
+    return true;  // Return true since the event has been handled
   }
   return QFrame::event(event);
 }
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index a39b4d73a59bf6..a9251917924eb3 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -46,16 +46,15 @@ class ChartsWidget : public QFrame {
 public slots:
   void setColumnCount(int n);
   void removeAll();
-  void setZoom(double min, double max);
+  void timeRangeChanged(const std::optional<std::pair<double, double>> &time_range);
+  void setIsDocked(bool dock);
 
 signals:
-  void dock(bool floating);
-  void rangeChanged(double min, double max, bool is_zommed);
+  void toggleChartsDocking();
   void seriesChanged();
 
 private:
   QSize minimumSizeHint() const override;
-  void resizeEvent(QResizeEvent *event) override;
   bool event(QEvent *event) override;
   void alignCharts();
   void newChart();
@@ -86,7 +85,7 @@ public slots:
   LogSlider *range_slider;
   QAction *range_lb_action;
   QAction *range_slider_action;
-  bool docking = true;
+  bool is_docked = true;
   ToolButton *dock_btn;
 
   QAction *undo_zoom_action;
@@ -102,9 +101,7 @@ public slots:
   ChartsContainer *charts_container;
   QScrollArea *charts_scroll;
   uint32_t max_chart_range = 0;
-  bool is_zoomed = false;
   std::pair<double, double> display_range;
-  std::pair<double, double> zoomed_range;
   QAction *columns_action;
   int column_count = 1;
   int current_column_count = 0;
@@ -112,19 +109,18 @@ public slots:
   QTimer *auto_scroll_timer;
   QTimer *align_timer;
   int current_theme = 0;
-  friend class ZoomCommand;
+  bool value_tip_visible_ = false;
   friend class ChartView;
   friend class ChartsContainer;
 };
 
 class ZoomCommand : public QUndoCommand {
 public:
-  ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
-    prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
+  ZoomCommand(std::pair<double, double> range) : range(range), QUndoCommand() {
+    prev_range = can->timeRange();
     setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 2).arg(range.second, 0, 'f', 2));
   }
-  void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
-  void redo() override { charts->setZoom(range.first, range.second); }
-  ChartsWidget *charts;
-  std::pair<double, double> prev_range, range;
+  void undo() override { can->setTimeRange(prev_range); }
+  void redo() override { can->setTimeRange(range); }
+  std::optional<std::pair<double, double>> prev_range, range;
 };
diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc
index 0ddb212a8ad42b..63f3a7d575082e 100644
--- a/tools/cabana/chart/signalselector.cc
+++ b/tools/cabana/chart/signalselector.cc
@@ -83,7 +83,8 @@ void SignalSelector::updateAvailableList(int index) {
   MessageId msg_id = msgs_combo->itemData(index).value<MessageId>();
   auto selected_items = seletedItems();
   for (auto s : dbc()->msg(msg_id)->getSignals()) {
-    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig = s](auto it) { return it->msg_id == msg_id && it->sig == sig; });
+    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(),
+                                   [sig = s, &msg_id](auto it) { return it->msg_id == msg_id && it->sig == sig; });
     if (!is_selected) {
       addItemToList(available_list, msg_id, s);
     }
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
index 34bc76b7c46e84..094fe96182777c 100644
--- a/tools/cabana/chart/sparkline.cc
+++ b/tools/cabana/chart/sparkline.cc
@@ -4,19 +4,13 @@
 #include <limits>
 #include <QPainter>
 
-#include "tools/cabana/streams/abstractstream.h"
-
 void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
   const auto &msgs = can->events(msg_id);
-  uint64_t ts = (last_msg_ts + can->routeStartTime()) * 1e9;
-  uint64_t first_ts = (ts > range * 1e9) ? ts - range * 1e9 : 0;
-  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, CompareCanEvent());
-  auto last = std::upper_bound(first, msgs.cend(), ts, CompareCanEvent());
 
-  if (first == last || size.isEmpty()) {
-    pixmap = QPixmap();
-    return;
-  }
+  auto range_start = can->toMonoTime(last_msg_ts - range);
+  auto range_end = can->toMonoTime(last_msg_ts);
+  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), range_start, CompareCanEvent());
+  auto last = std::upper_bound(first, msgs.cend(), range_end, CompareCanEvent());
 
   points.clear();
   double value = 0;
@@ -26,7 +20,7 @@ void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, doubl
     }
   }
 
-  if (points.empty()) {
+  if (points.empty() || size.isEmpty()) {
     pixmap = QPixmap();
     return;
   }
diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h
index 3bdd8a3ee52637..806f0a61ebf65a 100644
--- a/tools/cabana/chart/sparkline.h
+++ b/tools/cabana/chart/sparkline.h
@@ -5,6 +5,7 @@
 #include <vector>
 
 #include "tools/cabana/dbc/dbc.h"
+#include "tools/cabana/streams/abstractstream.h"
 
 class Sparkline {
 public:
diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc
index f5c9cc9cbd33e7..be71602838196a 100644
--- a/tools/cabana/chart/tiplabel.cc
+++ b/tools/cabana/chart/tiplabel.cc
@@ -9,8 +9,12 @@
 #include "tools/cabana/settings.h"
 
 TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
+  setAttribute(Qt::WA_ShowWithoutActivating);
+  setAttribute(Qt::WA_TransparentForMouseEvents);
+
   setForegroundRole(QPalette::ToolTipText);
   setBackgroundRole(QPalette::ToolTipBase);
+
   QFont font;
   font.setPointSizeF(8.34563465);
   setFont(font);
@@ -22,9 +26,7 @@ TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::Frameless
   setPalette(palette);
   ensurePolished();
   setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this));
-  setAttribute(Qt::WA_ShowWithoutActivating);
   setTextFormat(Qt::RichText);
-  setVisible(false);
 }
 
 void TipLabel::showText(const QPoint &pt, const QString &text, QWidget *w, const QRect &rect) {
diff --git a/tools/cabana/chart/tiplabel.h b/tools/cabana/chart/tiplabel.h
index ac6e09e9762bfd..cc96aa9864a7cf 100644
--- a/tools/cabana/chart/tiplabel.h
+++ b/tools/cabana/chart/tiplabel.h
@@ -3,6 +3,8 @@
 #include <QLabel>
 
 class TipLabel : public QLabel {
+  Q_OBJECT
+
 public:
   TipLabel(QWidget *parent = nullptr);
   void showText(const QPoint &pt, const QString &sec, QWidget *w, const QRect &rect);
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
index 4a1c52819a9fa7..cca9d0c0fab3f4 100644
--- a/tools/cabana/dbc/dbcfile.cc
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -9,10 +9,6 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
   if (file.open(QIODevice::ReadOnly)) {
     name_ = QFileInfo(dbc_file_name).baseName();
     filename = dbc_file_name;
-    // Remove auto save file extension
-    if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) {
-      filename.chop(AUTO_SAVE_EXTENSION.length());
-    }
     parse(file.readAll());
   } else {
     throw std::runtime_error("Failed to open file.");
@@ -20,17 +16,12 @@ DBCFile::DBCFile(const QString &dbc_file_name) {
 }
 
 DBCFile::DBCFile(const QString &name, const QString &content) : name_(name), filename("") {
-  // Open from clipboard
   parse(content);
 }
 
 bool DBCFile::save() {
   assert(!filename.isEmpty());
-  if (writeContents(filename)) {
-    cleanupAutoSaveFile();
-    return true;
-  }
-  return false;
+  return writeContents(filename);
 }
 
 bool DBCFile::saveAs(const QString &new_filename) {
@@ -38,16 +29,6 @@ bool DBCFile::saveAs(const QString &new_filename) {
   return save();
 }
 
-bool DBCFile::autoSave() {
-  return !filename.isEmpty() && writeContents(filename + AUTO_SAVE_EXTENSION);
-}
-
-void DBCFile::cleanupAutoSaveFile() {
-  if (!filename.isEmpty()) {
-    QFile::remove(filename + AUTO_SAVE_EXTENSION);
-  }
-}
-
 bool DBCFile::writeContents(const QString &fn) {
   QFile file(fn);
   if (file.open(QIODevice::WriteOnly)) {
@@ -75,7 +56,7 @@ cabana::Msg *DBCFile::msg(const QString &name) {
   return it != msgs.end() ? &(it->second) : nullptr;
 }
 
-cabana::Signal *DBCFile::signal(uint32_t address, const QString name) {
+cabana::Signal *DBCFile::signal(uint32_t address, const QString &name) {
   auto m = msg(address);
   return m ? (cabana::Signal *)m->sig(name) : nullptr;
 }
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
index 20de04a861129c..bd267898f94e5b 100644
--- a/tools/cabana/dbc/dbcfile.h
+++ b/tools/cabana/dbc/dbcfile.h
@@ -5,8 +5,6 @@
 
 #include "tools/cabana/dbc/dbc.h"
 
-const QString AUTO_SAVE_EXTENSION = ".tmp";
-
 class DBCFile {
 public:
   DBCFile(const QString &dbc_file_name);
@@ -15,9 +13,7 @@ class DBCFile {
 
   bool save();
   bool saveAs(const QString &new_filename);
-  bool autoSave();
   bool writeContents(const QString &fn);
-  void cleanupAutoSaveFile();
   QString generateDBC();
 
   void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &node, const QString &comment);
@@ -27,7 +23,7 @@ class DBCFile {
   cabana::Msg *msg(uint32_t address);
   cabana::Msg *msg(const QString &name);
   inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
-  cabana::Signal *signal(uint32_t address, const QString name);
+  cabana::Signal *signal(uint32_t address, const QString &name);
 
   inline QString name() const { return name_.isEmpty() ? "untitled" : name_; }
   inline bool isEmpty() const { return msgs.empty() && name_.isEmpty(); }
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
index 250ec225b588ca..8e98d95322c739 100644
--- a/tools/cabana/dbc/dbcmanager.cc
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -1,5 +1,6 @@
 #include "tools/cabana/dbc/dbcmanager.h"
 
+#include <QSet>
 #include <algorithm>
 #include <numeric>
 
@@ -124,16 +125,16 @@ cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) {
 
 QStringList DBCManager::signalNames() {
   // Used for autocompletion
-  QStringList ret;
+  QSet<QString> names;
   for (auto &f : allDBCFiles()) {
     for (auto &[_, m] : f->getMessages()) {
       for (auto sig : m.getSignals()) {
-        ret << sig->name;
+        names.insert(sig->name);
       }
     }
   }
+  QStringList ret = names.values();
   ret.sort();
-  ret.removeDuplicates();
   return ret;
 }
 
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 55ba0a4919d2be..7e73da55f08844 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -13,7 +13,7 @@ QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
   const auto &m = messages[index.row()];
   const int col = index.column();
   if (role == Qt::DisplayRole) {
-    if (col == 0) return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 3);
+    if (col == 0) return QString::number(can->toSeconds(m.mono_time), 'f', 3);
     if (!isHexMode()) return sigs[col - 1]->formatValue(m.sig_values[col - 1], false);
   } else if (role == Qt::TextAlignmentRole) {
     return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
@@ -80,7 +80,7 @@ void HistoryLogModel::updateState(bool clear) {
     messages.clear();
     endRemoveRows();
   }
-  uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1;
+  uint64_t current_time = can->toMonoTime(can->lastMessage(msg_id).ts) + 1;
   fetchData(messages.begin(), current_time, messages.empty() ? 0 : messages.front().mono_time);
 }
 
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index e6c9b49ca17a0c..ee8f42ea727dac 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -12,6 +12,7 @@
 #include <QJsonObject>
 #include <QMenuBar>
 #include <QMessageBox>
+#include <QProgressDialog>
 #include <QResizeEvent>
 #include <QShortcut>
 #include <QTextDocument>
@@ -23,9 +24,8 @@
 #include "tools/cabana/streamselector.h"
 #include "tools/cabana/tools/findsignal.h"
 #include "tools/cabana/utils/export.h"
-#include "tools/replay/replay.h"
 
-MainWindow::MainWindow() : QMainWindow() {
+MainWindow::MainWindow(AbstractStream *stream, const QString &dbc_file) : QMainWindow() {
   loadFingerprints();
   createDockWindows();
   setCentralWidget(center_widget = new CenterWidget(this));
@@ -65,10 +65,10 @@ MainWindow::MainWindow() : QMainWindow() {
   QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress);
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
   QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
-  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged);
   QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus);
-  QObject::connect(StreamNotifier::instance(), &StreamNotifier::changingStream, this, &MainWindow::changingStream);
-  QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted);
+
+  QTimer::singleShot(0, this, [=]() { stream ? openStream(stream, dbc_file) : selectAndOpenStream(); });
+  show();
 }
 
 void MainWindow::loadFingerprints() {
@@ -76,16 +76,12 @@ void MainWindow::loadFingerprints() {
   if (json_file.open(QIODevice::ReadOnly)) {
     fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
   }
-  // get opendbc names
-  for (auto fn : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
-    opendbc_names << QFileInfo(fn).baseName();
-  }
 }
 
 void MainWindow::createActions() {
   // File menu
   QMenu *file_menu = menuBar()->addMenu(tr("&File"));
-  file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream);
+  file_menu->addAction(tr("Open Stream..."), this, &MainWindow::selectAndOpenStream);
   close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream);
   export_to_csv_act = file_menu->addAction(tr("Export to CSV..."), this, &MainWindow::exportToCSV);
   close_stream_act->setEnabled(false);
@@ -96,20 +92,15 @@ void MainWindow::createActions() {
   file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); }, QKeySequence::Open);
 
   manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files"));
+  QObject::connect(manage_dbcs_menu, &QMenu::aboutToShow, this, &MainWindow::updateLoadSaveMenus);
 
   open_recent_menu = file_menu->addMenu(tr("Open &Recent"));
-  for (int i = 0; i < MAX_RECENT_FILES; ++i) {
-    recent_files_acts[i] = new QAction(this);
-    recent_files_acts[i]->setVisible(false);
-    QObject::connect(recent_files_acts[i], &QAction::triggered, this, &MainWindow::openRecentFile);
-    open_recent_menu->addAction(recent_files_acts[i]);
-  }
-  updateRecentFileActions();
+  QObject::connect(open_recent_menu, &QMenu::aboutToShow, this, &MainWindow::updateRecentFileMenu);
 
   file_menu->addSeparator();
   QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
   // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
-  for (const auto &dbc_name : opendbc_names) {
+  for (const auto &dbc_name : QDir(OPENDBC_FILE_PATH).entryList({"*.dbc"}, QDir::Files, QDir::Name)) {
     load_opendbc_menu->addAction(dbc_name, [this, name = dbc_name]() { loadDBCFromOpendbc(name); });
   }
 
@@ -180,6 +171,7 @@ void MainWindow::createDockWidgets() {
   messages_widget = new MessagesWidget(this);
   messages_dock->setWidget(messages_widget);
   QObject::connect(messages_widget, &MessagesWidget::titleChanged, messages_dock, &QDockWidget::setWindowTitle);
+  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
 
   // right panel
   charts_widget = new ChartsWidget(this);
@@ -192,14 +184,13 @@ void MainWindow::createDockWidgets() {
   video_splitter = new QSplitter(Qt::Vertical, this);
   video_widget = new VideoWidget(this);
   video_splitter->addWidget(video_widget);
-  QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::updateTimeRange);
 
   video_splitter->addWidget(charts_container);
   video_splitter->setStretchFactor(1, 1);
   video_splitter->restoreState(settings.video_splitter_state);
   video_splitter->handle(1)->setEnabled(!can->liveStreaming());
   video_dock->setWidget(video_splitter);
-  QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
+  QObject::connect(charts_widget, &ChartsWidget::toggleChartsDocking, this, &MainWindow::toggleChartsDocking);
 }
 
 void MainWindow::createStatusBar() {
@@ -210,67 +201,52 @@ void MainWindow::createStatusBar() {
   progress_bar->setVisible(false);
   statusBar()->addWidget(new QLabel(tr("For Help, Press F1")));
   statusBar()->addPermanentWidget(progress_bar);
-
   statusBar()->addPermanentWidget(status_label = new QLabel(this));
   updateStatus();
 }
 
 void MainWindow::createShortcuts() {
   auto shortcut = new QShortcut(QKeySequence(Qt::Key_Space), this, nullptr, nullptr, Qt::ApplicationShortcut);
-  QObject::connect(shortcut, &QShortcut::activated, []() { can->pause(!can->isPaused()); });
+  QObject::connect(shortcut, &QShortcut::activated, this, []() {
+    if (can) can->pause(!can->isPaused());
+  });
   // TODO: add more shortcuts here.
 }
 
-void MainWindow::undoStackIndexChanged(int index) {
-  int count = UndoStack::instance()->count();
-  if (count >= 0) {
-    QString command_text;
-    if (index == count) {
-      command_text = (count == prev_undostack_count ? "Redo " : "") + UndoStack::instance()->text(index - 1);
-    } else if (index < prev_undostack_index) {
-      command_text = tr("Undo %1").arg(UndoStack::instance()->text(index));
-    } else if (index > prev_undostack_index) {
-      command_text = tr("Redo %1").arg(UndoStack::instance()->text(index - 1));
-    }
-    statusBar()->showMessage(command_text, 2000);
-  }
-  prev_undostack_index = index;
-  prev_undostack_count = count;
-  autoSave();
-  updateLoadSaveMenus();
-}
-
 void MainWindow::undoStackCleanChanged(bool clean) {
-  if (clean) {
-    prev_undostack_index = 0;
-    prev_undostack_count = 0;
-  }
   setWindowModified(!clean);
 }
 
 void MainWindow::DBCFileChanged() {
   UndoStack::instance()->clear();
-  updateLoadSaveMenus();
+
+  // Update file menu
+  int cnt = dbc()->nonEmptyDBCCount();
+  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
+  save_dbc->setEnabled(cnt > 0);
+  save_dbc_as->setEnabled(cnt == 1);
+  // TODO: Support clipboard for multiple files
+  copy_dbc_to_clipboard->setEnabled(cnt == 1);
+  manage_dbcs_menu->setEnabled(dynamic_cast<DummyStream *>(can) == nullptr);
+
+  QStringList title;
+  for (auto f : dbc()->allDBCFiles()) {
+    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
+  }
+  setWindowFilePath(title.join(" | "));
 }
 
-void MainWindow::openStream() {
-  AbstractStream *stream = nullptr;
-  StreamSelector dlg(&stream, this);
+void MainWindow::selectAndOpenStream() {
+  StreamSelector dlg(this);
   if (dlg.exec()) {
-    if (!dlg.dbcFile().isEmpty()) {
-      loadFile(dlg.dbcFile());
-    }
-    stream->start();
-    statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000);
+    openStream(dlg.stream(), dlg.dbcFile());
   } else if (!can) {
-    stream = new DummyStream(this);
-    stream->start();
+    openStream(new DummyStream(this));
   }
 }
 
 void MainWindow::closeStream() {
-  AbstractStream *stream = new DummyStream(this);
-  stream->start();
+  openStream(new DummyStream(this));
   if (dbc()->nonEmptyDBCCount() > 0) {
     emit dbc()->DBCFileChanged();
   }
@@ -302,18 +278,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
   if (!fn.isEmpty()) {
     closeFile(s);
 
-    QString dbc_fn = fn;
-    // Prompt user to load auto saved file if it exists.
-    if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) {
-      auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?"));
-      if (ret == QMessageBox::Yes) {
-        dbc_fn += AUTO_SAVE_EXTENSION;
-        UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost
-      }
-    }
-
     QString error;
-    if (dbc()->open(s, dbc_fn, &error)) {
+    if (dbc()->open(s, fn, &error)) {
       updateRecentFiles(fn);
       statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
     } else {
@@ -324,15 +290,8 @@ void MainWindow::loadFile(const QString &fn, SourceSet s) {
   }
 }
 
-void MainWindow::openRecentFile() {
-  if (auto action = qobject_cast<QAction *>(sender())) {
-    loadFile(action->data().toString());
-  }
-}
-
 void MainWindow::loadDBCFromOpendbc(const QString &name) {
-  QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name);
-  loadFile(opendbc_file_path);
+  loadFile(QString("%1/%2").arg(OPENDBC_FILE_PATH, name));
 }
 
 void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
@@ -350,13 +309,19 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
   }
 }
 
-void MainWindow::changingStream() {
+void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) {
   center_widget->clear();
   delete messages_widget;
   delete video_splitter;
-}
 
-void MainWindow::streamStarted() {
+  delete can;
+  can = stream;
+  can->setParent(this);  // take ownership
+  can->start();
+
+  loadFile(dbc_file);
+  statusBar()->showMessage(tr("Stream [%1] started").arg(can->routeName()), 2000);
+
   bool has_stream = dynamic_cast<DummyStream *>(can) == nullptr;
   close_stream_act->setEnabled(has_stream);
   export_to_csv_act->setEnabled(has_stream);
@@ -373,9 +338,20 @@ void MainWindow::streamStarted() {
     newFile();
   }
 
-  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
   QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged);
-  QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus);
+
+  if (has_stream) {
+    auto wait_dlg = new QProgressDialog(
+        can->liveStreaming() ? tr("Waiting for the live stream to start...") : tr("Loading segment data..."),
+        tr("&Abort"), 0, 100, this);
+    wait_dlg->setWindowModality(Qt::WindowModal);
+    wait_dlg->setFixedSize(400, wait_dlg->sizeHint().height());
+    QObject::connect(wait_dlg, &QProgressDialog::canceled, this, &MainWindow::close);
+    QObject::connect(can, &AbstractStream::eventsMerged, wait_dlg, &QProgressDialog::deleteLater);
+    QObject::connect(this, &MainWindow::updateProgressBar, wait_dlg, [=](uint64_t cur, uint64_t total, bool success) {
+      wait_dlg->setValue((int)((cur / (double)total) * 100));
+    });
+  }
 }
 
 void MainWindow::eventsMerged() {
@@ -384,12 +360,8 @@ void MainWindow::eventsMerged() {
                                     .arg(can->routeName())
                                     .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
     // Don't overwrite already loaded DBC
-    if (!dbc()->nonEmptyDBCCount() && !car_fingerprint.isEmpty()) {
-      auto dbc_name = fingerprint_to_dbc[car_fingerprint];
-      if (dbc_name != QJsonValue::Undefined) {
-        // Prevent dialog that load autosaved file from blocking replay->start().
-        QTimer::singleShot(0, this, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
-      }
+    if (!dbc()->nonEmptyDBCCount() && fingerprint_to_dbc.object().contains(car_fingerprint)) {
+      QTimer::singleShot(0, this, [this]() { loadDBCFromOpendbc(fingerprint_to_dbc[car_fingerprint].toString() + ".dbc"); });
     }
   }
 }
@@ -410,22 +382,6 @@ void MainWindow::saveAs() {
   }
 }
 
-void MainWindow::autoSave() {
-  if (!UndoStack::instance()->isClean()) {
-    for (auto dbc_file : dbc()->allDBCFiles()) {
-      if (!dbc_file->filename.isEmpty()) {
-        dbc_file->autoSave();
-      }
-    }
-  }
-}
-
-void MainWindow::cleanupAutoSaveFile() {
-  for (auto dbc_file : dbc()->allDBCFiles()) {
-    dbc_file->cleanupAutoSaveFile();
-  }
-}
-
 void MainWindow::closeFile(SourceSet s) {
   remindSaveChanges();
   if (s == SOURCE_ALL) {
@@ -449,7 +405,6 @@ void MainWindow::saveFile(DBCFile *dbc_file) {
   assert(dbc_file != nullptr);
   if (!dbc_file->filename.isEmpty()) {
     dbc_file->save();
-    updateLoadSaveMenus();
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved"), 2000);
   } else if (!dbc_file->isEmpty()) {
@@ -465,7 +420,6 @@ void MainWindow::saveFileAs(DBCFile *dbc_file) {
     UndoStack::instance()->setClean();
     statusBar()->showMessage(tr("File saved as %1").arg(fn), 2000);
     updateRecentFiles(fn);
-    updateLoadSaveMenus();
   }
 }
 
@@ -484,16 +438,7 @@ void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
 }
 
 void MainWindow::updateLoadSaveMenus() {
-  int cnt = dbc()->nonEmptyDBCCount();
-  save_dbc->setText(cnt > 1 ? tr("Save %1 DBCs...").arg(cnt) : tr("Save DBC..."));
-  save_dbc->setEnabled(cnt > 0);
-  save_dbc_as->setEnabled(cnt == 1);
-
-  // TODO: Support clipboard for multiple files
-  copy_dbc_to_clipboard->setEnabled(cnt == 1);
-
   manage_dbcs_menu->clear();
-  manage_dbcs_menu->setEnabled(dynamic_cast<DummyStream *>(can) == nullptr);
 
   for (int source : can->sources) {
     if (source >= 64) continue; // Sent and blocked buses are handled implicitly
@@ -506,8 +451,8 @@ void MainWindow::updateLoadSaveMenus() {
     bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); });
 
     // Show sub-menu for each dbc for this source.
-    QString file_name = "No DBCs loaded";
-    if (auto dbc_file = dbc()->findDBCFile(source)) {
+    auto dbc_file = dbc()->findDBCFile(source);
+    if (dbc_file) {
       bus_menu->addSeparator();
       bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false);
       bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); });
@@ -515,19 +460,11 @@ void MainWindow::updateLoadSaveMenus() {
       bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); });
       bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); });
       bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); });
-
-      file_name = dbc_file->name();
     }
+    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(dbc_file ? dbc_file->name() : "No DBCs loaded"));
 
     manage_dbcs_menu->addMenu(bus_menu);
-    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(file_name));
   }
-
-  QStringList title;
-  for (auto f : dbc()->allDBCFiles()) {
-    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
-  }
-  setWindowFilePath(title.join(" | "));
 }
 
 void MainWindow::updateRecentFiles(const QString &fn) {
@@ -537,21 +474,21 @@ void MainWindow::updateRecentFiles(const QString &fn) {
     settings.recent_files.removeLast();
   }
   settings.last_dir = QFileInfo(fn).absolutePath();
-  updateRecentFileActions();
 }
 
-void MainWindow::updateRecentFileActions() {
+void MainWindow::updateRecentFileMenu() {
+  open_recent_menu->clear();
+
   int num_recent_files = std::min<int>(settings.recent_files.size(), MAX_RECENT_FILES);
+  if (!num_recent_files) {
+    open_recent_menu->addAction(tr("No Recent Files"))->setEnabled(false);
+    return;
+  }
+
   for (int i = 0; i < num_recent_files; ++i) {
     QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName());
-    recent_files_acts[i]->setText(text);
-    recent_files_acts[i]->setData(settings.recent_files[i]);
-    recent_files_acts[i]->setVisible(true);
-  }
-  for (int i = num_recent_files; i < MAX_RECENT_FILES; ++i) {
-    recent_files_acts[i]->setVisible(false);
+    open_recent_menu->addAction(text, this, [this, file = settings.recent_files[i]]() { loadFile(file); });
   }
-  open_recent_menu->setEnabled(num_recent_files > 0);
 }
 
 void MainWindow::remindSaveChanges() {
@@ -578,25 +515,35 @@ void MainWindow::updateStatus() {
   status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(settings.max_cached_minutes).arg(settings.fps));
 }
 
-void MainWindow::dockCharts(bool dock) {
-  if (dock && floating_window) {
-    floating_window->removeEventFilter(charts_widget);
+bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
+  if (obj == floating_window && event->type() == QEvent::Close) {
+    toggleChartsDocking();
+    return true;
+  }
+  return QMainWindow::eventFilter(obj, event);
+}
+
+void MainWindow::toggleChartsDocking() {
+  if (floating_window) {
+    // Dock the charts widget back to the main window
+    floating_window->removeEventFilter(this);
     charts_layout->insertWidget(0, charts_widget, 1);
     floating_window->deleteLater();
     floating_window = nullptr;
-  } else if (!dock && !floating_window) {
-    floating_window = new QWidget(this);
-    floating_window->setWindowFlags(Qt::Window);
+    charts_widget->setIsDocked(true);
+  } else {
+    // Float the charts widget in a separate window
+    floating_window = new QWidget(this, Qt::Window);
     floating_window->setWindowTitle("Charts");
     floating_window->setLayout(new QVBoxLayout());
     floating_window->layout()->addWidget(charts_widget);
-    floating_window->installEventFilter(charts_widget);
+    floating_window->installEventFilter(this);
     floating_window->showMaximized();
+    charts_widget->setIsDocked(false);
   }
 }
 
 void MainWindow::closeEvent(QCloseEvent *event) {
-  cleanupAutoSaveFile();
   remindSaveChanges();
 
   installDownloadProgressHandler(nullptr);
@@ -608,7 +555,7 @@ void MainWindow::closeEvent(QCloseEvent *event) {
   // save states
   settings.geometry = saveGeometry();
   settings.window_state = saveState();
-  if (!can->liveStreaming()) {
+  if (can && !can->liveStreaming()) {
     settings.video_splitter_state = video_splitter->saveState();
   }
   settings.message_header_state = messages_widget->saveHeaderState();
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 0b869f153d2339..9bc94c090f7d71 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -20,22 +20,20 @@ class MainWindow : public QMainWindow {
   Q_OBJECT
 
 public:
-  MainWindow();
-  void dockCharts(bool dock);
+  MainWindow(AbstractStream *stream, const QString &dbc_file);
+  void toggleChartsDocking();
   void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); }
   void loadFile(const QString &fn, SourceSet s = SOURCE_ALL);
   ChartsWidget *charts_widget = nullptr;
 
 public slots:
-  void openStream();
+  void selectAndOpenStream();
+  void openStream(AbstractStream *stream, const QString &dbc_file = {});
   void closeStream();
   void exportToCSV();
-  void changingStream();
-  void streamStarted();
 
   void newFile(SourceSet s = SOURCE_ALL);
   void openFile(SourceSet s = SOURCE_ALL);
-  void openRecentFile();
   void loadDBCFromOpendbc(const QString &name);
   void save();
   void saveAs();
@@ -46,6 +44,7 @@ public slots:
   void updateProgressBar(uint64_t cur, uint64_t total, bool success);
 
 protected:
+  bool eventFilter(QObject *obj, QEvent *event) override;
   void remindSaveChanges();
   void closeFile(SourceSet s = SOURCE_ALL);
   void closeFile(DBCFile *dbc_file);
@@ -54,10 +53,8 @@ public slots:
   void saveFileToClipboard(DBCFile *dbc_file);
   void loadFingerprints();
   void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true);
-  void autoSave();
-  void cleanupAutoSaveFile();
   void updateRecentFiles(const QString &fn);
-  void updateRecentFileActions();
+  void updateRecentFileMenu();
   void createActions();
   void createDockWindows();
   void createStatusBar();
@@ -69,7 +66,6 @@ public slots:
   void findSimilarBits();
   void findSignal();
   void undoStackCleanChanged(bool clean);
-  void undoStackIndexChanged(int index);
   void onlineHelp();
   void toggleFullScreen();
   void updateStatus();
@@ -87,10 +83,8 @@ public slots:
   QProgressBar *progress_bar;
   QLabel *status_label;
   QJsonDocument fingerprint_to_dbc;
-  QStringList opendbc_names;
   QSplitter *video_splitter = nullptr;
   enum { MAX_RECENT_FILES = 15 };
-  QAction *recent_files_acts[MAX_RECENT_FILES] = {};
   QMenu *open_recent_menu = nullptr;
   QMenu *manage_dbcs_menu = nullptr;
   QMenu *tools_menu = nullptr;
@@ -100,8 +94,6 @@ public slots:
   QAction *save_dbc_as = nullptr;
   QAction *copy_dbc_to_clipboard = nullptr;
   QString car_fingerprint;
-  int prev_undostack_index = 0;
-  int prev_undostack_count = 0;
   QByteArray default_state;
 };
 
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index 396cfdc38bab59..d6c2fd0ea929ec 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -411,7 +411,7 @@ void MessageView::updateBytesSectionSize() {
       max_bytes = std::max<int>(max_bytes, m.dat.size());
     }
   }
-  setUniformRowHeights(!delegate->multipleLines() || max_bytes <= 8);
+  setUniformRowHeights(!delegate->multipleLines());
   header()->resizeSection(MessageListModel::Column::DATA, delegate->sizeForBytes(max_bytes).width());
 }
 
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
index 7eb647b65036b4..130b76d5023144 100644
--- a/tools/cabana/signalview.cc
+++ b/tools/cabana/signalview.cc
@@ -33,13 +33,17 @@ SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(p
   QObject::connect(dbc(), &DBCManager::signalRemoved, this, &SignalModel::handleSignalRemoved);
 }
 
-void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
-  Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
-  parent_item->children.insert(pos, item);
+void SignalModel::insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig) {
+  Item *parent_item = new Item{.sig = sig, .parent = root_item, .title = sig->name, .type = Item::Sig};
+  root_item->children.insert(pos, parent_item);
   QString titles[]{"Name", "Size", "Receiver Nodes", "Little Endian", "Signed", "Offset", "Factor", "Type",
                    "Multiplex Value", "Extra Info", "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Table"};
   for (int i = 0; i < std::size(titles); ++i) {
-    item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)});
+    auto item = new Item{.sig = sig, .parent = parent_item, .title = titles[i], .type = (Item::Type)(i + Item::Name)};
+    parent_item->children.push_back(item);
+    if (item->type == Item::ExtraInfo) {
+      parent_item = item;
+    }
   }
 }
 
@@ -75,12 +79,7 @@ SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const {
 int SignalModel::rowCount(const QModelIndex &parent) const {
   if (parent.isValid() && parent.column() > 0) return 0;
 
-  auto parent_item = getItem(parent);
-  int row_count = parent_item->children.size();
-  if (parent_item->type == Item::Sig && !parent_item->extra_expanded) {
-    row_count -= (Item::Desc - Item::ExtraInfo);
-  }
-  return row_count;
+  return getItem(parent)->children.size();
 }
 
 Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const {
@@ -88,7 +87,7 @@ Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const {
 
   auto item = getItem(index);
   Qt::ItemFlags flags = Qt::ItemIsSelectable | Qt::ItemIsEnabled;
-  if (index.column() == 1  && item->type != Item::Sig && item->type != Item::ExtraInfo) {
+  if (index.column() == 1  && item->children.empty()) {
     flags |= (item->type == Item::Endian || item->type == Item::Signed) ? Qt::ItemIsUserCheckable : Qt::ItemIsEditable;
   }
   if (item->type == Item::MultiplexValue && item->sig->type != cabana::Signal::Type::Multiplexed) {
@@ -153,8 +152,6 @@ QVariant SignalModel::data(const QModelIndex &index, int role) const {
     } else if (role == Qt::CheckStateRole && index.column() == 1) {
       if (item->type == Item::Endian) return item->sig->is_little_endian ? Qt::Checked : Qt::Unchecked;
       if (item->type == Item::Signed) return item->sig->is_signed ? Qt::Checked : Qt::Unchecked;
-    } else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) {
-      return utils::icon(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up");
     } else if (role == Qt::ToolTipRole && item->type == Item::Sig) {
       return (index.column() == 0) ? signalToolTip(item->sig) : QString();
     }
@@ -189,21 +186,6 @@ bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int r
   return ret;
 }
 
-void SignalModel::showExtraInfo(const QModelIndex &index) {
-  auto item = getItem(index);
-  if (item->type == Item::ExtraInfo) {
-    if (!item->parent->extra_expanded) {
-      item->parent->extra_expanded = true;
-      beginInsertRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
-      endInsertRows();
-    } else {
-      item->parent->extra_expanded = false;
-      beginRemoveRows(index.parent(), Item::ExtraInfo - 2, Item::Desc - 2);
-      endRemoveRows();
-    }
-  }
-}
-
 bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) {
   auto msg = dbc()->msg(msg_id);
   if (s.name != origin_s->name && msg->sig(s.name) != nullptr) {
@@ -283,13 +265,9 @@ QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QMo
       text += item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value);
       spacing += (option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1) * 2;
     }
-    auto it = width_cache.find(text);
-    if (it == width_cache.end()) {
-      it = width_cache.insert(text, option.fontMetrics.width(text));
-    }
-    width = std::min<int>(option.widget->size().width() / 3.0, it.value() + spacing);
+    width = std::min<int>(option.widget->size().width() / 3.0, option.fontMetrics.width(text) + spacing);
   }
-  return {width, option.fontMetrics.height()};
+  return {width, option.fontMetrics.height() + option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2};
 }
 
 void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -305,51 +283,55 @@ void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptio
 }
 
 void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  auto item = (SignalModel::Item *)index.internalPointer();
-  if (item && item->type == SignalModel::Item::Sig) {
-    painter->setRenderHint(QPainter::Antialiasing);
-    if (option.state & QStyle::State_Selected) {
-      painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
-    }
+  const int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
+  const int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
+  auto item = static_cast<SignalModel::Item*>(index.internalPointer());
+
+  QRect rect = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin);
+  painter->setRenderHint(QPainter::Antialiasing);
+  if (option.state & QStyle::State_Selected) {
+    painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
+  }
 
-    int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
-    int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
-    QRect r = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin);
-    if (index.column() == 0) {
+  if (index.column() == 0) {
+    if (item->type == SignalModel::Item::Sig) {
       // color label
       QPainterPath path;
-      QRect icon_rect{r.x(), r.y(), color_label_width, r.height()};
+      QRect icon_rect{rect.x(), rect.y(), color_label_width, rect.height()};
       path.addRoundedRect(icon_rect, 3, 3);
       painter->setPen(item->highlight ? Qt::white : Qt::black);
       painter->setFont(label_font);
       painter->fillPath(path, item->sig->color.darker(item->highlight ? 125 : 0));
       painter->drawText(icon_rect, Qt::AlignCenter, QString::number(item->row() + 1));
 
-      r.setLeft(icon_rect.right() + h_margin * 2);
+      rect.setLeft(icon_rect.right() + h_margin * 2);
       // multiplexer indicator
       if (item->sig->type != cabana::Signal::Type::Normal) {
         QString indicator = item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value);
-        QRect indicator_rect{r.x(), r.y(), option.fontMetrics.width(indicator), r.height()};
+        QRect indicator_rect{rect.x(), rect.y(), option.fontMetrics.width(indicator), rect.height()};
         painter->setBrush(Qt::gray);
         painter->setPen(Qt::NoPen);
         painter->drawRoundedRect(indicator_rect, 3, 3);
         painter->setPen(Qt::white);
         painter->drawText(indicator_rect, Qt::AlignCenter, indicator);
-        r.setLeft(indicator_rect.right() + h_margin * 2);
+        rect.setLeft(indicator_rect.right() + h_margin * 2);
       }
+    } else {
+      rect.setLeft(option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + h_margin * 3);
+    }
 
-      // name
-      auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, r.width());
-      painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
-      painter->setFont(option.font);
-      painter->drawText(r, option.displayAlignment, text);
-    } else if (index.column() == 1 && !item->sparkline.pixmap.isNull()) {
-      // sparkline
+    // name
+    auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rect.width());
+    painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
+    painter->setFont(option.font);
+    painter->drawText(rect, option.displayAlignment, text);
+  } else if (index.column() == 1) {
+    if (!item->sparkline.pixmap.isNull()) {
       QSize sparkline_size = item->sparkline.pixmap.size() / item->sparkline.pixmap.devicePixelRatio();
-      painter->drawPixmap(QRect(r.topLeft(), sparkline_size), item->sparkline.pixmap);
+      painter->drawPixmap(QRect(rect.topLeft(), sparkline_size), item->sparkline.pixmap);
       // min-max value
       painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
-      QRect rect = r.adjusted(sparkline_size.width() + 1, 0, 0, 0);
+      rect.adjust(sparkline_size.width() + 1, 0, 0, 0);
       int value_adjust = 10;
       if (!item->sparkline.isEmpty() && (item->highlight || option.state & QStyle::State_Selected)) {
         painter->drawLine(rect.topLeft(), rect.bottomLeft());
@@ -361,7 +343,7 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
         painter->drawText(rect, Qt::AlignLeft | Qt::AlignBottom, min);
         QFontMetrics fm(minmax_font);
         value_adjust = std::max(fm.width(min), fm.width(max)) + 5;
-      } else if (!item->sparkline.isEmpty()  && item->sig->type == cabana::Signal::Type::Multiplexed) {
+      } else if (!item->sparkline.isEmpty() && item->sig->type == cabana::Signal::Type::Multiplexed) {
         // display freq of multiplexed signal
         painter->setFont(label_font);
         QString freq = QString("%1 hz").arg(item->sparkline.freq(), 0, 'g', 2);
@@ -373,9 +355,9 @@ void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
       rect.adjust(value_adjust, 0, -button_size.width(), 0);
       auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rect.width());
       painter->drawText(rect, Qt::AlignRight | Qt::AlignVCenter, text);
+    } else {
+      QStyledItemDelegate::paint(painter, option, index);
     }
-  } else {
-    QStyledItemDelegate::paint(painter, option, index);
   }
 }
 
@@ -549,11 +531,9 @@ void SignalView::rowsChanged() {
 
 void SignalView::rowClicked(const QModelIndex &index) {
   auto item = model->getItem(index);
-  if (item->type == SignalModel::Item::Sig) {
-    auto sig_index = model->index(index.row(), 0, index.parent());
-    tree->setExpanded(sig_index, !tree->isExpanded(sig_index));
-  } else if (item->type == SignalModel::Item::ExtraInfo) {
-    model->showExtraInfo(index);
+  if (item->type == SignalModel::Item::Sig || item->type == SignalModel::Item::ExtraInfo) {
+    auto expand_index = model->index(index.row(), 0, index.parent());
+    tree->setExpanded(expand_index, !tree->isExpanded(expand_index));
   }
 }
 
@@ -614,6 +594,26 @@ void SignalView::handleSignalUpdated(const cabana::Signal *sig) {
     updateState();
 }
 
+std::pair<QModelIndex, QModelIndex> SignalView::visibleSignalRange() {
+  auto topLevelIndex = [](QModelIndex index) {
+    while (index.isValid() && index.parent().isValid()) index = index.parent();
+    return index;
+  };
+
+  const auto viewport_rect = tree->viewport()->rect();
+  QModelIndex first_visible = tree->indexAt(viewport_rect.topLeft());
+  if (first_visible.parent().isValid()) {
+    first_visible = topLevelIndex(first_visible);
+    first_visible = first_visible.siblingAtRow(first_visible.row() + 1);
+  }
+
+  QModelIndex last_visible = topLevelIndex(tree->indexAt(viewport_rect.bottomRight()));
+  if (!last_visible.isValid()) {
+    last_visible = model->index(model->rowCount() - 1, 0);
+  }
+  return {first_visible, last_visible};
+}
+
 void SignalView::updateState(const std::set<MessageId> *msgs) {
   const auto &last_msg = can->lastMessage(model->msg_id);
   if (model->rowCount() == 0 || (msgs && !msgs->count(model->msg_id)) || last_msg.dat.size() == 0) return;
@@ -622,31 +622,25 @@ void SignalView::updateState(const std::set<MessageId> *msgs) {
     double value = 0;
     if (item->sig->getValue(last_msg.dat.data(), last_msg.dat.size(), &value)) {
       item->sig_val = item->sig->formatValue(value);
+      max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
     }
-    max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
   }
 
-  QModelIndex top = tree->indexAt(QPoint(0, 0));
-  if (top.isValid()) {
-    // update visible sparkline
-    int first_visible_row = top.parent().isValid() ? top.parent().row() + 1 : top.row();
-    int last_visible_row = model->rowCount() - 1;
-    QModelIndex bottom = tree->indexAt(tree->viewport()->rect().bottomLeft());
-    if (bottom.isValid()) {
-      last_visible_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row();
-    }
-
+  auto [first_visible, last_visible] = visibleSignalRange();
+  if (first_visible.isValid() && last_visible.isValid()) {
     const static int min_max_width = QFontMetrics(delegate->minmax_font).width("-000.00") + 5;
     int available_width = value_column_width - delegate->button_size.width();
     int value_width = std::min<int>(max_value_width + min_max_width, available_width / 2);
     QSize size(available_width - value_width,
                delegate->button_size.height() - style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2);
+
     QFutureSynchronizer<void> synchronizer;
-    for (int i = first_visible_row; i <= last_visible_row; ++i) {
+    for (int i = first_visible.row(); i <= last_visible.row(); ++i) {
       auto item = model->getItem(model->index(i, 1));
       synchronizer.addFuture(QtConcurrent::run(
           &item->sparkline, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
     }
+    synchronizer.waitForFinished();
   }
 
   for (int i = 0; i < model->rowCount(); ++i) {
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
index 30978f928cfc8e..4e746ea105bb11 100644
--- a/tools/cabana/signalview.h
+++ b/tools/cabana/signalview.h
@@ -2,6 +2,7 @@
 
 #include <memory>
 #include <set>
+#include <utility>
 
 #include <QAbstractItemModel>
 #include <QLabel>
@@ -29,7 +30,6 @@ class SignalModel : public QAbstractItemModel {
     const cabana::Signal *sig = nullptr;
     QString title;
     bool highlight = false;
-    bool extra_expanded = false;
     QString sig_val = "-";
     Sparkline sparkline;
   };
@@ -47,10 +47,9 @@ class SignalModel : public QAbstractItemModel {
   bool saveSignal(const cabana::Signal *origin_s, cabana::Signal &s);
   Item *getItem(const QModelIndex &index) const;
   int signalRow(const cabana::Signal *sig) const;
-  void showExtraInfo(const QModelIndex &index);
 
 private:
-  void insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig);
+  void insertItem(SignalModel::Item *root_item, int pos, const cabana::Signal *sig);
   void handleSignalAdded(MessageId id, const cabana::Signal *sig);
   void handleSignalUpdated(const cabana::Signal *sig);
   void handleSignalRemoved(const cabana::Signal *sig);
@@ -92,7 +91,6 @@ class SignalItemDelegate : public QStyledItemDelegate {
   QFont label_font, minmax_font;
   const int color_label_width = 18;
   mutable QSize button_size;
-  mutable QHash<QString, int> width_cache;
 };
 
 class SignalView : public QFrame {
@@ -119,6 +117,7 @@ class SignalView : public QFrame {
   void handleSignalAdded(MessageId id, const cabana::Signal *sig);
   void handleSignalUpdated(const cabana::Signal *sig);
   void updateState(const std::set<MessageId> *msgs = nullptr);
+  std::pair<QModelIndex, QModelIndex> visibleSignalRange();
 
   struct TreeView : public QTreeView {
     TreeView(QWidget *parent) : QTreeView(parent) {}
@@ -145,5 +144,4 @@ class SignalView : public QFrame {
   ChartsWidget *charts;
   QLabel *signal_count_lb;
   SignalItemDelegate *delegate;
-  friend SignalItemDelegate;
 };
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
index 2e6ca9662e237a..9bf80deb98ac86 100644
--- a/tools/cabana/streams/abstractstream.cc
+++ b/tools/cabana/streams/abstractstream.cc
@@ -1,6 +1,5 @@
 #include "tools/cabana/streams/abstractstream.h"
 
-#include <algorithm>
 #include <utility>
 
 #include <QApplication>
@@ -11,26 +10,15 @@ static const int EVENT_NEXT_BUFFER_SIZE = 6 * 1024 * 1024;  // 6MB
 
 AbstractStream *can = nullptr;
 
-StreamNotifier *StreamNotifier::instance() {
-  static StreamNotifier notifier;
-  return &notifier;
-}
-
 AbstractStream::AbstractStream(QObject *parent) : QObject(parent) {
   assert(parent != nullptr);
   event_buffer_ = std::make_unique<MonotonicBuffer>(EVENT_NEXT_BUFFER_SIZE);
 
-  QObject::connect(QApplication::instance(), &QCoreApplication::aboutToQuit, this, &AbstractStream::stop);
   QObject::connect(this, &AbstractStream::privateUpdateLastMsgsSignal, this, &AbstractStream::updateLastMessages, Qt::QueuedConnection);
   QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
+  QObject::connect(this, &AbstractStream::seeking, this, [this](double sec) { current_sec_ = sec; });
   QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
   QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
-  QObject::connect(this, &AbstractStream::streamStarted, [this]() {
-    emit StreamNotifier::instance()->changingStream();
-    delete can;
-    can = this;
-    emit StreamNotifier::instance()->streamStarted();
-  });
 }
 
 void AbstractStream::updateMasks() {
@@ -64,14 +52,12 @@ void AbstractStream::suppressDefinedSignals(bool suppress) {
 size_t AbstractStream::suppressHighlighted() {
   std::lock_guard lk(mutex_);
   size_t cnt = 0;
-  const double cur_ts = currentSec();
   for (auto &[_, m] : messages_) {
     for (auto &last_change : m.last_changes) {
-      const double dt = cur_ts - last_change.ts;
+      const double dt = current_sec_ - last_change.ts;
       if (dt < 2.0) {
         last_change.suppressed = true;
       }
-      // clear bit change counts
       last_change.bit_change_counts.fill(0);
       cnt += last_change.suppressed;
     }
@@ -90,6 +76,7 @@ void AbstractStream::updateLastMessages() {
   auto prev_src_size = sources.size();
   auto prev_msg_size = last_msgs.size();
   std::set<MessageId> msgs;
+
   {
     std::lock_guard lk(mutex_);
     for (const auto &id : new_msgs_) {
@@ -101,6 +88,11 @@ void AbstractStream::updateLastMessages() {
     msgs = std::move(new_msgs_);
   }
 
+  if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
+    seekTo(time_range_->first);
+    return;
+  }
+
   if (sources.size() != prev_src_size) {
     updateMasks();
     emit sourcesUpdated(sources);
@@ -108,6 +100,14 @@ void AbstractStream::updateLastMessages() {
   emit msgsReceived(&msgs, prev_msg_size != last_msgs.size());
 }
 
+void AbstractStream::setTimeRange(const std::optional<std::pair<double, double>> &range) {
+  time_range_ = range;
+  if (time_range_ && (current_sec_ < time_range_->first || current_sec_ >= time_range_->second)) {
+    seekTo(time_range_->first);
+  }
+  emit timeRangeChanged(time_range_);
+}
+
 void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
   std::lock_guard lk(mutex_);
   messages_[id].compute(id, data, size, sec, getSpeed(), masks_[id]);
@@ -120,7 +120,7 @@ const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id)
   return it != events_.end() ? it->second : empty_events;
 }
 
-const CanData &AbstractStream::lastMessage(const MessageId &id) {
+const CanData &AbstractStream::lastMessage(const MessageId &id) const {
   static CanData empty_data = {};
   auto it = last_msgs.find(id);
   return it != last_msgs.end() ? it->second : empty_data;
@@ -130,15 +130,13 @@ const CanData &AbstractStream::lastMessage(const MessageId &id) {
 // updateLastMsgsTo is always called in UI thread.
 void AbstractStream::updateLastMsgsTo(double sec) {
   current_sec_ = sec;
-  uint64_t last_ts = (sec + routeStartTime()) * 1e9;
+  uint64_t last_ts = toMonoTime(sec);
   std::unordered_map<MessageId, CanData> msgs;
   msgs.reserve(events_.size());
 
   for (const auto &[id, ev] : events_) {
     auto it = std::upper_bound(ev.begin(), ev.end(), last_ts, CompareCanEvent());
     if (it != ev.begin()) {
-      auto prev = std::prev(it);
-      double ts = (*prev)->mono_time / 1e9 - routeStartTime();
       auto &m = msgs[id];
       double freq = 0;
       // Keep suppressed bits.
@@ -149,7 +147,9 @@ void AbstractStream::updateLastMsgsTo(double sec) {
                        std::back_inserter(m.last_changes),
                        [](const auto &change) { return CanData::ByteLastChange{.suppressed = change.suppressed}; });
       }
-      m.compute(id, (*prev)->dat, (*prev)->size, ts, getSpeed(), {}, freq);
+
+      auto prev = std::prev(it);
+      m.compute(id, (*prev)->dat, (*prev)->size, toSeconds((*prev)->mono_time), getSpeed(), {}, freq);
       m.count = std::distance(ev.begin(), prev) + 1;
     }
   }
@@ -195,7 +195,6 @@ void AbstractStream::mergeEvents(const std::vector<const CanEvent *> &events) {
     all_events_.insert(pos, events.cbegin(), events.cend());
     emit eventsMerged(msg_events);
   }
-  lastest_event_ts = all_events_.empty() ? 0 : all_events_.back()->mono_time;
 }
 
 namespace {
@@ -218,14 +217,18 @@ inline QColor blend(const QColor &a, const QColor &b) {
 // Calculate the frequency from the past one minute data
 double calc_freq(const MessageId &msg_id, double current_sec) {
   const auto &events = can->events(msg_id);
-  uint64_t cur_mono_time = (can->routeStartTime() + current_sec) * 1e9;
-  uint64_t first_mono_time = std::max<int64_t>(0, cur_mono_time - 59 * 1e9);
-  auto first = std::lower_bound(events.begin(), events.end(), first_mono_time, CompareCanEvent());
-  auto second = std::lower_bound(first, events.end(), cur_mono_time, CompareCanEvent());
-  if (first != events.end() && second != events.end()) {
-    double duration = ((*second)->mono_time - (*first)->mono_time) / 1e9;
-    uint32_t count = std::distance(first, second);
-    return count / std::max(1.0, duration);
+  if (events.empty()) return 0.0;
+
+  auto current_mono_time = can->toMonoTime(current_sec);
+  auto start_mono_time = can->toMonoTime(current_sec - 59);
+
+  auto first = std::lower_bound(events.begin(), events.end(), start_mono_time, CompareCanEvent());
+  auto last = std::upper_bound(first, events.end(), current_mono_time, CompareCanEvent());
+
+  int count = std::distance(first, last);
+  if (count > 1) {
+    double duration = ((*std::prev(last))->mono_time - (*first)->mono_time) / 1e9;
+    return count / duration;
   }
   return 0;
 }
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
index cfd423b36819fe..7ae119bcf0cff8 100644
--- a/tools/cabana/streams/abstractstream.h
+++ b/tools/cabana/streams/abstractstream.h
@@ -1,10 +1,13 @@
 #pragma once
 
+#include <algorithm>
 #include <array>
 #include <memory>
 #include <mutex>
+#include <optional>
 #include <set>
 #include <unordered_map>
+#include <utility>
 #include <vector>
 
 #include <QColor>
@@ -26,10 +29,10 @@ struct CanData {
   std::vector<QColor> colors;
 
   struct ByteLastChange {
-    double ts;
-    int delta;
-    int same_delta_counter;
-    bool suppressed;
+    double ts = 0;
+    int delta = 0;
+    int same_delta_counter = 0;
+    bool suppressed = false;
     std::array<uint32_t, 8> bit_change_counts;
   };
   std::vector<ByteLastChange> last_changes;
@@ -49,12 +52,6 @@ struct CompareCanEvent {
   constexpr bool operator()(uint64_t ts, const CanEvent *const e) const { return ts < e->mono_time; }
 };
 
-struct BusConfig {
-  int can_speed_kbps = 500;
-  int data_speed_kbps = 2000;
-  bool can_fd = false;
-};
-
 typedef std::unordered_map<MessageId, std::vector<const CanEvent *>> MessageEventsMap;
 
 class AbstractStream : public QObject {
@@ -64,24 +61,29 @@ class AbstractStream : public QObject {
   AbstractStream(QObject *parent);
   virtual ~AbstractStream() {}
   virtual void start() = 0;
-  virtual void stop() {}
   virtual bool liveStreaming() const { return true; }
   virtual void seekTo(double ts) {}
   virtual QString routeName() const = 0;
   virtual QString carFingerprint() const { return ""; }
   virtual QDateTime beginDateTime() const { return {}; }
-  virtual double routeStartTime() const { return 0; }
-  inline double currentSec() const { return current_sec_; }
-  virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
+  virtual uint64_t beginMonoTime() const { return 0; }
+  virtual double minSeconds() const { return 0; }
+  virtual double maxSeconds() const { return 0; }
   virtual void setSpeed(float speed) {}
   virtual double getSpeed() { return 1; }
   virtual bool isPaused() const { return false; }
   virtual void pause(bool pause) {}
+  void setTimeRange(const std::optional<std::pair<double, double>> &range);
+  const std::optional<std::pair<double, double>> &timeRange() const { return time_range_; }
+
+  inline double currentSec() const { return current_sec_; }
+  inline uint64_t toMonoTime(double sec) const { return beginMonoTime() + std::max(sec, 0.0) * 1e9; }
+  inline double toSeconds(uint64_t mono_time) const { return std::max(0.0, (mono_time - beginMonoTime()) / 1e9); }
 
   inline const std::unordered_map<MessageId, CanData> &lastMessages() const { return last_msgs; }
   inline const MessageEventsMap &eventsMap() const { return events_; }
   inline const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
-  const CanData &lastMessage(const MessageId &id);
+  const CanData &lastMessage(const MessageId &id) const;
   const std::vector<const CanEvent *> &events(const MessageId &id) const;
 
   size_t suppressHighlighted();
@@ -91,9 +93,9 @@ class AbstractStream : public QObject {
 signals:
   void paused();
   void resume();
-  void seekingTo(double sec);
+  void seeking(double sec);
   void seekedTo(double sec);
-  void streamStarted();
+  void timeRangeChanged(const std::optional<std::pair<double, double>> &range);
   void eventsMerged(const MessageEventsMap &events_map);
   void msgsReceived(const std::set<MessageId> *new_msgs, bool has_new_ids);
   void sourcesUpdated(const SourceSet &s);
@@ -106,11 +108,10 @@ class AbstractStream : public QObject {
   void mergeEvents(const std::vector<const CanEvent *> &events);
   const CanEvent *newEvent(uint64_t mono_time, const cereal::CanData::Reader &c);
   void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
-  uint64_t lastEventMonoTime() const { return lastest_event_ts; }
 
   std::vector<const CanEvent *> all_events_;
   double current_sec_ = 0;
-  uint64_t lastest_event_ts = 0;
+  std::optional<std::pair<double, double>> time_range_;
 
 private:
   void updateLastMessages();
@@ -131,15 +132,11 @@ class AbstractStream : public QObject {
 class AbstractOpenStreamWidget : public QWidget {
   Q_OBJECT
 public:
-  AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {}
-  virtual bool open() = 0;
-  virtual QString title() = 0;
+  AbstractOpenStreamWidget(QWidget *parent = nullptr) : QWidget(parent) {}
+  virtual AbstractStream *open() = 0;
 
 signals:
   void enableOpenButton(bool);
-
-protected:
-  AbstractStream **stream = nullptr;
 };
 
 class DummyStream : public AbstractStream {
@@ -147,17 +144,7 @@ class DummyStream : public AbstractStream {
 public:
   DummyStream(QObject *parent) : AbstractStream(parent) {}
   QString routeName() const override { return tr("No Stream"); }
-  void start() override { emit streamStarted(); }
-};
-
-class StreamNotifier : public QObject {
-  Q_OBJECT
-public:
-  StreamNotifier(QObject *parent = nullptr) : QObject(parent) {}
-  static StreamNotifier* instance();
-signals:
-  void streamStarted();
-  void changingStream();
+  void start() override {}
 };
 
 // A global pointer referring to the unique AbstractStream object
diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc
index 80507391a7d085..6de63dfbbc347e 100644
--- a/tools/cabana/streams/devicestream.cc
+++ b/tools/cabana/streams/devicestream.cc
@@ -33,13 +33,9 @@ void DeviceStream::streamThread() {
   }
 }
 
-AbstractOpenStreamWidget *DeviceStream::widget(AbstractStream **stream) {
-  return new OpenDeviceWidget(stream);
-}
-
 // OpenDeviceWidget
 
-OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenDeviceWidget::OpenDeviceWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   QRadioButton *msgq = new QRadioButton(tr("MSGQ"));
   QRadioButton *zmq = new QRadioButton(tr("ZMQ"));
   ip_address = new QLineEdit(this);
@@ -62,9 +58,8 @@ OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStream
   zmq->setChecked(true);
 }
 
-bool OpenDeviceWidget::open() {
+AbstractStream *OpenDeviceWidget::open() {
   QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text();
   bool msgq = group->checkedId() == 0;
-  *stream = new DeviceStream(qApp, msgq ? "" : ip);
-  return true;
+  return new DeviceStream(qApp, msgq ? "" : ip);
 }
diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h
index a65f073458172c..3bdf22499868e5 100644
--- a/tools/cabana/streams/devicestream.h
+++ b/tools/cabana/streams/devicestream.h
@@ -6,7 +6,6 @@ class DeviceStream : public LiveStream {
   Q_OBJECT
 public:
   DeviceStream(QObject *parent, QString address = {});
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
     return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
   }
@@ -20,9 +19,8 @@ class OpenDeviceWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenDeviceWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&Device"); }
+  OpenDeviceWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
 
 private:
   QLineEdit *ip_address;
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
index d9d96e23b060f0..ac9a6fa105e766 100644
--- a/tools/cabana/streams/livestream.cc
+++ b/tools/cabana/streams/livestream.cc
@@ -53,7 +53,6 @@ void LiveStream::startUpdateTimer() {
 }
 
 void LiveStream::start() {
-  emit streamStarted();
   stream_thread->start();
   startUpdateTimer();
   begin_date_time = QDateTime::currentDateTime();
@@ -92,6 +91,8 @@ void LiveStream::timerEvent(QTimerEvent *event) {
       // merge events received from live stream thread.
       std::lock_guard lk(lock);
       mergeEvents(received_events_);
+      uint64_t last_received_ts = !received_events_.empty() ? received_events_.back()->mono_time : 0;
+      lastest_event_ts = std::max(lastest_event_ts, last_received_ts);
       received_events_.clear();
     }
     if (!all_events_.empty()) {
@@ -136,8 +137,8 @@ void LiveStream::updateEvents() {
 void LiveStream::seekTo(double sec) {
   sec = std::max(0.0, sec);
   first_update_ts = nanos_since_boot();
-  current_event_ts = first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastEventMonoTime());
-  post_last_event = (first_event_ts == lastEventMonoTime());
+  current_event_ts = first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastest_event_ts);
+  post_last_event = (first_event_ts == lastest_event_ts);
   emit seekedTo((current_event_ts - begin_event_ts) / 1e9);
 }
 
diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h
index 9ca7e8d7459ef6..24b9285092e531 100644
--- a/tools/cabana/streams/livestream.h
+++ b/tools/cabana/streams/livestream.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <algorithm>
 #include <memory>
 #include <vector>
 
@@ -14,9 +15,10 @@ class LiveStream : public AbstractStream {
   LiveStream(QObject *parent);
   virtual ~LiveStream();
   void start() override;
-  void stop() override;
+  void stop();
   inline QDateTime beginDateTime() const { return begin_date_time; }
-  inline double routeStartTime() const override { return begin_event_ts / 1e9; }
+  inline uint64_t beginMonoTime() const override { return begin_event_ts; }
+  double maxSeconds() const override { return std::max(1.0, (lastest_event_ts - begin_event_ts) / 1e9); }
   void setSpeed(float speed) override { speed_ = speed; }
   double getSpeed() override { return speed_; }
   bool isPaused() const override { return paused_; }
@@ -41,6 +43,7 @@ class LiveStream : public AbstractStream {
 
   QDateTime begin_date_time;
   uint64_t begin_event_ts = 0;
+  uint64_t lastest_event_ts = 0;
   uint64_t current_event_ts = 0;
   uint64_t first_event_ts = 0;
   uint64_t first_update_ts = 0;
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
index 030783a8994673..cdf6da6d83118f 100644
--- a/tools/cabana/streams/pandastream.cc
+++ b/tools/cabana/streams/pandastream.cc
@@ -77,13 +77,9 @@ void PandaStream::streamThread() {
   }
 }
 
-AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) {
-  return new OpenPandaWidget(stream);
-}
-
 // OpenPandaWidget
 
-OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenPandaWidget::OpenPandaWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   form_layout = new QFormLayout(this);
   if (can && dynamic_cast<PandaStream *>(can) != nullptr) {
     form_layout->addWidget(new QLabel(tr("Already connected to %1.").arg(can->routeName())));
@@ -182,12 +178,11 @@ void OpenPandaWidget::buildConfigForm() {
   }
 }
 
-bool OpenPandaWidget::open() {
+AbstractStream *OpenPandaWidget::open() {
   try {
-    *stream = new PandaStream(qApp, config);
-    return true;
+    return new PandaStream(qApp, config);
   } catch (std::exception &e) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
-    return false;
+    return nullptr;
   }
 }
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
index 3e762476807202..826b1aa986b91a 100644
--- a/tools/cabana/streams/pandastream.h
+++ b/tools/cabana/streams/pandastream.h
@@ -12,6 +12,12 @@
 const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U};
 const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U};
 
+struct BusConfig {
+  int can_speed_kbps = 500;
+  int data_speed_kbps = 2000;
+  bool can_fd = false;
+};
+
 struct PandaStreamConfig {
   QString serial = "";
   std::vector<BusConfig> bus_config;
@@ -22,7 +28,6 @@ class PandaStream : public LiveStream {
 public:
   PandaStream(QObject *parent, PandaStreamConfig config_ = {});
   ~PandaStream() { stop(); }
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   inline QString routeName() const override {
     return QString("Panda: %1").arg(config.serial);
   }
@@ -39,9 +44,8 @@ class OpenPandaWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenPandaWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&Panda"); }
+  OpenPandaWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
 
 private:
   void refreshSerials();
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
index 5fda6b04870f6c..1616f2aec3ef9c 100644
--- a/tools/cabana/streams/replaystream.cc
+++ b/tools/cabana/streams/replaystream.cc
@@ -53,27 +53,40 @@ bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint
                           {}, nullptr, replay_flags, data_dir, this));
   replay->setSegmentCacheLimit(settings.max_cached_minutes);
   replay->installEventFilter(event_filter, this);
+  QObject::connect(replay.get(), &Replay::seeking, this, &AbstractStream::seeking);
   QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
   QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
-  QObject::connect(replay.get(), &Replay::qLogLoaded, this, &ReplayStream::qLogLoaded, Qt::QueuedConnection);
-  return replay->load();
-}
-
-void ReplayStream::start() {
-  emit streamStarted();
-  replay->start();
-}
-
-void ReplayStream::stop() {
-  if (replay) {
-    replay->stop();
+  bool success = replay->load();
+  if (!success) {
+    if (replay->lastRouteError() == RouteLoadError::AccessDenied) {
+      auto auth_content = util::read_file(util::getenv("HOME") + "/.comma/auth.json");
+      QString message;
+      if (auth_content.empty()) {
+        message = "Authentication Required. Please run the following command to authenticate:\n\n"
+                  "python tools/lib/auth.py\n\n"
+                  "This will grant access to routes from your comma account.";
+      } else {
+        message = tr("Access Denied. You do not have permission to access route:\n\n%1\n\n"
+                     "This is likely a private route.").arg(route);
+      }
+      QMessageBox::warning(nullptr, tr("Access Denied"), message);
+    } else if (replay->lastRouteError() == RouteLoadError::NetworkError) {
+      QMessageBox::warning(nullptr, tr("Network Error"),
+                          tr("Unable to load the route:\n\n %1.\n\nPlease check your network connection and try again.").arg(route));
+    } else if (replay->lastRouteError() == RouteLoadError::FileNotFound) {
+      QMessageBox::warning(nullptr, tr("Route Not Found"),
+                           tr("The specified route could not be found:\n\n %1.\n\nPlease check the route name and try again.").arg(route));
+    } else {
+      QMessageBox::warning(nullptr, tr("Route Load Failed"), tr("Failed to load route: '%1'").arg(route));
+    }
   }
+  return success;
 }
 
 bool ReplayStream::eventFilter(const Event *event) {
   static double prev_update_ts = 0;
   if (event->which == cereal::Event::Which::CAN) {
-    double current_sec = event->mono_time / 1e9 - routeStartTime();
+    double current_sec = toSeconds(event->mono_time);
     capnp::FlatArrayMessageReader reader(event->data);
     auto e = reader.getRoot<cereal::Event>();
     for (const auto &c : e.getCan()) {
@@ -91,29 +104,15 @@ bool ReplayStream::eventFilter(const Event *event) {
   return true;
 }
 
-void ReplayStream::seekTo(double ts) {
-  // Update timestamp and notify receivers of the time change.
-  current_sec_ = ts;
-  std::set<MessageId> new_msgs;
-  msgsReceived(&new_msgs, false);
-
-  // Seek to the specified timestamp
-  replay->seekTo(std::max(double(0), ts), false);
-}
-
 void ReplayStream::pause(bool pause) {
   replay->pause(pause);
   emit(pause ? paused() : resume());
 }
 
 
-AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) {
-  return new OpenReplayWidget(stream);
-}
-
 // OpenReplayWidget
 
-OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenReplayWidget::OpenReplayWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   QGridLayout *grid_layout = new QGridLayout(this);
   grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
   grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
@@ -146,10 +145,10 @@ OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStream
   });
 }
 
-bool OpenReplayWidget::open() {
+AbstractStream *OpenReplayWidget::open() {
   QString route = route_edit->text();
   QString data_dir;
-  if (int idx = route.lastIndexOf('/'); idx != -1) {
+  if (int idx = route.lastIndexOf('/'); idx != -1 && util::file_exists(route.toStdString())) {
     data_dir = route.mid(0, idx + 1);
     route = route.mid(idx + 1);
   }
@@ -165,10 +164,8 @@ bool OpenReplayWidget::open() {
     if (flags == REPLAY_FLAG_NONE && !cameras[0]->isChecked()) flags = REPLAY_FLAG_NO_VIPC;
 
     if (replay_stream->loadRoute(route, data_dir, flags)) {
-      *stream = replay_stream.release();
-    } else {
-      QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
+      return replay_stream.release();
     }
   }
-  return *stream != nullptr;
+  return nullptr;
 }
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
index 049ccddafb7756..25d6ef4a72eda1 100644
--- a/tools/cabana/streams/replaystream.h
+++ b/tools/cabana/streams/replaystream.h
@@ -15,27 +15,22 @@ class ReplayStream : public AbstractStream {
 
 public:
   ReplayStream(QObject *parent);
-  void start() override;
-  void stop() override;
+  void start() override { replay->start(); }
   bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
   bool eventFilter(const Event *event);
-  void seekTo(double ts) override;
+  void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
   bool liveStreaming() const override { return false; }
   inline QString routeName() const override { return replay->route()->name(); }
   inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
-  double totalSeconds() const override { return replay->totalSeconds(); }
+  double minSeconds() const override { return replay->minSeconds(); }
+  double maxSeconds() const { return replay->maxSeconds(); }
   inline QDateTime beginDateTime() const { return replay->routeDateTime(); }
-  inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; }
-  inline const Route *route() const { return replay->route(); }
+  inline uint64_t beginMonoTime() const override { return replay->routeStartNanos(); }
   inline void setSpeed(float speed) override { replay->setSpeed(speed); }
   inline float getSpeed() const { return replay->getSpeed(); }
   inline Replay *getReplay() const { return replay.get(); }
   inline bool isPaused() const override { return replay->isPaused(); }
   void pause(bool pause) override;
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
-
-signals:
-  void qLogLoaded(int segnum, std::shared_ptr<LogReader> qlog);
 
 private:
   void mergeSegments();
@@ -48,9 +43,8 @@ class OpenReplayWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenReplayWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&Replay"); }
+  OpenReplayWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
 
 private:
   QLineEdit *route_edit;
diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc
index 0f13b9901b3ad9..1346a496bb8e2d 100644
--- a/tools/cabana/streams/socketcanstream.cc
+++ b/tools/cabana/streams/socketcanstream.cc
@@ -66,11 +66,7 @@ void SocketCanStream::streamThread() {
   }
 }
 
-AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) {
-  return new OpenSocketCanWidget(stream);
-}
-
-OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+OpenSocketCanWidget::OpenSocketCanWidget(QWidget *parent) : AbstractOpenStreamWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->addStretch(1);
 
@@ -104,12 +100,11 @@ void OpenSocketCanWidget::refreshDevices() {
 }
 
 
-bool OpenSocketCanWidget::open() {
+AbstractStream *OpenSocketCanWidget::open() {
   try {
-    *stream = new SocketCanStream(qApp, config);
+    return new SocketCanStream(qApp, config);
   } catch (std::exception &e) {
     QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
-    return false;
+    return nullptr;
   }
-  return true;
 }
diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h
index 952f1aaa5c86d8..8083b687e93b53 100644
--- a/tools/cabana/streams/socketcanstream.h
+++ b/tools/cabana/streams/socketcanstream.h
@@ -18,7 +18,6 @@ class SocketCanStream : public LiveStream {
 public:
   SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
   ~SocketCanStream() { stop(); }
-  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
   static bool available();
 
   inline QString routeName() const override {
@@ -37,9 +36,8 @@ class OpenSocketCanWidget : public AbstractOpenStreamWidget {
   Q_OBJECT
 
 public:
-  OpenSocketCanWidget(AbstractStream **stream);
-  bool open() override;
-  QString title() override { return tr("&SocketCAN"); }
+  OpenSocketCanWidget(QWidget *parent = nullptr);
+  AbstractStream *open() override;
 
 private:
   void refreshDevices();
diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc
index 209b577c9ae9d8..efd00d39857a48 100644
--- a/tools/cabana/streamselector.cc
+++ b/tools/cabana/streamselector.cc
@@ -10,7 +10,7 @@
 #include "tools/cabana/streams/replaystream.h"
 #include "tools/cabana/streams/socketcanstream.h"
 
-StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) {
+StreamSelector::StreamSelector(QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Open stream"));
   QVBoxLayout *layout = new QVBoxLayout(this);
   tab = new QTabWidget(this);
@@ -33,17 +33,17 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
   btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
   layout->addWidget(btn_box);
 
-  addStreamWidget(ReplayStream::widget(stream));
-  addStreamWidget(PandaStream::widget(stream));
+  addStreamWidget(new OpenReplayWidget, tr("&Replay"));
+  addStreamWidget(new OpenPandaWidget, tr("&Panda"));
   if (SocketCanStream::available()) {
-    addStreamWidget(SocketCanStream::widget(stream));
+    addStreamWidget(new OpenSocketCanWidget, tr("&SocketCAN"));
   }
-  addStreamWidget(DeviceStream::widget(stream));
+  addStreamWidget(new OpenDeviceWidget, tr("&Device"));
 
   QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
   QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() {
     setEnabled(false);
-    if (((AbstractOpenStreamWidget *)tab->currentWidget())->open()) {
+    if (stream_ = ((AbstractOpenStreamWidget *)tab->currentWidget())->open(); stream_) {
       accept();
     }
     setEnabled(true);
@@ -57,8 +57,8 @@ StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDial
   });
 }
 
-void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) {
-  tab->addTab(w, w->title());
+void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w, const QString &title) {
+  tab->addTab(w, title);
   auto open_btn = btn_box->button(QDialogButtonBox::Open);
   QObject::connect(w, &AbstractOpenStreamWidget::enableOpenButton, open_btn, &QPushButton::setEnabled);
 }
diff --git a/tools/cabana/streamselector.h b/tools/cabana/streamselector.h
index a702fc76ad6ed5..0919195e4ef9c0 100644
--- a/tools/cabana/streamselector.h
+++ b/tools/cabana/streamselector.h
@@ -11,11 +11,13 @@ class StreamSelector : public QDialog {
   Q_OBJECT
 
 public:
-  StreamSelector(AbstractStream **stream, QWidget *parent = nullptr);
-  void addStreamWidget(AbstractOpenStreamWidget *w);
+  StreamSelector(QWidget *parent = nullptr);
+  void addStreamWidget(AbstractOpenStreamWidget *w, const QString &title);
   QString dbcFile() const { return dbc_file->text(); }
+  AbstractStream *stream() const { return stream_; }
 
 private:
+  AbstractStream *stream_ = nullptr;
   QLineEdit *dbc_file;
   QTabWidget *tab;
   QDialogButtonBox *btn_box;
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
index 387a91278729e8..8e1749ba8e4a54 100644
--- a/tools/cabana/tools/findsignal.cc
+++ b/tools/cabana/tools/findsignal.cc
@@ -46,7 +46,7 @@ void FindSignalModel::search(std::function<bool(double)> cmp) {
     auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
     if (it != last) {
       auto values = s.values;
-      values += QString("(%1, %2)").arg((*it)->mono_time / 1e9 - can->routeStartTime(), 0, 'f', 2).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
+      values += QString("(%1, %2)").arg(can->toSeconds((*it)->mono_time), 0, 'f', 3).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
       std::lock_guard lk(lock);
       filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
     }
@@ -217,10 +217,10 @@ void FindSignalDlg::setInitialSignals() {
   double first_time_val = first_time_edit->text().toDouble();
   double last_time_val = last_time_edit->text().toDouble();
   auto [first_sec, last_sec] = std::minmax(first_time_val, last_time_val);
-  uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9;
+  uint64_t first_time = can->toMonoTime(first_sec);
   model->last_time = std::numeric_limits<uint64_t>::max();
   if (last_sec > 0) {
-    model->last_time = (can->routeStartTime() + last_sec) * 1e9;
+    model->last_time = can->toMonoTime(last_sec);
   }
   model->initial_signals.clear();
 
diff --git a/tools/cabana/utils/export.cc b/tools/cabana/utils/export.cc
index 10f69ad548fe72..79ca97ba8f219d 100644
--- a/tools/cabana/utils/export.cc
+++ b/tools/cabana/utils/export.cc
@@ -10,11 +10,10 @@ namespace utils {
 void exportToCSV(const QString &file_name, std::optional<MessageId> msg_id) {
   QFile file(file_name);
   if (file.open(QIODevice::ReadWrite | QIODevice::Truncate)) {
-    const uint64_t start_time = can->routeStartTime();
     QTextStream stream(&file);
     stream << "time,addr,bus,data\n";
     for (auto e : msg_id ? can->events(*msg_id) : can->allEvents()) {
-      stream << QString::number((e->mono_time / 1e9) - start_time, 'f', 2) << ","
+      stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << ","
              << "0x" << QString::number(e->address, 16) << "," << e->src << ","
              << "0x" << QByteArray::fromRawData((const char *)e->dat, e->size).toHex().toUpper() << "\n";
     }
@@ -30,9 +29,8 @@ void exportSignalsToCSV(const QString &file_name, const MessageId &msg_id) {
       stream << "," << s->name;
     stream << "\n";
 
-    const uint64_t start_time = can->routeStartTime();
     for (auto e : can->events(msg_id)) {
-      stream << QString::number((e->mono_time / 1e9) - start_time, 'f', 2) << ","
+      stream << QString::number(can->toSeconds(e->mono_time), 'f', 3) << ","
              << "0x" << QString::number(e->address, 16) << "," << e->src;
       for (auto s : msg->sigs) {
         double value = 0;
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 7fca45c3936dea..8d2f8674b3261d 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -27,6 +27,13 @@ static const QColor timeline_colors[] = {
   [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
 };
 
+static Replay *getReplay() {
+  auto stream = qobject_cast<ReplayStream *>(can);
+  if (!stream) return nullptr;
+
+  return stream->getReplay();
+}
+
 VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
   auto main_layout = new QVBoxLayout(this);
@@ -38,6 +45,8 @@ VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
   QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
   QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
   QObject::connect(can, &AbstractStream::msgsReceived, this, &VideoWidget::updateState);
+  QObject::connect(can, &AbstractStream::seeking, this, &VideoWidget::updateState);
+  QObject::connect(can, &AbstractStream::timeRangeChanged, this, &VideoWidget::timeRangeChanged);
 
   updatePlayBtnState();
   setWhatsThis(tr(R"(
@@ -74,7 +83,7 @@ QHBoxLayout *VideoWidget::createPlaybackController() {
       // set speed to 1.0
       speed_btn->menu()->actions()[7]->setChecked(true);
       can->pause(false);
-      can->seekTo(can->totalSeconds() + 1);
+      can->seekTo(can->maxSeconds() + 1);
     });
   }
 
@@ -139,7 +148,7 @@ QWidget *VideoWidget::createCameraWidget() {
 
   QStackedLayout *stacked = new QStackedLayout();
   stacked->setStackingMode(QStackedLayout::StackAll);
-  stacked->addWidget(cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false));
+  stacked->addWidget(cam_widget = new StreamCameraView("camerad", VISION_STREAM_ROAD, false));
   cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
   cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
   stacked->addWidget(alert_label = new InfoLabel(this));
@@ -147,17 +156,21 @@ QWidget *VideoWidget::createCameraWidget() {
 
   l->addWidget(slider = new Slider(w));
   slider->setSingleStep(0);
+  slider->setTimeRange(can->minSeconds(), can->maxSeconds());
 
-  setMaximumTime(can->totalSeconds());
   QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
-  QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
+  QObject::connect(can, &AbstractStream::paused, cam_widget, [c = cam_widget]() { c->showPausedOverlay(); });
+  QObject::connect(can, &AbstractStream::resume, cam_widget, [c = cam_widget]() { c->update(); });
   QObject::connect(can, &AbstractStream::eventsMerged, this, [this]() { slider->update(); });
-  QObject::connect(static_cast<ReplayStream*>(can), &ReplayStream::qLogLoaded, slider, &Slider::parseQLog);
   QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
   QObject::connect(cam_widget, &CameraWidget::vipcAvailableStreamsUpdated, this, &VideoWidget::vipcAvailableStreamsUpdated);
   QObject::connect(camera_tab, &QTabBar::currentChanged, [this](int index) {
     if (index != -1) cam_widget->setStreamType((VisionStreamType)camera_tab->tabData(index).toInt());
   });
+
+  auto replay = static_cast<ReplayStream*>(can)->getReplay();
+  QObject::connect(replay, &Replay::qLogLoaded, slider, &Slider::parseQLog, Qt::QueuedConnection);
+  QObject::connect(replay, &Replay::minMaxTimeChanged, this, &VideoWidget::timeRangeChanged, Qt::QueuedConnection);
   return w;
 }
 
@@ -181,7 +194,7 @@ void VideoWidget::vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams
 }
 
 void VideoWidget::loopPlaybackClicked() {
-  auto replay = qobject_cast<ReplayStream *>(can)->getReplay();
+  auto replay = getReplay();
   if (!replay) return;
 
   if (replay->hasFlag(REPLAY_FLAG_NO_LOOP)) {
@@ -193,18 +206,15 @@ void VideoWidget::loopPlaybackClicked() {
   }
 }
 
-void VideoWidget::setMaximumTime(double sec) {
-  maximum_time = sec;
-  slider->setTimeRange(0, sec);
-}
-
-void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) {
+void VideoWidget::timeRangeChanged() {
+  const auto time_range = can->timeRange();
   if (can->liveStreaming()) {
-    skip_to_end_btn->setEnabled(!is_zoomed);
+    skip_to_end_btn->setEnabled(!time_range.has_value());
     return;
   }
-  is_zoomed ? slider->setTimeRange(min, max)
-            : slider->setTimeRange(0, maximum_time);
+  time_range ? slider->setTimeRange(time_range->first, time_range->second)
+             : slider->setTimeRange(can->minSeconds(), can->maxSeconds());
+  updateState();
 }
 
 QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
@@ -215,8 +225,9 @@ QString VideoWidget::formatTime(double sec, bool include_milliseconds) {
 
 void VideoWidget::updateState() {
   if (slider) {
-    if (!slider->isSliderDown())
+    if (!slider->isSliderDown()) {
       slider->setCurrentSecond(can->currentSec());
+    }
     alert_label->showAlert(slider->alertInfo(can->currentSec()));
     time_btn->setText(QString("%1 / %2").arg(formatTime(can->currentSec(), true),
                                              formatTime(slider->maximum() / slider->factor)));
@@ -238,15 +249,14 @@ Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
 }
 
 AlertInfo Slider::alertInfo(double seconds) {
-  uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
+  uint64_t mono_time = can->toMonoTime(seconds);
   auto alert_it = alerts.lower_bound(mono_time);
   bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8);
   return has_alert ? alert_it->second : AlertInfo{};
 }
 
 QPixmap Slider::thumbnail(double seconds)  {
-  uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
-  auto it = thumbnails.lowerBound(mono_time);
+  auto it = thumbnails.lowerBound(can->toMonoTime(seconds));
   return it != thumbnails.end() ? it.value() : QPixmap();
 }
 
@@ -255,12 +265,7 @@ void Slider::setTimeRange(double min, double max) {
   setRange(min * factor, max * factor);
 }
 
-void Slider::parseQLog(int segnum, std::shared_ptr<LogReader> qlog) {
- const auto &segments = qobject_cast<ReplayStream *>(can)->route()->segments();
-  if (segments.size() > 0 && segnum == segments.rbegin()->first && !qlog->events.empty()) {
-    emit updateMaximumTime(qlog->events.back().mono_time / 1e9 - can->routeStartTime());
-  }
-
+void Slider::parseQLog(std::shared_ptr<LogReader> qlog) {
   std::mutex mutex;
   QtConcurrent::blockingMap(qlog->events.cbegin(), qlog->events.cend(), [&mutex, this](const Event &e) {
     if (e.which == cereal::Event::Which::THUMBNAIL) {
@@ -299,16 +304,18 @@ void Slider::paintEvent(QPaintEvent *ev) {
     p.fillRect(r, color);
   };
 
-  const auto replay = qobject_cast<ReplayStream *>(can)->getReplay();
-  for (auto [begin, end, type] : replay->getTimeline()) {
-    fillRange(begin, end, timeline_colors[(int)type]);
-  }
+  auto replay = getReplay();
+  if (replay) {
+    for (auto [begin, end, type] : replay->getTimeline()) {
+      fillRange(begin, end, timeline_colors[(int)type]);
+    }
 
-  QColor empty_color = palette().color(QPalette::Window);
-  empty_color.setAlpha(160);
-  for (const auto &[n, seg] : replay->segments()) {
-    if (!(seg && seg->isLoaded()))
-      fillRange(n * 60.0, (n + 1) * 60.0, empty_color);
+    QColor empty_color = palette().color(QPalette::Window);
+    empty_color.setAlpha(160);
+    for (const auto &[n, seg] : replay->segments()) {
+      if (!(seg && seg->isLoaded()))
+        fillRange(n * 60.0, (n + 1) * 60.0, empty_color);
+    }
   }
 
   QStyleOptionSlider opt;
@@ -412,3 +419,22 @@ void InfoLabel::paintEvent(QPaintEvent *event) {
     p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
   }
 }
+
+StreamCameraView::StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent)
+    : CameraWidget(stream_name, stream_type, zoom, parent) {
+  fade_animation = new QPropertyAnimation(this, "overlayOpacity");
+  fade_animation->setDuration(500);
+  fade_animation->setStartValue(0.2f);
+  fade_animation->setEndValue(0.7f);
+}
+
+void StreamCameraView::paintGL() {
+  CameraWidget::paintGL();
+
+  if (can->isPaused()) {
+    QPainter p(this);
+    p.setPen(QColor(200, 200, 200, static_cast<int>(255 * overlay_opacity)));
+    p.setFont(QFont(font().family(), 16, QFont::Bold));
+    p.drawText(rect(), Qt::AlignCenter, tr("PAUSED"));
+  }
+}
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index b2039e09a46324..1e793e9d1ddeaa 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -2,10 +2,14 @@
 
 #include <map>
 #include <memory>
+#include <optional>
 #include <set>
+#include <string>
+#include <utility>
 
 #include <QHBoxLayout>
 #include <QFrame>
+#include <QPropertyAnimation>
 #include <QSlider>
 #include <QTabBar>
 
@@ -40,13 +44,10 @@ class Slider : public QSlider {
   void setTimeRange(double min, double max);
   AlertInfo alertInfo(double sec);
   QPixmap thumbnail(double sec);
-  void parseQLog(int segnum, std::shared_ptr<LogReader> qlog);
+  void parseQLog(std::shared_ptr<LogReader> qlog);
 
   const double factor = 1000.0;
 
-signals:
-  void updateMaximumTime(double);
-
 private:
   void mousePressEvent(QMouseEvent *e) override;
   void mouseMoveEvent(QMouseEvent *e) override;
@@ -58,16 +59,34 @@ class Slider : public QSlider {
   InfoLabel *thumbnail_label;
 };
 
+class StreamCameraView : public CameraWidget {
+  Q_OBJECT
+  Q_PROPERTY(float overlayOpacity READ overlayOpacity WRITE setOverlayOpacity)
+
+public:
+  StreamCameraView(std::string stream_name, VisionStreamType stream_type, bool zoom, QWidget *parent = nullptr);
+  void paintGL() override;
+  void showPausedOverlay() { fade_animation->start(); }
+  float overlayOpacity() const { return overlay_opacity; }
+  void setOverlayOpacity(float opacity) {
+    overlay_opacity = opacity;
+    update();
+  }
+
+private:
+  float overlay_opacity;
+  QPropertyAnimation *fade_animation;
+};
+
 class VideoWidget : public QFrame {
   Q_OBJECT
 
 public:
   VideoWidget(QWidget *parnet = nullptr);
-  void updateTimeRange(double min, double max, bool is_zommed);
-  void setMaximumTime(double sec);
 
 protected:
   QString formatTime(double sec, bool include_milliseconds = false);
+  void timeRangeChanged();
   void updateState();
   void updatePlayBtnState();
   QWidget *createCameraWidget();
@@ -75,8 +94,7 @@ class VideoWidget : public QFrame {
   void loopPlaybackClicked();
   void vipcAvailableStreamsUpdated(std::set<VisionStreamType> streams);
 
-  CameraWidget *cam_widget;
-  double maximum_time = 0;
+  StreamCameraView *cam_widget;
   QToolButton *time_btn = nullptr;
   ToolButton *seek_backward_btn = nullptr;
   ToolButton *play_btn = nullptr;
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index 6c27e861ffb484..f531a289f91ffa 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -8,6 +8,7 @@
 import time
 import signal
 
+
 import cereal.messaging as messaging
 from msgq.visionipc import VisionIpcServer, VisionStreamType
 
@@ -42,7 +43,7 @@ def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False):
     codec = av.CodecContext.create("hevc", "r")
 
   os.environ["ZMQ"] = "1"
-  messaging.context = messaging.Context()
+  messaging.reset_context()
   sock = messaging.sub_sock(sock_name, None, addr=addr, conflate=False)
   cnt = 0
   last_idx = -1
@@ -109,12 +110,12 @@ class CompressedVipc:
   def __init__(self, addr, vision_streams, nvidia=False, debug=False):
     print("getting frame sizes")
     os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
+    messaging.reset_context()
     sm = messaging.SubMaster([ENCODE_SOCKETS[s] for s in vision_streams], addr=addr)
     while min(sm.recv_frame.values()) == 0:
       sm.update(100)
     os.environ.pop("ZMQ")
-    messaging.context = messaging.Context()
+    messaging.reset_context()
 
     self.vipc_server = VisionIpcServer("camerad")
     for vst in vision_streams:
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index af25ec642481a1..a90462888fb80f 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -1,64 +1,41 @@
 #!/usr/bin/env bash
 set -e
 
+# Increase the pip timeout to handle TimeoutError
+export PIP_DEFAULT_TIMEOUT=200
+
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT=$DIR/../
 cd $ROOT
 
-RC_FILE="${HOME}/.$(basename ${SHELL})rc"
-if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
-  RC_FILE="$HOME/.bash_profile"
-fi
-
-if ! command -v "pyenv" > /dev/null 2>&1; then
-  echo "pyenv install ..."
-  curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
-  PYENV_PATH_SETUP="export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH"
-fi
-
-if [ -z "$PYENV_SHELL" ] || [ -n "$PYENV_PATH_SETUP" ]; then
-  echo "pyenvrc setup ..."
-  cat <<EOF > "${HOME}/.pyenvrc"
-if [ -z "\$PYENV_ROOT" ]; then
-  $PYENV_PATH_SETUP
-  export PYENV_ROOT="\$HOME/.pyenv"
-  eval "\$(pyenv init -)"
-  eval "\$(pyenv virtualenv-init -)"
-fi
-EOF
-
-  SOURCE_PYENVRC="source ~/.pyenvrc"
-  if ! grep "^$SOURCE_PYENVRC$" $RC_FILE > /dev/null; then
-    printf "\n$SOURCE_PYENVRC\n" >> $RC_FILE
-  fi
-
-  eval "$SOURCE_PYENVRC"
-  # $(pyenv init -) produces a function which is broken on bash 3.2 which ships on macOS
-  if [ $(uname) == "Darwin" ]; then
-    unset -f pyenv
-  fi
-fi
-
-export MAKEFLAGS="-j$(nproc)"
-
-PYENV_PYTHON_VERSION="3.12.4"
-if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then
-  # no pyenv update on mac
-  if [ "$(uname)" == "Linux" ]; then
-    echo "pyenv update ..."
-    pyenv update
-  fi
-  echo "python ${PYENV_PYTHON_VERSION} install ..."
-  CONFIGURE_OPTS="--enable-shared" pyenv install -f ${PYENV_PYTHON_VERSION}
+# updating uv on macOS results in 403 sometimes
+function update_uv() {
+  for i in $(seq 1 5);
+  do
+    if uv self update; then
+      return 0
+    else
+      sleep 2
+    fi
+  done
+  echo "Failed to update uv 5 times!"
+}
+
+if ! command -v "uv" > /dev/null 2>&1; then
+  echo "installing uv..."
+  curl -LsSf https://astral.sh/uv/install.sh | sh
+  UV_BIN='$HOME/.cargo/env'
+  ADD_PATH_CMD=". \"$UV_BIN\""
+  eval $ADD_PATH_CMD
 fi
-eval "$(pyenv init --path)"
 
-echo "update pip"
-pip install pip==24.0
-pip install poetry==1.7.0
+echo "updating uv..."
+update_uv
 
-poetry config virtualenvs.prefer-active-python true --local
-poetry config virtualenvs.in-project true --local
+# TODO: remove --no-cache once this is fixed: https://github.com/astral-sh/uv/issues/4378
+echo "installing python packages..."
+uv --no-cache sync --frozen --all-extras
+source .venv/bin/activate
 
 echo "PYTHONPATH=${PWD}" > $ROOT/.env
 if [[ "$(uname)" == 'Darwin' ]]; then
@@ -67,16 +44,8 @@ if [[ "$(uname)" == 'Darwin' ]]; then
   echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env
 fi
 
-poetry self add poetry-dotenv-plugin@^0.1.0
-
-echo "pip packages install..."
-poetry install --no-cache --no-root
-pyenv rehash
-
-[ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run"
-
 if [ "$(uname)" != "Darwin" ] && [ -e "$ROOT/.git" ]; then
   echo "pre-commit hooks install..."
-  $RUN pre-commit install
-  $RUN git submodule foreach pre-commit install
+  pre-commit install
+  git submodule foreach pre-commit install
 fi
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 1f8ef24eaf81ff..67b28fa2806234 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -46,6 +46,7 @@ function install_ubuntu_common_requirements() {
     libssl-dev \
     libusb-1.0-0-dev \
     libzmq3-dev \
+    libzstd-dev \
     libsqlite3-dev \
     libsystemd-dev \
     locales \
@@ -53,9 +54,9 @@ function install_ubuntu_common_requirements() {
     ocl-icd-libopencl1 \
     ocl-icd-opencl-dev \
     portaudio19-dev \
+    qml-module-qtquick2 \
     qtmultimedia5-dev \
-    qtlocation5-dev \
-    qtpositioning5-dev \
+    qtdeclarative5-dev \
     qttools5-dev-tools \
     libqt5svg5-dev \
     libqt5serialbus5-dev  \
@@ -93,7 +94,8 @@ function install_ubuntu_lts_latest_requirements() {
     qtchooser \
     qt5-qmake \
     qtbase5-dev-tools \
-    python3-dev
+    python3-dev \
+    python3-venv
 }
 
 # Install Ubuntu 20.04 packages
diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py
index 8691149e94c350..f145cc35e47d96 100755
--- a/tools/latencylogger/latency_logger.py
+++ b/tools/latencylogger/latency_logger.py
@@ -3,7 +3,6 @@
 import json
 import matplotlib.patches as mpatches
 import matplotlib.pyplot as plt
-import mpld3
 import sys
 from bisect import bisect_left, bisect_right
 from collections import defaultdict
@@ -174,7 +173,6 @@ def print_timestamps(timestamps, durations, start_times, relative):
         print("    "+'%-53s%-53s' %(event, str(time*1000)))
 
 def graph_timestamps(timestamps, start_times, end_times, relative, offset_services=False, title=""):
-  # mpld3 doesn't convert properly to D3 font sizes
   plt.rcParams.update({'font.size': 18})
 
   t0 = find_t0(start_times)
@@ -203,15 +201,14 @@ def graph_timestamps(timestamps, start_times, end_times, relative, offset_servic
           points['labels'].append(event[0])
     ax.broken_barh(service_bars, (i-height/2, height), facecolors=(colors), alpha=0.5, offsets=offsets)
 
-  scatter = ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
-  tooltip = mpld3.plugins.PointLabelTooltip(scatter, labels=points['labels'])
-  mpld3.plugins.connect(fig, tooltip)
+  ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
+  for i, label in enumerate(points['labels']):
+    ax.annotate(label, (points['x'][i], points['y'][i]), textcoords="offset points", xytext=(0,10), ha='center')
 
   plt.title(title)
-  # Set size relative window size is not trivial: https://github.com/mpld3/mpld3/issues/65
   fig.set_size_inches(18, 9)
   plt.legend(handles=[mpatches.Patch(color=colors[i], label=SERVICES[i]) for i in range(len(SERVICES))])
-  return fig
+  plt.show()
 
 def get_timestamps(lr):
   lr = list(lr)
@@ -239,4 +236,4 @@ def get_timestamps(lr):
   data, _ = get_timestamps(lr)
   print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative)
   if args.plot:
-    mpld3.show(graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r))
+    graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r)
diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py
index e9b4b85e70677f..7c34e17cb1ee0c 100644
--- a/tools/lib/helpers.py
+++ b/tools/lib/helpers.py
@@ -1,6 +1,3 @@
-import bz2
-
-
 # regex patterns
 class RE:
   DONGLE_ID = r'(?P<dongle_id>[a-f0-9]{16})'
@@ -18,13 +15,3 @@ class RE:
 
   EXPLORER_FILE = fr'^(?P<segment_name>{SEGMENT_NAME})--(?P<file_name>[a-z]+\.[a-z0-9]+)$'
   OP_SEGMENT_DIR = fr'^(?P<segment_name>{SEGMENT_NAME})$'
-
-
-def save_log(dest, log_msgs, compress=True):
-  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
-
-  if compress:
-    dat = bz2.compress(dat)
-
-  with open(dest, "wb") as f:
-    f.write(dat)
diff --git a/tools/lib/live_logreader.py b/tools/lib/live_logreader.py
index 6a7ecee6fd0dad..edc4ac16112933 100644
--- a/tools/lib/live_logreader.py
+++ b/tools/lib/live_logreader.py
@@ -10,7 +10,7 @@
 def raw_live_logreader(services: list[str] = ALL_SERVICES, addr: str = '127.0.0.1') -> RawLogIterable:
   if addr != "127.0.0.1":
     os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
+    messaging.reset_context()
 
   poller = messaging.Poller()
 
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 669c1520db46a5..50c14ce4c3521c 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import bz2
-from functools import partial
+from functools import cache, partial
 import multiprocessing
 import capnp
 import enum
@@ -10,6 +10,7 @@
 import tqdm
 import urllib.parse
 import warnings
+import zstandard as zstd
 
 from collections.abc import Callable, Iterable, Iterator
 from urllib.parse import parse_qs, urlparse
@@ -26,6 +27,18 @@
 RawLogIterable = Iterable[bytes]
 
 
+def save_log(dest, log_msgs, compress=True):
+  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
+
+  if compress and dest.endswith(".bz2"):
+    dat = bz2.compress(dat)
+  elif compress and dest.endswith(".zst"):
+    dat = zstd.compress(dat, 10)
+
+  with open(dest, "wb") as f:
+    f.write(dat)
+
+
 class _LogFileReader:
   def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None):
     self.data_version = None
@@ -34,8 +47,8 @@ def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=F
     ext = None
     if not dat:
       _, ext = os.path.splitext(urllib.parse.urlparse(fn).path)
-      if ext not in ('', '.bz2'):
-        # old rlogs weren't bz2 compressed
+      if ext not in ('', '.bz2', '.zst'):
+        # old rlogs weren't compressed
         raise Exception(f"unknown extension {ext}")
 
       with FileReader(fn) as f:
@@ -43,18 +56,21 @@ def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=F
 
     if ext == ".bz2" or dat.startswith(b'BZh9'):
       dat = bz2.decompress(dat)
+    elif ext == ".zst" or dat.startswith(b'\x28\xB5\x2F\xFD'):
+      # https://github.com/facebook/zstd/blob/dev/doc/zstd_compression_format.md#zstandard-frames
+      dat = zstd.decompress(dat)
 
     ents = capnp_log.Event.read_multiple_bytes(dat)
 
-    _ents = []
+    self._ents = []
     try:
       for e in ents:
-        _ents.append(e)
+        self._ents.append(e)
     except capnp.KjException:
       warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1)
 
-    self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents)
-    self._ts = [x.logMonoTime for x in self._ents]
+    if sort_by_time:
+      self._ents.sort(key=lambda x: x.logMonoTime)
 
   def __iter__(self) -> Iterator[capnp._DynamicStructReader]:
     for ent in self._ents:
@@ -83,18 +99,21 @@ class ReadMode(enum.StrEnum):
 
 InternalUnavailableException = Exception("Internal source not available")
 
+
+@cache
 def default_valid_file(fn: LogPath) -> bool:
   return fn is not None and file_exists(fn)
 
 
 def auto_strategy(rlog_paths: LogPaths, qlog_paths: LogPaths, interactive: bool, valid_file: ValidFileCallable) -> LogPaths:
   # auto select logs based on availability
-  if any(rlog is None or not valid_file(rlog) for rlog in rlog_paths) and all(qlog is not None and valid_file(qlog) for qlog in qlog_paths):
+  missing_rlogs = [rlog is None or not valid_file(rlog) for rlog in rlog_paths].count(True)
+  if missing_rlogs != 0:
     if interactive:
-      if input("Some rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
+      if input(f"{missing_rlogs}/{len(rlog_paths)} rlogs were not found, would you like to fallback to qlogs for those segments? (y/n) ").lower() != "y":
         return rlog_paths
     else:
-      cloudlog.warning("Some rlogs were not found, falling back to qlogs for those segments...")
+      cloudlog.warning(f"{missing_rlogs}/{len(rlog_paths)} rlogs were not found, falling back to qlogs for those segments...")
 
     return [rlog if valid_file(rlog) else (qlog if valid_file(qlog) else None)
             for (rlog, qlog) in zip(rlog_paths, qlog_paths, strict=True)]
@@ -126,19 +145,24 @@ def valid_file(fn):
   return apply_strategy(mode, rlog_paths, qlog_paths, valid_file=valid_file)
 
 
-def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
+def internal_source(sr: SegmentRange, mode: ReadMode, file_ext: str = "bz2") -> LogPaths:
   if not internal_source_available():
     raise InternalUnavailableException
 
   def get_internal_url(sr: SegmentRange, seg, file):
-    return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2"
+    return f"cd:/{sr.dongle_id}/{sr.log_id}/{seg}/{file}.{file_ext}"
 
+  # TODO: list instead of using static URLs to support routes with multiple file extensions
   rlog_paths = [get_internal_url(sr, seg, "rlog") for seg in sr.seg_idxs]
   qlog_paths = [get_internal_url(sr, seg, "qlog") for seg in sr.seg_idxs]
 
   return apply_strategy(mode, rlog_paths, qlog_paths)
 
 
+def internal_source_zst(sr: SegmentRange, mode: ReadMode, file_ext: str = "zst") -> LogPaths:
+  return internal_source(sr, mode, file_ext)
+
+
 def openpilotci_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
   rlog_paths = [get_url(sr.route_name, seg, "rlog") for seg in sr.seg_idxs]
   qlog_paths = [get_url(sr.route_name, seg, "qlog") for seg in sr.seg_idxs]
@@ -162,7 +186,8 @@ def get_invalid_files(files):
 
 def check_source(source: Source, *args) -> LogPaths:
   files = source(*args)
-  assert next(get_invalid_files(files), False) is False
+  assert len(files) > 0, "No files on source"
+  assert next(get_invalid_files(files), False) is False, "Some files are invalid"
   return files
 
 
@@ -170,8 +195,8 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
   if mode == ReadMode.SANITIZED:
     return comma_car_segments_source(sr, mode)
 
-  SOURCES: list[Source] = [internal_source, openpilotci_source, comma_api_source, comma_car_segments_source,]
-  exceptions = []
+  SOURCES: list[Source] = [internal_source, internal_source_zst, openpilotci_source, comma_api_source, comma_car_segments_source,]
+  exceptions = {}
 
   # for automatic fallback modes, auto_source needs to first check if rlogs exist for any source
   if mode in [ReadMode.AUTO, ReadMode.AUTO_INTERACTIVE]:
@@ -186,9 +211,10 @@ def auto_source(sr: SegmentRange, mode=ReadMode.RLOG) -> LogPaths:
     try:
       return check_source(source, sr, mode)
     except Exception as e:
-      exceptions.append(e)
+      exceptions[source.__name__] = e
 
-  raise Exception(f"auto_source could not find any valid source, exceptions for sources: {exceptions}")
+  raise Exception("auto_source could not find any valid source, exceptions for sources:\n  - " +
+                  "\n  - ".join([f"{k}: {repr(v)}" for k, v in exceptions.items()]))
 
 
 def parse_useradmin(identifier: str):
diff --git a/tools/lib/route.py b/tools/lib/route.py
index d5fd41108b76b3..ddb8b0486eaf57 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -9,9 +9,9 @@
 from openpilot.tools.lib.api import CommaApi
 from openpilot.tools.lib.helpers import RE
 
-QLOG_FILENAMES = ['qlog', 'qlog.bz2']
+QLOG_FILENAMES = ['qlog', 'qlog.bz2', 'qlog.zst']
 QCAMERA_FILENAMES = ['qcamera.ts']
-LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2']
+LOG_FILENAMES = ['rlog', 'rlog.bz2', 'raw_log.bz2', 'rlog.zst']
 CAMERA_FILENAMES = ['fcamera.hevc', 'video.hevc']
 DCAMERA_FILENAMES = ['dcamera.hevc']
 ECAMERA_FILENAMES = ['ecamera.hevc']
@@ -260,10 +260,6 @@ def route_name(self) -> str:
   def dongle_id(self) -> str:
     return self.m.group("dongle_id")
 
-  @property
-  def timestamp(self) -> str:
-    return self.m.group("timestamp")
-
   @property
   def log_id(self) -> str:
     return self.m.group("log_id")
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index 6bc7ba8773435b..f827c259027914 100644
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -27,8 +27,14 @@ def noop(segment: LogIterable):
 @contextlib.contextmanager
 def setup_source_scenario(mocker, is_internal=False):
   internal_source_mock = mocker.patch("openpilot.tools.lib.logreader.internal_source")
+  internal_source_mock.__name__ = internal_source_mock._mock_name
+
   openpilotci_source_mock = mocker.patch("openpilot.tools.lib.logreader.openpilotci_source")
+  openpilotci_source_mock.__name__ = openpilotci_source_mock._mock_name
+
   comma_api_source_mock = mocker.patch("openpilot.tools.lib.logreader.comma_api_source")
+  comma_api_source_mock.__name__ = comma_api_source_mock._mock_name
+
   if is_internal:
     internal_source_mock.return_value = [QLOG_FILE]
   else:
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index b7f7cb93a284f7..3465747a50c230 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -2,19 +2,12 @@
 
 set -e
 
-if [ -z "$SKIP_PROMPT" ]; then
-  echo "---------------   macOS support   ---------------"
-  echo "Running openpilot natively on macOS is not officially supported."
-  echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues."
-  echo
-  echo "Check out devcontainers for a seamless experience (see tools/README.md)."
-  echo "-------------------------------------------------"
-  echo -n "Are you sure you want to continue? [y/N] "
-  read -r response
-  if [[ ! "$response" =~ ^([yY][eE][sS]|[yY])+$ ]]; then
-    exit 1
-  fi
-fi
+echo "---------------   macOS support   ---------------"
+echo "Running openpilot natively on macOS is still a work-in-progress."
+echo "It might build, some parts of it might work, but it's not fully tested, so there might be some issues."
+echo
+echo "Check out devcontainers for a seamless experience (see tools/README.md)."
+echo "-------------------------------------------------"
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 ROOT="$(cd $DIR/../ && pwd)"
@@ -29,26 +22,23 @@ fi
 # Install brew if required
 if [[ $(command -v brew) == "" ]]; then
   echo "Installing Homebrew"
-  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/master/install.sh)"
+  /bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/Homebrew/install/HEAD/install.sh)"
   echo "[ ] installed brew t=$SECONDS"
 
   # make brew available now
   if [[ $ARCH == "x86_64" ]]; then
-      echo 'eval "$(/usr/local/homebrew/bin/brew shellenv)"' >> $RC_FILE
-      eval "$(/usr/local/homebrew/bin/brew shellenv)"
+    echo 'eval "$(/usr/local/bin/brew shellenv)"' >> $RC_FILE
+    eval "$(/usr/local/bin/brew shellenv)"
   else
-      echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE
-      eval "$(/opt/homebrew/bin/brew shellenv)"
+    echo 'eval "$(/opt/homebrew/bin/brew shellenv)"' >> $RC_FILE
+    eval "$(/opt/homebrew/bin/brew shellenv)"
   fi
 fi
 
 brew bundle --file=- <<-EOS
-brew "catch2"
-brew "cmake"
 brew "cppcheck"
 brew "git-lfs"
 brew "zlib"
-brew "bzip2"
 brew "capnp"
 brew "coreutils"
 brew "eigen"
@@ -59,12 +49,11 @@ brew "libusb"
 brew "libtool"
 brew "llvm"
 brew "openssl@3.0"
-brew "pyenv"
-brew "pyenv-virtualenv"
 brew "qt@5"
 brew "zeromq"
 cask "gcc-arm-embedded"
 brew "portaudio"
+brew "gcc@13"
 EOS
 
 echo "[ ] finished brew install t=$SECONDS"
diff --git a/tools/op.sh b/tools/op.sh
new file mode 100755
index 00000000000000..8533017d8e6ecd
--- /dev/null
+++ b/tools/op.sh
@@ -0,0 +1,416 @@
+#!/usr/bin/env bash
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+UNDERLINE='\033[4m'
+BOLD='\033[1m'
+NC='\033[0m'
+
+function op_install() {
+  (set -e
+
+  echo "Installing op system-wide..."
+  RC_FILE="${HOME}/.$(basename ${SHELL})rc"
+  if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
+    RC_FILE="$HOME/.bash_profile"
+  fi
+  CMD="\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
+  grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE
+  echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
+
+  )
+}
+
+function op_run_command() {
+  CMD="$@"
+  echo -e "${BOLD}Running:${NC} $CMD"
+  if [[ -z "$DRY" ]]; then
+    eval "$CMD"
+  fi
+}
+
+# be default, assume openpilot dir is in current directory
+OPENPILOT_ROOT=$(pwd)
+function op_get_openpilot_dir() {
+  while [[ "$OPENPILOT_ROOT" != '/' ]];
+  do
+    if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
+      return 0
+    fi
+    OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
+  done
+}
+
+function op_check_openpilot_dir() {
+  echo "Checking for openpilot directory..."
+  if [[ -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n"
+    return 0
+  fi
+
+  echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are"
+  echo "       inside the openpilot directory or specify one with the"
+  echo "       --dir option!"
+  return 1
+}
+
+function op_check_git() {
+  (set -e
+
+  echo "Checking for git..."
+  if ! command -v "git" > /dev/null 2>&1; then
+    echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
+    return 1
+  else
+    echo -e " ↳ [${GREEN}✔${NC}] git found."
+  fi
+
+  echo "Checking for git lfs files..."
+  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "data" ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found."
+  else
+    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'"
+    return 1
+  fi
+
+  echo "Checking for git submodules..."
+  for name in $(git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | tr '\n' ' '); do
+    if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
+      echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'"
+      return 1
+    fi
+  done
+  echo -e " ↳ [${GREEN}✔${NC}] git submodules found."
+
+  )
+}
+
+function op_check_os() {
+  (set -e
+
+  echo "Checking for compatible os version..."
+  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+
+    if [ -f "/etc/os-release" ]; then
+      source /etc/os-release
+      case "$VERSION_CODENAME" in
+        "jammy" | "kinetic" | "noble" | "focal")
+          echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected."
+          ;;
+        * )
+          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
+          return 1
+          ;;
+      esac
+    else
+      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
+      return 1
+    fi
+
+  elif [[ "$OSTYPE" == "darwin"* ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
+  else
+    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
+    return 1
+  fi
+
+  )
+}
+
+function op_check_python() {
+  (set -e
+
+  echo "Checking for compatible python version..."
+  REQUIRED_PYTHON_VERSION=$(grep "requires-python" $OPENPILOT_ROOT/pyproject.toml)
+  INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
+
+  if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
+    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
+    return 1
+  elif [[ $(echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]') -ge $(($(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') * 10)) ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
+  else
+    echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
+    return 1
+  fi
+
+  )
+}
+
+function op_check_venv() {
+  echo "Checking for venv..."
+  if source $OPENPILOT_ROOT/.venv/bin/activate; then
+    echo -e " ↳ [${GREEN}✔${NC}] venv detected."
+  else
+    echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!"
+  fi
+}
+
+function op_before_cmd() {
+  if [[ ! -z "$NO_VERIFY" ]]; then
+    return 0
+  fi
+
+  op_get_openpilot_dir
+  cd $OPENPILOT_ROOT
+
+  result="$((op_check_openpilot_dir ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_git ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_os ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_venv ) 2>&1)" || (echo -e "$result" && return 1)
+
+  op_activate_venv
+
+  result="${result}\n$(( op_check_python ) 2>&1)" || (echo -e "$result" && return 1)
+
+  if [[ -z $VERBOSE ]]; then
+    echo -e "Checking system → [${GREEN}✔${NC}] system is good."
+  else
+    echo -e "$result"
+  fi
+}
+
+function op_setup() {
+  (set -e
+
+  op_get_openpilot_dir
+  cd $OPENPILOT_ROOT
+
+  op_check_openpilot_dir
+  op_check_os
+  op_check_python
+
+  echo "Installing dependencies..."
+  if [[ "$OSTYPE" == "linux-gnu"* ]]; then
+    op_run_command $OPENPILOT_ROOT/tools/ubuntu_setup.sh
+  elif [[ "$OSTYPE" == "darwin"* ]]; then
+    op_run_command $OPENPILOT_ROOT/tools/mac_setup.sh
+  fi
+  echo -e " ↳ [${GREEN}✔${NC}] Dependencies installed successfully.\n"
+
+  echo "Getting git submodules..."
+  op_run_command git submodule update --jobs 4 --init --recursive
+  echo -e " ↳ [${GREEN}✔${NC}] Submodules installed successfully.\n"
+
+  echo "Pulling git lfs files..."
+  op_run_command git lfs pull
+  echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully.\n"
+
+  op_check
+
+  )
+}
+
+function op_activate_venv() {
+  source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true
+}
+
+function op_venv() {
+  ( set -e
+
+  op_before_cmd
+
+  )
+
+  if [[ "$?" -eq 0 ]]; then
+
+    if [[ "${BASH_SOURCE[0]}" = "${0}" ]]; then
+      echo "Run 'op venv' or 'source op.sh venv' to activate your venv!"
+      return 1
+    fi
+
+    # this must be run in the same shell as the user calling "op"
+    op_get_openpilot_dir
+    op_run_command source $OPENPILOT_ROOT/.venv/bin/activate
+  fi
+}
+
+function op_check() {
+  (set -e
+
+  VERBOSE=1
+  op_before_cmd
+  unset VERBOSE
+
+  )
+}
+
+function op_build() {
+  (set -e
+
+  CDIR=$(pwd)
+  op_before_cmd
+  cd "$CDIR"
+  op_run_command scons $@
+
+  )
+}
+
+function op_juggle() {
+  (set -e
+
+  op_before_cmd
+  op_run_command tools/plotjuggler/juggle.py $@
+
+  )
+}
+
+function op_lint() {
+  (set -e
+
+  op_before_cmd
+  op_run_command pre-commit run --all $@
+
+  )
+}
+
+function op_test() {
+  (set -e
+
+  op_before_cmd
+  op_run_command pytest $@
+
+  )
+}
+
+function op_replay() {
+  (set -e
+
+  op_before_cmd
+  op_run_command tools/replay/replay $@
+
+  )
+}
+
+function op_cabana() {
+  (set -e
+
+  op_before_cmd
+  op_run_command tools/cabana/cabana $@
+
+  )
+}
+
+function op_sim() {
+  (set -e
+
+  op_before_cmd
+  op_run_command exec tools/sim/run_bridge.py &
+  op_run_command exec tools/sim/launch_openpilot.sh
+
+  )
+}
+
+function op_default() {
+  echo "An openpilot helper"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Description:${NC}"
+  echo "  op is your entry point for all things related to openpilot development."
+  echo "  op is only a wrapper for existing scripts, tools, and commands."
+  echo "  op will always show you what it will run on your system."
+  echo ""
+  echo "  op will try to find your openpilot directory in the following order:"
+  echo "   1: use the directory specified with the --dir option"
+  echo "   2: use the current working directory"
+  echo "   3: go up the file tree non-recursively"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
+  echo -e "  ${BOLD}venv${NC}     Activate the Python virtual environment"
+  echo -e "  ${BOLD}check${NC}    Check the development environment (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}setup${NC}    Install openpilot dependencies"
+  echo -e "  ${BOLD}build${NC}    Run the openpilot build system in the current working directory"
+  echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
+  echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
+  echo -e "  ${BOLD}replay${NC}   Run replay"
+  echo -e "  ${BOLD}cabana${NC}   Run cabana"
+  echo -e "  ${BOLD}lint${NC}     Run all the pre-commit checks"
+  echo -e "  ${BOLD}test${NC}     Run all unit tests from pytest"
+  echo -e "  ${BOLD}help${NC}     Show this message"
+  echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Options:${NC}"
+  echo -e "  ${BOLD}-d, --dir${NC}"
+  echo "          Specify the openpilot directory you want to use"
+  echo -e "  ${BOLD}--dry${NC}"
+  echo "          Don't actually run anything, just print what would be run"
+  echo -e "  ${BOLD}-n, --no-verify${NC}"
+  echo "          Skip environment check before running commands"
+  echo -e "  ${BOLD}-v, --verbose${NC}"
+  echo "          Show the result of all checks before running a command"
+  echo ""
+  echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
+  echo "  op --dir /tmp/openpilot check"
+  echo "          Run the check command on openpilot located in /tmp/openpilot"
+  echo ""
+  echo "  op juggle --install"
+  echo "          Install plotjuggler in the openpilot located in your current"
+  echo "          working directory"
+  echo ""
+  echo "  op --dir /tmp/openpilot build -j4"
+  echo "          Run the build command on openpilot located in /tmp/openpilot"
+  echo "          on 4 cores"
+}
+
+
+function _op() {
+  # parse Options
+  case $1 in
+    -d | --dir )       shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
+    --dry )            shift 1; DRY="1" ;;
+    -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
+    -v | --verbose ) shift 1; VERBOSE="1" ;;
+  esac
+
+  # parse Commands
+  case $1 in
+    venv )      shift 1; op_venv "$@" ;;
+    check )     shift 1; op_check "$@" ;;
+    setup )     shift 1; op_setup "$@" ;;
+    build )     shift 1; op_build "$@" ;;
+    juggle )    shift 1; op_juggle "$@" ;;
+    cabana )    shift 1; op_cabana "$@" ;;
+    lint )      shift 1; op_lint "$@" ;;
+    test )      shift 1; op_test "$@" ;;
+    replay )    shift 1; op_replay "$@" ;;
+    sim )       shift 1; op_sim "$@" ;;
+    install )   shift 1; op_install "$@" ;;
+    * ) op_default "$@" ;;
+  esac
+}
+
+_op $@
+
+# remove from env
+unset -f _op
+unset -f op_check
+unset -f op_setup
+unset -f op_build
+unset -f op_juggle
+unset -f op_venv
+unset -f op_check_openpilot_dir
+unset -f op_check_git
+unset -f op_check_python
+unset -f op_check_os
+unset -f op_install
+unset -f op_default
+unset -f op_run_command
+unset -f op_lint
+unset -f op_replay
+unset -f op_cabana
+unset -f op_check_venv
+unset -f op_before_cmd
+unset -f op_sim
+unset -f op_activate_venv
+unset -f op_get_openpilot_dir
+unset -f op_test
+unset DRY
+unset NC
+unset RED
+unset GREEN
+unset UNDERLINE
+unset BOLD
+unset OPENPILOT_ROOT
+unset NO_VERIFY
+unset VERBOSE
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 1d1612a1cdb88a..22854b368d908b 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -12,8 +12,7 @@
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car.fingerprints import MIGRATION
-from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.logreader import LogReader, ReadMode
+from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
 
diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml
index d6e4684d63a9e2..b4edfdcc181aa1 100644
--- a/tools/plotjuggler/layouts/torque-controller.xml
+++ b/tools/plotjuggler/layouts/torque-controller.xml
@@ -1,45 +1,193 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <root>
- <tabbed_widget name="Main Window" parent="main_window">
-  <Tab tab_name="tab1" containers="1">
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab containers="1" tab_name="Lateral Plan Conformance">
    <Container>
-    <DockSplitter sizes="0.250298;0.250298;0.249106;0.250298" orientation="-" count="4">
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-2.900899" top="3.526047" left="825.563261" right="1415.827546"/>
+    <DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
+     <DockArea name="desired vs actual lateral acceleration (closer means better conformance to plan)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.643117" left="0.000140" bottom="-2.354077"/>
        <limitY/>
-       <curve name="/controlsState/lateralControlState/torqueState/actualLateralAccel" color="#1f77b4"/>
-       <curve name="/controlsState/lateralControlState/torqueState/desiredLateralAccel" color="#d62728"/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
       </plot>
      </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-4.577789" top="3.642392" left="825.563261" right="1415.827546"/>
+     <DockArea name="desired vs actual lateral acceleration, road-roll factored out (closer means better conformance to plan)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.445087" right="269.643117" left="0.000140" bottom="-2.654874"/>
        <limitY/>
-       <curve name="Actual lateral accel (roll compensated)" color="#1ac938"/>
-       <curve name="Desired lateral accel (roll compensated)" color="#ff7f0e"/>
+       <curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
+       <curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
       </plot>
      </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-1.134948" top="1.052072" left="825.563261" right="1415.827546"/>
+     <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
        <limitY/>
-       <curve name="/carOutput/actuatorsOutput/steer" color="#9467bd">
-        <transform name="Scale/Offset" alias="/carOutput/actuatorsOutput/steer[Scale/Offset]">
-         <options time_offset="0" value_scale="-1" value_offset="0"/>
+       <curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
+        <transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1" time_offset="0" value_offset="0"/>
         </transform>
        </curve>
-       <curve name="/controlsState/lateralControlState/torqueState/f" color="#1f77b4"/>
-       <curve name="/carState/steeringPressed" color="#ff000f"/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#ff000f" name="/carState/steeringPressed"/>
       </plot>
      </DockArea>
-     <DockArea name="...">
-      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
-       <range bottom="-1.373608" top="56.208012" left="825.563261" right="1415.827546"/>
+     <DockArea name="vehicle speed">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="101.506277" right="269.643117" left="0.000140" bottom="-2.475763"/>
        <limitY/>
-       <curve name="carState.vEgo mph" color="#d62728"/>
-       <curve name="carState.vEgo kmh" color="#1ac938"/>
-       <curve name="/carState/vEgo" color="#ff7f0e"/>
+       <curve color="#d62728" name="carState.vEgo mph"/>
+       <curve color="#1ac938" name="carState.vEgo kmh"/>
+       <curve color="#ff7f0e" name="/carState/vEgo"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Actuator Performance">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="offline-calculated vs online-learned lateral accel scaling factor, accel obtained from 100% actuator output">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="4.186453" right="269.490213" left="0.000000" bottom="3.175940"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/liveTorqueParameters/latAccelFactorFiltered"/>
+       <curve color="#d62728" name="/liveTorqueParameters/latAccelFactorRaw"/>
+       <curve color="#1c9222" name="/carParams/lateralTuning/torque/latAccelFactor"/>
+      </plot>
+     </DockArea>
+     <DockArea name="learned lateral accel offset, vehicle-specific compensation to obtain true zero lateral accel">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.003035" right="269.490213" left="0.000000" bottom="-0.124417"/>
+       <limitY/>
+       <curve color="#1ac938" name="/liveTorqueParameters/latAccelOffsetFiltered"/>
+       <curve color="#ff7f0e" name="/liveTorqueParameters/latAccelOffsetRaw"/>
+      </plot>
+     </DockArea>
+     <DockArea name="offline-calculated vs online-learned EPS friction factor, necessary to start moving the steering wheel">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.121143" right="269.490213" left="0.000000" bottom="-0.002955"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveTorqueParameters/frictionCoefficientFiltered"/>
+       <curve color="#9467bd" name="/liveTorqueParameters/frictionCoefficientRaw"/>
+       <curve color="#1c9222" name="/carParams/lateralTuning/torque/friction"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Vehicle Dynamics">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="configured-initial vs online-learned steerRatio, set configured value to match learned">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="12.903705" right="269.638801" left="0.000000" bottom="12.748092"/>
+       <limitY/>
+       <curve color="#1f77b4" name="/carParams/steerRatio"/>
+       <curve color="#1ac938" name="/liveParameters/steerRatio"/>
+      </plot>
+     </DockArea>
+     <DockArea name="configured-initial vs online-learned tireStiffnessRatio, set configured value to match learned">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.000520" right="269.638801" left="0.000000" bottom="0.999718"/>
+       <limitY/>
+       <curve color="#d62728" name="/carParams/tireStiffnessFactor"/>
+       <curve color="#ff7f0e" name="/liveParameters/stiffnessFactor"/>
+      </plot>
+     </DockArea>
+     <DockArea name="live steering angle offsets for straight-ahead driving, large values here may indicate alignment problems">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="-0.332067" right="269.638801" left="0.000000" bottom="-3.149970"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveParameters/angleOffsetAverageDeg"/>
+       <curve color="#9467bd" name="/liveParameters/angleOffsetDeg"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Controller PIF Terms">
+   <Container>
+    <DockSplitter count="3" sizes="0.33361;0.33278;0.33361" orientation="-">
+     <DockArea name="controller feed-forward vs actuator output (closer means controller prediction is more accurate)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.082031" right="269.643117" left="0.000140" bottom="-1.050781"/>
+       <limitY/>
+       <curve color="#9467bd" name="/carOutput/actuatorsOutput/steer">
+        <transform alias="/carOutput/actuatorsOutput/steer[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="-1.0" time_offset="0" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#ff000f" name="/carState/steeringPressed"/>
+      </plot>
+     </DockArea>
+     <DockArea name="proportional, integral, and feed-forward terms (actuator output = sum of PIF terms)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="1.572946" right="269.643117" left="0.000140" bottom="-3.822608"/>
+       <limitY/>
+       <curve color="#0ab027" name="/controlsState/lateralControlState/torqueState/f"/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/p"/>
+       <curve color="#ffaf00" name="/controlsState/lateralControlState/torqueState/i"/>
+       <curve color="#756a6a" name="Zero"/>
+      </plot>
+     </DockArea>
+     <DockArea name="road roll angle, from openpilot localizer">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="0.059127" right="269.643117" left="0.000140" bottom="-0.031841"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/liveParameters/roll"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab containers="1" tab_name="Actuator Delay Estimation">
+   <Container>
+    <DockSplitter count="4" sizes="0.25;0.25;0.25;0.25" orientation="-">
+     <DockArea name="desired vs actual lateral acceleration (baseline)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#d62728" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel"/>
+       <curve color="#1f77b4" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.1s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.1" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.2s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.2" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
+      </plot>
+     </DockArea>
+     <DockArea name="desired vs actual lateral acceleration (desired shifted by +0.3s)">
+      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
+       <range top="3.586831" right="269.943117" left="0.134774" bottom="-2.354077"/>
+       <limitY/>
+       <curve color="#1ac938" name="/controlsState/lateralControlState/torqueState/desiredLateralAccel">
+        <transform alias="/controlsState/lateralControlState/torqueState/desiredLateralAccel[Scale/Offset]" name="Scale/Offset">
+         <options value_scale="1.0" time_offset="0.3" value_offset="0"/>
+        </transform>
+       </curve>
+       <curve color="#ff7f0e" name="/controlsState/lateralControlState/torqueState/actualLateralAccel"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -57,34 +205,39 @@
  <!-- - - - - - - - - - - - - - - -->
  <!-- - - - - - - - - - - - - - - -->
  <customMathEquations>
-  <snippet name="carState.vEgo kmh">
-   <global></global>
-   <function>return value * 3.6</function>
-   <linked_source>/carState/vEgo</linked_source>
-  </snippet>
-  <snippet name="carState.vEgo mph">
+  <snippet name="Zero">
    <global></global>
-   <function>return value * 2.23694</function>
-   <linked_source>/carState/vEgo</linked_source>
+   <function>return (0)</function>
+   <linked_source>/carState/canValid</linked_source>
   </snippet>
-  <snippet name="Desired lateral accel (roll compensated)">
+  <snippet name="Actual lateral accel (roll compensated)">
    <global></global>
    <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <linked_source>/controlsState/curvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
     <v2>/liveParameters/roll</v2>
    </additional_sources>
   </snippet>
-  <snippet name="Actual lateral accel (roll compensated)">
+  <snippet name="Desired lateral accel (roll compensated)">
    <global></global>
    <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
-   <linked_source>/controlsState/curvature</linked_source>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
    <additional_sources>
     <v1>/carState/vEgo</v1>
     <v2>/liveParameters/roll</v2>
    </additional_sources>
   </snippet>
+  <snippet name="carState.vEgo mph">
+   <global></global>
+   <function>return value * 2.23694</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
+  <snippet name="carState.vEgo kmh">
+   <global></global>
+   <function>return value * 3.6</function>
+   <linked_source>/carState/vEgo</linked_source>
+  </snippet>
  </customMathEquations>
  <snippets/>
  <!-- - - - - - - - - - - - - - - -->
diff --git a/tools/profiling/snapdragon/README.md b/tools/profiling/snapdragon/README.md
index 664814b6115273..f56ca182a77763 100644
--- a/tools/profiling/snapdragon/README.md
+++ b/tools/profiling/snapdragon/README.md
@@ -3,7 +3,7 @@ snapdragon profiler
 
 
 * download from https://developer.qualcomm.com/software/snapdragon-profiler/tools-archive (need a qc developer account)
-  * choose v2021.5 (verified working with 20.04 dev environment)
+  * choose v2021.5 (verified working with 24.04 dev environment)
 * unzip to selfdrive/debug/profiling/snapdragon/SnapdragonProfiler
 * run ```./setup-profiler.sh```
 * run ```./setup-agnos.sh```
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 91e89176a2960c..122af7152162aa 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -19,8 +19,10 @@ tools/replay/replay --demo
 # watch the replay with the normal openpilot UI
 cd selfdrive/ui && ./ui
 
-# or try out a debug visualizer:
-python replay/ui.py
+# or try out radar point visualization in Rerun:
+python replay/rp_visualization.py
+
+# NOTE: To visualize radar points, make sure tools/replay/replay is running.
 ```
 
 ## usage
@@ -34,10 +36,21 @@ Options:
   -h, --help             Displays this help.
   -a, --allow <allow>    whitelist of services to send
   -b, --block <block>    blacklist of services to send
+  -c, --cache <n>        cache <n> segments in memory. default is 5
   -s, --start <seconds>  start from <seconds>
+  -x <speed>             playback <speed>. between 0.2 - 3
   --demo                 use a demo route instead of providing your own
+  --data_dir <data_dir>  local directory with routes
+  --prefix <prefix>      set OPENPILOT_PREFIX
   --dcam                 load driver camera
   --ecam                 load wide road camera
+  --no-loop              stop at the end of the route
+  --no-cache             turn off local cache
+  --qcam                 load qcamera
+  --no-hw-decoder        disable HW video decoding
+  --no-vipc              do not output video
+  --all                  do output all messages including uiDebug, userFlag.
+                         this may causes issues when used along with UI
 
 Arguments:
   route                  the drive to replay. find your drives at
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index cf9d74a894018b..1f966d437263a3 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -12,7 +12,7 @@ else:
 replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
 replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs, FRAMEWORKS=base_frameworks)
 Export('replay_lib')
-replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + base_libs
+replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'ncurses'] + base_libs
 qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
 if GetOption('extras'):
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index 9e711149c5eff4..ded966da6d6eb3 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -27,6 +27,13 @@ CameraServer::CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS]) {
 CameraServer::~CameraServer() {
   for (auto &cam : cameras_) {
     if (cam.thread.joinable()) {
+      // Clear the queue
+      std::pair<FrameReader*, const Event *> item;
+      while (cam.queue.try_pop(item)) {
+        --publishing_;
+      }
+
+      // Signal termination and join the thread
       cam.queue.push({});
       cam.thread.join();
     }
@@ -60,7 +67,6 @@ void CameraServer::cameraThread(Camera &cam) {
     capnp::FlatArrayMessageReader reader(event->data);
     auto evt = reader.getRoot<cereal::Event>();
     auto eidx = capnp::AnyStruct::Reader(evt).getPointerSection()[0].getAs<cereal::EncodeIndex>();
-    if (eidx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C) continue;
 
     int segment_id = eidx.getSegmentId();
     uint32_t frame_id = eidx.getFrameId();
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 3ab33a1dfdbe43..9b76edde10cbd3 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -80,6 +80,17 @@ def connect():
 
     time.sleep(1)
 
+def process(lr):
+  return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
+
+def load_route(route_or_segment_name):
+  print("Loading log...")
+  sr = LogReader(route_or_segment_name)
+  CP = sr.first("carParams")
+  print(f"carFingerprint (for hardcoding fingerprint): '{CP.carFingerprint}'")
+  CAN_MSGS = sr.run_across_segments(24, process)
+  print("Finished loading...")
+  return CAN_MSGS
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.",
@@ -87,22 +98,10 @@ def connect():
   parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.")
   args = parser.parse_args()
 
-  def process(lr):
-    return [can_capnp_to_can_list(m.can) for m in lr if m.which() == 'can']
-
-  print("Loading log...")
   if args.route_or_segment_name is None:
     args.route_or_segment_name = "77611a1fac303767/2020-03-24--09-50-38/1:3"
 
-  sr = LogReader(args.route_or_segment_name)
-
-  CP = sr.first("carParams")
-
-  print(f"carFingerprint (for hardcoding fingerprint): '{CP.carFingerprint}'")
-
-  CAN_MSGS = sr.run_across_segments(24, process)
-
-  print("Finished loading...")
+  CAN_MSGS = load_route(args.route_or_segment_name)
 
   if ENABLE_PWR:
     print(f"Cycling power: on for {PWR_ON}s, off for {PWR_OFF}s")
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index eaff78c6912ac6..21ca0ad74b8468 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -171,7 +171,7 @@ void ConsoleUI::updateStatus() {
 
   if (status != Status::Paused) {
     auto events = replay->events();
-    uint64_t current_mono_time = replay->routeStartTime() + replay->currentSeconds() * 1e9;
+    uint64_t current_mono_time = replay->routeStartNanos() + replay->currentSeconds() * 1e9;
     bool playing = !events->empty() && events->back().mono_time > current_mono_time;
     status = playing ? Status::Playing : Status::Waiting;
   }
@@ -262,10 +262,10 @@ void ConsoleUI::updateTimeline() {
   mvwhline(win, 2, 0, ' ', width);
   wattroff(win, COLOR_PAIR(Color::Disengaged));
 
-  const int total_sec = replay->totalSeconds();
+  const int total_sec = replay->maxSeconds() - replay->minSeconds();
   for (auto [begin, end, type] : replay->getTimeline()) {
-    int start_pos = (begin / total_sec) * width;
-    int end_pos = (end / total_sec) * width;
+    int start_pos = ((begin - replay->minSeconds()) / total_sec) * width;
+    int end_pos = ((end - replay->minSeconds()) / total_sec) * width;
     if (type == TimelineType::Engaged) {
       mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
       mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
@@ -280,7 +280,7 @@ void ConsoleUI::updateTimeline() {
     }
   }
 
-  int cur_pos = ((double)replay->currentSeconds() / total_sec) * width;
+  int cur_pos = ((replay->currentSeconds() - replay->minSeconds()) / total_sec) * width;
   wattron(win, COLOR_PAIR(Color::BrightWhite));
   mvwaddch(win, 0, cur_pos, ACS_VLINE);
   mvwaddch(win, 3, cur_pos, ACS_VLINE);
diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py
new file mode 100644
index 00000000000000..95eef9d233da30
--- /dev/null
+++ b/tools/replay/lib/rp_helpers.py
@@ -0,0 +1,108 @@
+import numpy as np
+from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
+
+# Color palette used for rerun AnnotationContext
+rerunColorPalette = [(96, "red", (255, 0, 0)),
+                     (100, "pink", (255, 36, 0)),
+                     (124, "yellow", (255, 255, 0)),
+                     (230, "vibrantpink", (255, 36, 170)),
+                     (240, "orange", (255, 146, 0)),
+                     (255, "white", (255, 255, 255)),
+                     (110, "carColor", (255,0,127))]
+
+
+class UIParams:
+  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
+  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
+  car_hwidth = 1.7272 / 2 * lidar_zoom
+  car_front = 2.6924 * lidar_zoom
+  car_back = 1.8796 * lidar_zoom
+  car_color = rerunColorPalette[6][0]
+UP = UIParams
+
+
+def to_topdown_pt(y, x):
+  px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
+  if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
+    return int(px), int(py)
+  return -1, -1
+
+
+def draw_path(path, lid_overlay, lid_color=None):
+  x, y = np.asarray(path.x), np.asarray(path.y)
+  # draw lidar path point on lidar
+  if lid_color is not None and lid_overlay is not None:
+    for i in range(len(x)):
+      px, py = to_topdown_pt(x[i], y[i])
+      if px != -1:
+        lid_overlay[px, py] = lid_color
+
+
+def plot_model(m, lid_overlay):
+  if lid_overlay is None:
+    return
+  for lead in m.leadsV3:
+    if lead.prob < 0.5:
+      continue
+    x, y = lead.x[0], lead.y[0]
+    x_std = lead.xStd[0]
+    x -= RADAR_TO_CAMERA
+    _, py_top = to_topdown_pt(x + x_std, y)
+    px, py_bottom = to_topdown_pt(x - x_std, y)
+    lid_overlay[int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = rerunColorPalette[2][0]
+
+  for path in m.laneLines:
+    draw_path(path, lid_overlay, rerunColorPalette[2][0])
+  for edge in m.roadEdges:
+    draw_path(edge, lid_overlay, rerunColorPalette[0][0])
+  draw_path(m.position, lid_overlay, rerunColorPalette[0][0])
+
+
+def plot_lead(rs, lid_overlay):
+  for lead in [rs.leadOne, rs.leadTwo]:
+    if not lead.status:
+      continue
+    x = lead.dRel
+    px_left, py = to_topdown_pt(x, -10)
+    px_right, _ = to_topdown_pt(x, 10)
+    lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0]
+
+
+def maybe_update_radar_points(lt, lid_overlay):
+  ar_pts = []
+  if lt is not None:
+    ar_pts = {}
+    for track in lt:
+      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
+  for ids, pt in ar_pts.items():
+    # negative here since radar is left positive
+    px, py = to_topdown_pt(pt[0], -pt[1])
+    if px != -1:
+      if pt[-1]:
+        color = rerunColorPalette[4][0]
+      elif pt[-2]:
+        color = rerunColorPalette[3][0]
+      else:
+        color = rerunColorPalette[5][0]
+      if int(ids) == 1:
+        lid_overlay[px - 2:px + 2, py - 10:py + 10] = rerunColorPalette[1][0]
+      else:
+        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
+
+
+def get_blank_lid_overlay(UP):
+  lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
+  # Draw the car.
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
+    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
+                                                      UP.car_front))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
+    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
+                                                      UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
+    round(UP.lidar_car_y - UP.car_front)):int(round(
+      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
+    round(UP.lidar_car_y - UP.car_front)):int(round(
+      UP.lidar_car_y + UP.car_back))] = UP.car_color
+  return lid_overlay
diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
deleted file mode 100644
index 11b5182a6b02f2..00000000000000
--- a/tools/replay/lib/ui_helpers.py
+++ /dev/null
@@ -1,231 +0,0 @@
-import itertools
-from typing import Any
-
-import matplotlib.pyplot as plt
-import numpy as np
-import pygame
-
-from matplotlib.backends.backend_agg import FigureCanvasAgg
-
-from openpilot.common.transformations.camera import get_view_frame_from_calib_frame
-from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
-
-
-RED = (255, 0, 0)
-GREEN = (0, 255, 0)
-BLUE = (0, 0, 255)
-YELLOW = (255, 255, 0)
-BLACK = (0, 0, 0)
-WHITE = (255, 255, 255)
-
-class UIParams:
-  lidar_x, lidar_y, lidar_zoom = 384, 960, 6
-  lidar_car_x, lidar_car_y = lidar_x / 2., lidar_y / 1.1
-  car_hwidth = 1.7272 / 2 * lidar_zoom
-  car_front = 2.6924 * lidar_zoom
-  car_back = 1.8796 * lidar_zoom
-  car_color = 110
-UP = UIParams
-
-METER_WIDTH = 20
-
-class Calibration:
-  def __init__(self, num_px, rpy, intrinsic, calib_scale):
-    self.intrinsic = intrinsic
-    self.extrinsics_matrix = get_view_frame_from_calib_frame(rpy[0], rpy[1], rpy[2], 0.0)[:,:3]
-    self.zoom = calib_scale
-
-  def car_space_to_ff(self, x, y, z):
-    car_space_projective = np.column_stack((x, y, z)).T
-
-    ep = self.extrinsics_matrix.dot(car_space_projective)
-    kep = self.intrinsic.dot(ep)
-    return (kep[:-1, :] / kep[-1, :]).T
-
-  def car_space_to_bb(self, x, y, z):
-    pts = self.car_space_to_ff(x, y, z)
-    return pts / self.zoom
-
-
-_COLOR_CACHE : dict[tuple[int, int, int], Any] = {}
-def find_color(lidar_surface, color):
-  if color in _COLOR_CACHE:
-    return _COLOR_CACHE[color]
-  tcolor = 0
-  ret = 255
-  for x in lidar_surface.get_palette():
-    if x[0:3] == color:
-      ret = tcolor
-      break
-    tcolor += 1
-  _COLOR_CACHE[color] = ret
-  return ret
-
-
-def to_topdown_pt(y, x):
-  px, py = x * UP.lidar_zoom + UP.lidar_car_x, -y * UP.lidar_zoom + UP.lidar_car_y
-  if px > 0 and py > 0 and px < UP.lidar_x and py < UP.lidar_y:
-    return int(px), int(py)
-  return -1, -1
-
-
-def draw_path(path, color, img, calibration, top_down, lid_color=None, z_off=0):
-  x, y, z = np.asarray(path.x), np.asarray(path.y), np.asarray(path.z) + z_off
-  pts = calibration.car_space_to_bb(x, y, z)
-  pts = np.round(pts).astype(int)
-
-  # draw lidar path point on lidar
-  # find color in 8 bit
-  if lid_color is not None and top_down is not None:
-    tcolor = find_color(top_down[0], lid_color)
-    for i in range(len(x)):
-      px, py = to_topdown_pt(x[i], y[i])
-      if px != -1:
-        top_down[1][px, py] = tcolor
-
-  height, width = img.shape[:2]
-  for x, y in pts:
-    if 1 < x < width - 1 and 1 < y < height - 1:
-      for a, b in itertools.permutations([-1, 0, -1], 2):
-        img[y + a, x + b] = color
-
-
-def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles):
-  color_palette = { "r": (1, 0, 0),
-                    "g": (0, 1, 0),
-                    "b": (0, 0, 1),
-                    "k": (0, 0, 0),
-                    "y": (1, 1, 0),
-                    "p": (0, 1, 1),
-                    "m": (1, 0, 1)}
-
-  dpi = 90
-  fig = plt.figure(figsize=(575 / dpi, 600 / dpi), dpi=dpi)
-  canvas = FigureCanvasAgg(fig)
-
-  fig.set_facecolor((0.2, 0.2, 0.2))
-
-  axs = []
-  for pn in range(len(plot_ylims)):
-    ax = fig.add_subplot(len(plot_ylims), 1, len(axs)+1)
-    ax.set_xlim(plot_xlims[pn][0], plot_xlims[pn][1])
-    ax.set_ylim(plot_ylims[pn][0], plot_ylims[pn][1])
-    ax.patch.set_facecolor((0.4, 0.4, 0.4))
-    axs.append(ax)
-
-  plots, idxs, plot_select = [], [], []
-  for i, pl_list in enumerate(plot_names):
-    for j, item in enumerate(pl_list):
-      plot, = axs[i].plot(arr[:, name_to_arr_idx[item]],
-                          label=item,
-                          color=color_palette[plot_colors[i][j]],
-                          linestyle=plot_styles[i][j])
-      plots.append(plot)
-      idxs.append(name_to_arr_idx[item])
-      plot_select.append(i)
-    axs[i].set_title(", ".join(f"{nm} ({cl})"
-                               for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
-    axs[i].tick_params(axis="x", colors="white")
-    axs[i].tick_params(axis="y", colors="white")
-    axs[i].title.set_color("white")
-
-    if i < len(plot_ylims) - 1:
-      axs[i].set_xticks([])
-
-  canvas.draw()
-
-  def draw_plots(arr):
-    for ax in axs:
-      ax.draw_artist(ax.patch)
-    for i in range(len(plots)):
-      plots[i].set_ydata(arr[:, idxs[i]])
-      axs[plot_select[i]].draw_artist(plots[i])
-
-    raw_data = canvas.buffer_rgba()
-    plot_surface = pygame.image.frombuffer(raw_data, canvas.get_width_height(), "RGBA").convert()
-    return plot_surface
-
-  return draw_plots
-
-
-def pygame_modules_have_loaded():
-  return pygame.display.get_init() and pygame.font.get_init()
-
-
-def plot_model(m, img, calibration, top_down):
-  if calibration is None or top_down is None:
-    return
-
-  for lead in m.leadsV3:
-    if lead.prob < 0.5:
-      continue
-
-    x, y = lead.x[0], lead.y[0]
-    x_std = lead.xStd[0]
-    x -= RADAR_TO_CAMERA
-
-    _, py_top = to_topdown_pt(x + x_std, y)
-    px, py_bottom = to_topdown_pt(x - x_std, y)
-    top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW)
-
-  for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True):
-    color = (0, int(255 * prob), 0)
-    draw_path(path, color, img, calibration, top_down, YELLOW)
-
-  for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True):
-    prob = max(1 - std, 0)
-    color = (int(255 * prob), 0, 0)
-    draw_path(edge, color, img, calibration, top_down, RED)
-
-  color = (255, 0, 0)
-  draw_path(m.position, color, img, calibration, top_down, RED, 1.22)
-
-
-def plot_lead(rs, top_down):
-  for lead in [rs.leadOne, rs.leadTwo]:
-    if not lead.status:
-      continue
-
-    x = lead.dRel
-    px_left, py = to_topdown_pt(x, -10)
-    px_right, _ = to_topdown_pt(x, 10)
-    top_down[1][px_left:px_right, py] = find_color(top_down[0], RED)
-
-
-def maybe_update_radar_points(lt, lid_overlay):
-  ar_pts = []
-  if lt is not None:
-    ar_pts = {}
-    for track in lt:
-      ar_pts[track.trackId] = [track.dRel, track.yRel, track.vRel, track.aRel, track.oncoming, track.stationary]
-  for ids, pt in ar_pts.items():
-    # negative here since radar is left positive
-    px, py = to_topdown_pt(pt[0], -pt[1])
-    if px != -1:
-      if pt[-1]:
-        color = 240
-      elif pt[-2]:
-        color = 230
-      else:
-        color = 255
-      if int(ids) == 1:
-        lid_overlay[px - 2:px + 2, py - 10:py + 10] = 100
-      else:
-        lid_overlay[px - 2:px + 2, py - 2:py + 2] = color
-
-def get_blank_lid_overlay(UP):
-  lid_overlay = np.zeros((UP.lidar_x, UP.lidar_y), 'uint8')
-  # Draw the car.
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y -
-                                                      UP.car_front))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)):int(
-    round(UP.lidar_car_x + UP.car_hwidth)), int(round(UP.lidar_car_y +
-                                                      UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x - UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  lid_overlay[int(round(UP.lidar_car_x + UP.car_hwidth)), int(
-    round(UP.lidar_car_y - UP.car_front)):int(round(
-      UP.lidar_car_y + UP.car_back))] = UP.car_color
-  return lid_overlay
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index 0f1638145fd424..415b8c0b5e28aa 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -4,11 +4,17 @@
 #include <utility>
 #include "tools/replay/filereader.h"
 #include "tools/replay/util.h"
+#include "common/util.h"
 
 bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
   std::string data = FileReader(local_cache, chunk_size, retries).read(url, abort);
-  if (!data.empty() && url.find(".bz2") != std::string::npos)
-    data = decompressBZ2(data, abort);
+  if (!data.empty()) {
+    if (url.find(".bz2") != std::string::npos || util::starts_with(data, "BZh9")) {
+      data = decompressBZ2(data, abort);
+    } else if (url.find(".zst") != std::string::npos || util::starts_with(data, "\x28\xB5\x2F\xFD")) {
+      data = decompressZST(data, abort);
+    }
+  }
 
   bool success = !data.empty() && load(data.data(), data.size(), abort);
   if (filters_.empty())
@@ -42,10 +48,10 @@ bool LogReader::load(const char *data, size_t size, std::atomic<bool> *abort) {
           evt.which == cereal::Event::DRIVER_ENCODE_IDX ||
           evt.which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
         auto idx = capnp::AnyStruct::Reader(event).getPointerSection()[0].getAs<cereal::EncodeIndex>();
-        if (uint64_t sof = idx.getTimestampSof()) {
-          mono_time = sof;
+        if (idx.getType() == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
+          uint64_t sof = idx.getTimestampSof();
+          events.emplace_back(which, sof ? sof : mono_time, event_data, idx.getSegmentNum());
         }
-        events.emplace_back(which, mono_time, event_data, idx.getSegmentNum());
       }
     }
   } catch (const kj::Exception &e) {
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 8616437188afa0..4fea879f8b5a27 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -50,20 +50,20 @@ Replay::~Replay() {
 }
 
 void Replay::stop() {
-  if (!stream_thread_ && segments_.empty()) return;
-
-  rInfo("shutdown: in progress...");
+  exit_ = true;
   if (stream_thread_ != nullptr) {
-    exit_ = true;
-    paused_ = true;
+    rInfo("shutdown: in progress...");
+    pauseStreamThread();
     stream_cv_.notify_one();
     stream_thread_->quit();
     stream_thread_->wait();
-    delete stream_thread_;
+    stream_thread_->deleteLater();
     stream_thread_ = nullptr;
+    rInfo("shutdown: done");
   }
   timeline_future.waitForFinished();
-  rInfo("shutdown: done");
+  camera_server_.reset(nullptr);
+  segments_.clear();
 }
 
 bool Replay::load() {
@@ -85,6 +85,7 @@ bool Replay::load() {
     return false;
   }
   rInfo("load route %s with %zu valid segments", qPrintable(route_->name()), segments_.size());
+  max_seconds_ = (segments_.rbegin()->first + 1) * 60;
   return true;
 }
 
@@ -104,28 +105,44 @@ void Replay::updateEvents(const std::function<bool()> &update_events_function) {
 
 void Replay::seekTo(double seconds, bool relative) {
   updateEvents([&]() {
-    seeking_to_seconds_ = relative ? seconds + currentSeconds() : seconds;
-    seeking_to_seconds_ = std::max(double(0.0), seeking_to_seconds_);
-    int target_segment = (int)seeking_to_seconds_ / 60;
+    double target_time = relative ? seconds + currentSeconds() : seconds;
+    target_time = std::max(double(0.0), target_time);
+    int target_segment = (int)target_time / 60;
     if (segments_.count(target_segment) == 0) {
-      rWarning("can't seek to %d s segment %d is invalid", (int)seeking_to_seconds_, target_segment);
+      rWarning("Can't seek to %.2f s segment %d is invalid", target_time, target_segment);
+      return true;
+    }
+    if (target_time > max_seconds_) {
+      rWarning("Can't seek to %.2f s, time is invalid", target_time);
       return true;
     }
 
-    rInfo("seeking to %d s, segment %d", (int)seeking_to_seconds_, target_segment);
+    rInfo("Seeking to %d s, segment %d", (int)target_time, target_segment);
     current_segment_ = target_segment;
-    cur_mono_time_ = route_start_ts_ + seeking_to_seconds_ * 1e9;
-    bool segment_merged = isSegmentMerged(target_segment);
-    if (segment_merged) {
-      emit seekedTo(seeking_to_seconds_);
-      // Reset seeking_to_seconds_ to indicate completion of seek
-      seeking_to_seconds_ = -1;
-    }
-    return segment_merged;
+    cur_mono_time_ = route_start_ts_ + target_time * 1e9;
+    seeking_to_ = target_time;
+    return false;
   });
+
+  checkSeekProgress();
   updateSegmentsCache();
 }
 
+void Replay::checkSeekProgress() {
+  if (seeking_to_) {
+    auto it = segments_.find(int(*seeking_to_ / 60));
+    if (it != segments_.end() && it->second && it->second->isLoaded()) {
+      emit seekedTo(*seeking_to_);
+      seeking_to_ = std::nullopt;
+      // wake up stream thread
+      updateEvents([]() { return true; });
+    } else {
+      // Emit signal indicating the ongoing seek operation
+      emit seeking(*seeking_to_);
+    }
+  }
+}
+
 void Replay::seekToFlag(FindFlag flag) {
   if (auto next = find(flag)) {
     seekTo(*next - 2, false);  // seek to 2 seconds before next
@@ -150,8 +167,9 @@ void Replay::buildTimeline() {
   const auto &route_segments = route_->segments();
   for (auto it = route_segments.cbegin(); it != route_segments.cend() && !exit_; ++it) {
     std::shared_ptr<LogReader> log(new LogReader());
-    if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3)) continue;
+    if (!log->load(it->second.qlog.toStdString(), &exit_, !hasFlag(REPLAY_FLAG_NO_FILE_CACHE), 0, 3) || log->events.empty()) continue;
 
+    std::vector<std::tuple<double, double, TimelineType>> timeline;
     for (const Event &e : log->events) {
       if (e.which == cereal::Event::Which::CONTROLS_STATE) {
         capnp::FlatArrayMessageReader reader(e.data);
@@ -160,7 +178,6 @@ void Replay::buildTimeline() {
 
         if (engaged != cs.getEnabled()) {
           if (engaged) {
-            std::lock_guard lk(timeline_lock);
             timeline.push_back({toSeconds(engaged_begin), toSeconds(e.mono_time), TimelineType::Engaged});
           }
           engaged_begin = e.mono_time;
@@ -169,7 +186,6 @@ void Replay::buildTimeline() {
 
         if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) {
           if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
-            std::lock_guard lk(timeline_lock);
             timeline.push_back({toSeconds(alert_begin), toSeconds(e.mono_time), timeline_types[(int)alert_status]});
           }
           alert_begin = e.mono_time;
@@ -178,12 +194,27 @@ void Replay::buildTimeline() {
           alert_status = cs.getAlertStatus();
         }
       } else if (e.which == cereal::Event::Which::USER_FLAG) {
-        std::lock_guard lk(timeline_lock);
         timeline.push_back({toSeconds(e.mono_time), toSeconds(e.mono_time), TimelineType::UserFlag});
       }
     }
-    std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
-    emit qLogLoaded(it->first, log);
+
+    if (it->first == route_segments.rbegin()->first) {
+      if (engaged) {
+        timeline.push_back({toSeconds(engaged_begin), toSeconds(log->events.back().mono_time), TimelineType::Engaged});
+      }
+      if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
+        timeline.push_back({toSeconds(alert_begin), toSeconds(log->events.back().mono_time), timeline_types[(int)alert_status]});
+      }
+
+      max_seconds_ = std::ceil(toSeconds(log->events.back().mono_time));
+      emit minMaxTimeChanged(route_segments.cbegin()->first * 60.0, max_seconds_);
+    }
+    {
+      std::lock_guard lk(timeline_lock);
+      timeline_.insert(timeline_.end(), timeline.begin(), timeline.end());
+      std::sort(timeline_.begin(), timeline_.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
+    }
+    emit qLogLoaded(log);
   }
 }
 
@@ -260,14 +291,13 @@ void Replay::updateSegmentsCache() {
   const auto &cur_segment = cur->second;
   if (stream_thread_ == nullptr && cur_segment->isLoaded()) {
     startStream(cur_segment.get());
-    emit streamStarted();
   }
 }
 
 void Replay::loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator cur, SegmentMap::iterator end) {
-  auto loadNext = [this](auto begin, auto end) {
-    auto it = std::find_if(begin, end, [](const auto &seg_it) { return !seg_it.second || !seg_it.second->isLoaded(); });
-    if (it != end && !it->second) {
+  auto loadNextSegment = [this](auto first, auto last) {
+    auto it = std::find_if(first, last, [](const auto &seg_it) { return !seg_it.second || !seg_it.second->isLoaded(); });
+    if (it != last && !it->second) {
       rDebug("loading segment %d...", it->first);
       it->second = std::make_unique<Segment>(it->first, route_->at(it->first), flags_, filters_);
       QObject::connect(it->second.get(), &Segment::loadFinished, this, &Replay::segmentLoadFinished);
@@ -276,9 +306,9 @@ void Replay::loadSegmentInRange(SegmentMap::iterator begin, SegmentMap::iterator
     return false;
   };
 
-  // Load forward segments, then try reverse
-  if (!loadNext(cur, end)) {
-    loadNext(std::make_reverse_iterator(cur), segments_.rend());
+  // Try loading forward segments, then reverse segments
+  if (!loadNextSegment(cur, end)) {
+    loadNextSegment(std::make_reverse_iterator(cur), std::make_reverse_iterator(begin));
   }
 }
 
@@ -316,15 +346,10 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::
   updateEvents([&]() {
     events_.swap(new_events);
     merged_segments_ = segments_to_merge;
-    // Check if seeking is in progress
-    int target_segment = int(seeking_to_seconds_ / 60);
-    if (seeking_to_seconds_ >= 0 && segments_to_merge.count(target_segment) > 0) {
-      emit seekedTo(seeking_to_seconds_);
-      seeking_to_seconds_ = -1;  // Reset seeking_to_seconds_ to indicate completion of seek
-    }
     // Wake up the stream thread if the current segment is loaded or invalid.
-    return isSegmentMerged(current_segment_) || (segments_.count(current_segment_) == 0);
+    return !seeking_to_ && (isSegmentMerged(current_segment_) || (segments_.count(current_segment_) == 0));
   });
+  checkSeekProgress();
 }
 
 void Replay::startStream(const Segment *cur_segment) {
@@ -379,6 +404,7 @@ void Replay::startStream(const Segment *cur_segment) {
   stream_thread_->start();
 
   timeline_future = QtConcurrent::run(this, &Replay::buildTimeline);
+  emit streamStarted();
 }
 
 void Replay::publishMessage(const Event *e) {
@@ -449,7 +475,7 @@ void Replay::streamThread() {
       int last_segment = segments_.rbegin()->first;
       if (current_segment_ >= last_segment && isSegmentMerged(last_segment)) {
         rInfo("reaches the end of route, restart from beginning");
-        QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, 0, false), Qt::QueuedConnection);
+        QMetaObject::invokeMethod(this, std::bind(&Replay::seekTo, this, minSeconds(), false), Qt::QueuedConnection);
       }
     }
   }
@@ -473,6 +499,7 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
      // Skip events if socket is not present
     if (!sockets_[evt.which]) continue;
 
+    cur_mono_time_ = evt.mono_time;
     const uint64_t current_nanos = nanos_since_boot();
     const int64_t time_diff = (evt.mono_time - evt_start_ts) / speed_ - (current_nanos - loop_start_ts);
 
@@ -484,12 +511,11 @@ std::vector<Event>::const_iterator Replay::publishEvents(std::vector<Event>::con
       loop_start_ts = current_nanos;
       prev_replay_speed = speed_;
     } else if (time_diff > 0) {
-      precise_nano_sleep(time_diff);
+      precise_nano_sleep(time_diff, paused_);
     }
 
     if (paused_) break;
 
-    cur_mono_time_ = evt.mono_time;
     if (evt.eidx_segnum == -1) {
       publishMessage(&evt);
     } else if (camera_server_) {
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 4adbc14df8558d..ac829ffb71b752 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -53,6 +53,7 @@ class Replay : public QObject {
          uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0);
   ~Replay();
   bool load();
+  RouteLoadError lastRouteError() const { return route_->lastError(); }
   void start(int seconds = 0);
   void stop();
   void pause(bool pause);
@@ -75,9 +76,10 @@ class Replay : public QObject {
   inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
   inline QDateTime routeDateTime() const { return route_date_time_; }
   inline QDateTime currentDateTime() const { return route_date_time_.addSecs(currentSeconds()); }
-  inline uint64_t routeStartTime() const { return route_start_ts_; }
+  inline uint64_t routeStartNanos() const { return route_start_ts_; }
   inline double toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
-  inline int totalSeconds() const { return (!segments_.empty()) ? (segments_.rbegin()->first + 1) * 60 : 0; }
+  inline double minSeconds() const { return !segments_.empty() ? segments_.begin()->first * 60 : 0; }
+  inline double maxSeconds() const { return max_seconds_; }
   inline void setSpeed(float speed) { speed_ = speed; }
   inline float getSpeed() const { return speed_; }
   inline const std::vector<Event> *events() const { return &events_; }
@@ -85,14 +87,16 @@ class Replay : public QObject {
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
   inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() {
     std::lock_guard lk(timeline_lock);
-    return timeline;
+    return timeline_;
   }
 
 signals:
   void streamStarted();
   void segmentsMerged();
+  void seeking(double sec);
   void seekedTo(double sec);
-  void qLogLoaded(int segnum, std::shared_ptr<LogReader> qlog);
+  void qLogLoaded(std::shared_ptr<LogReader> qlog);
+  void minMaxTimeChanged(double min_sec, double max_sec);
 
 protected slots:
   void segmentLoadFinished(bool success);
@@ -112,6 +116,7 @@ protected slots:
   void publishMessage(const Event *e);
   void publishFrame(const Event *e);
   void buildTimeline();
+  void checkSeekProgress();
   inline bool isSegmentMerged(int n) const { return merged_segments_.count(n) > 0; }
 
   pthread_t stream_thread_id = 0;
@@ -120,7 +125,7 @@ protected slots:
   bool user_paused_ = false;
   std::condition_variable stream_cv_;
   std::atomic<int> current_segment_ = 0;
-  double seeking_to_seconds_ = -1;
+  std::optional<double> seeking_to_;
   SegmentMap segments_;
   // the following variables must be protected with stream_lock_
   std::atomic<bool> exit_ = false;
@@ -129,6 +134,7 @@ protected slots:
   QDateTime route_date_time_;
   uint64_t route_start_ts_ = 0;
   std::atomic<uint64_t> cur_mono_time_ = 0;
+  std::atomic<double> max_seconds_ = 0;
   std::vector<Event> events_;
   std::set<int> merged_segments_;
 
@@ -143,7 +149,7 @@ protected slots:
 
   std::mutex timeline_lock;
   QFuture<void> timeline_future;
-  std::vector<std::tuple<double, double, TimelineType>> timeline;
+  std::vector<std::tuple<double, double, TimelineType>> timeline_;
   std::string car_fingerprint_;
   std::atomic<float> speed_ = 1.0;
   replayEventFilter event_filter = nullptr;
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index e8e73459eab4b3..c1e65526cf7b5e 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -39,6 +39,7 @@ RouteIdentifier Route::parseRoute(const QString &str) {
 }
 
 bool Route::load() {
+  err_ = RouteLoadError::None;
   if (route_.str.isEmpty() || (data_dir_.isEmpty() && route_.dongle_id.isEmpty())) {
     rInfo("invalid route format");
     return false;
@@ -74,7 +75,14 @@ bool Route::loadFromServer(int retries) {
       return loadFromJson(result);
     } else if (err == QNetworkReply::ContentAccessDenied || err == QNetworkReply::AuthenticationRequiredError) {
       rWarning(">>  Unauthorized. Authenticate with tools/lib/auth.py  <<");
+      err_ = RouteLoadError::AccessDenied;
       return false;
+    } else if (err == QNetworkReply::ContentNotFoundError) {
+      rWarning("The specified route could not be found on the server.");
+      err_ = RouteLoadError::FileNotFound;
+      return false;
+    } else {
+      err_ = RouteLoadError::NetworkError;
     }
     rWarning("Retrying %d/%d", i, retries);
     util::sleep_for(3000);
@@ -114,9 +122,9 @@ void Route::addFileToSegment(int n, const QString &file) {
   const int pos = name.lastIndexOf("--");
   name = pos != -1 ? name.mid(pos + 2) : name;
 
-  if (name == "rlog.bz2" || name == "rlog") {
+  if (name == "rlog.bz2" || name == "rlog.zst" || name == "rlog") {
     segments_[n].rlog = file;
-  } else if (name == "qlog.bz2" || name == "qlog") {
+  } else if (name == "qlog.bz2" || name == "qlog.zst" || name == "qlog") {
     segments_[n].qlog = file;
   } else if (name == "fcamera.hevc") {
     segments_[n].road_cam = file;
diff --git a/tools/replay/route.h b/tools/replay/route.h
index f95649780462c7..acc73d509a1f6d 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -12,6 +12,14 @@
 #include "tools/replay/logreader.h"
 #include "tools/replay/util.h"
 
+enum class RouteLoadError {
+  None,
+  AccessDenied,
+  NetworkError,
+  FileNotFound,
+  UnknownError
+};
+
 struct RouteIdentifier {
   QString dongle_id;
   QString timestamp;
@@ -33,6 +41,7 @@ class Route {
 public:
   Route(const QString &route, const QString &data_dir = {});
   bool load();
+  RouteLoadError lastError() const { return err_; }
   inline const QString &name() const { return route_.str; }
   inline const QDateTime datetime() const { return date_time_; }
   inline const QString &dir() const { return data_dir_; }
@@ -50,6 +59,7 @@ class Route {
   QString data_dir_;
   std::map<int, SegmentFile> segments_;
   QDateTime date_time_;
+  RouteLoadError err_ = RouteLoadError::None;
 };
 
 class Segment : public QObject {
diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py
new file mode 100755
index 00000000000000..01058967b2cc56
--- /dev/null
+++ b/tools/replay/rp_visualization.py
@@ -0,0 +1,59 @@
+#!/usr/bin/env python3
+import argparse
+import os
+import sys
+import numpy as np
+import rerun as rr
+import cereal.messaging as messaging
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.replay.lib.rp_helpers import (UP, rerunColorPalette,
+                                         get_blank_lid_overlay,
+                                         maybe_update_radar_points, plot_lead,
+                                         plot_model)
+from msgq.visionipc import VisionIpcClient, VisionStreamType
+
+os.environ['BASEDIR'] = BASEDIR
+
+UP.lidar_zoom = 6
+
+def visualize(addr):
+  sm = messaging.SubMaster(['radarState', 'liveTracks', 'modelV2'], addr=addr)
+  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
+  while True:
+    if not vipc_client.is_connected():
+      vipc_client.connect(True)
+    new_data = vipc_client.recv()
+    if new_data is None or not new_data.data.any():
+      continue
+
+    sm.update(0)
+    lid_overlay = get_blank_lid_overlay(UP)
+    if sm.recv_frame['modelV2']:
+      plot_model(sm['modelV2'], lid_overlay)
+    if sm.recv_frame['radarState']:
+      plot_lead(sm['radarState'], lid_overlay)
+    liveTracksTime = sm.logMonoTime['liveTracks']
+    maybe_update_radar_points(sm['liveTracks'], lid_overlay)
+    rr.set_time_nanos("TIMELINE", liveTracksTime)
+    rr.log("tracks", rr.SegmentationImage(np.flip(np.rot90(lid_overlay, k=-1), axis=1)))
+
+
+def get_arg_parser():
+  parser = argparse.ArgumentParser(
+    description="Show replay data in a UI.",
+    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
+                      help="The ip address on which to receive zmq messages.")
+  parser.add_argument("--frame-address", default=None,
+                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
+  return parser
+
+
+if __name__ == "__main__":
+  args = get_arg_parser().parse_args(sys.argv[1:])
+  if args.ip_address != "127.0.0.1":
+    os.environ["ZMQ"] = "1"
+    messaging.reset_context()
+  rr.init("RadarPoints", spawn= True)
+  rr.log("tracks", rr.AnnotationContext(rerunColorPalette), static=True)
+  visualize(args.ip_address)
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
deleted file mode 100755
index a790f14ff0ef6e..00000000000000
--- a/tools/replay/ui.py
+++ /dev/null
@@ -1,239 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import os
-import sys
-
-import cv2
-import numpy as np
-import pygame
-
-import cereal.messaging as messaging
-from openpilot.common.numpy_fast import clip
-from openpilot.common.basedir import BASEDIR
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.tools.replay.lib.ui_helpers import (UP,
-                                         BLACK, GREEN,
-                                         YELLOW, Calibration,
-                                         get_blank_lid_overlay, init_plots,
-                                         maybe_update_radar_points, plot_lead,
-                                         plot_model,
-                                         pygame_modules_have_loaded)
-from msgq.visionipc import VisionIpcClient, VisionStreamType
-
-os.environ['BASEDIR'] = BASEDIR
-
-ANGLE_SCALE = 5.0
-
-def ui_thread(addr):
-  cv2.setNumThreads(1)
-  pygame.init()
-  pygame.font.init()
-  assert pygame_modules_have_loaded()
-
-  disp_info = pygame.display.Info()
-  max_height = disp_info.current_h
-
-  hor_mode = os.getenv("HORIZONTAL") is not None
-  hor_mode = True if max_height < 960+300 else hor_mode
-
-  if hor_mode:
-    size = (640+384+640, 960)
-    write_x = 5
-    write_y = 680
-  else:
-    size = (640+384, 960+300)
-    write_x = 645
-    write_y = 970
-
-  pygame.display.set_caption("openpilot debug UI")
-  screen = pygame.display.set_mode(size, pygame.DOUBLEBUF)
-
-  alert1_font = pygame.font.SysFont("arial", 30)
-  alert2_font = pygame.font.SysFont("arial", 20)
-  info_font = pygame.font.SysFont("arial", 15)
-
-  camera_surface = pygame.surface.Surface((640, 480), 0, 24).convert()
-  top_down_surface = pygame.surface.Surface((UP.lidar_x, UP.lidar_y), 0, 8)
-
-  sm = messaging.SubMaster(['carState', 'longitudinalPlan', 'carControl', 'radarState', 'liveCalibration', 'controlsState',
-                            'liveTracks', 'modelV2', 'liveParameters', 'roadCameraState'], addr=addr)
-
-  img = np.zeros((480, 640, 3), dtype='uint8')
-  imgff = None
-  num_px = 0
-  calibration = None
-
-  lid_overlay_blank = get_blank_lid_overlay(UP)
-
-  # plots
-  name_to_arr_idx = { "gas": 0,
-                      "computer_gas": 1,
-                      "user_brake": 2,
-                      "computer_brake": 3,
-                      "v_ego": 4,
-                      "v_pid": 5,
-                      "angle_steers_des": 6,
-                      "angle_steers": 7,
-                      "angle_steers_k": 8,
-                      "steer_torque": 9,
-                      "v_override": 10,
-                      "v_cruise": 11,
-                      "a_ego": 12,
-                      "a_target": 13}
-
-  plot_arr = np.zeros((100, len(name_to_arr_idx.values())))
-
-  plot_xlims = [(0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0]), (0, plot_arr.shape[0])]
-  plot_ylims = [(-0.1, 1.1), (-ANGLE_SCALE, ANGLE_SCALE), (0., 75.), (-3.0, 2.0)]
-  plot_names = [["gas", "computer_gas", "user_brake", "computer_brake"],
-                ["angle_steers", "angle_steers_des", "angle_steers_k", "steer_torque"],
-                ["v_ego", "v_override", "v_pid", "v_cruise"],
-                ["a_ego", "a_target"]]
-  plot_colors = [["b", "b", "g", "r", "y"],
-                 ["b", "g", "y", "r"],
-                 ["b", "g", "r", "y"],
-                 ["b", "r"]]
-  plot_styles = [["-", "-", "-", "-", "-"],
-                 ["-", "-", "-", "-"],
-                 ["-", "-", "-", "-"],
-                 ["-", "-"]]
-
-  draw_plots = init_plots(plot_arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_colors, plot_styles)
-
-  vipc_client = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_ROAD, True)
-  while True:
-    for event in pygame.event.get():
-      if event.type == pygame.QUIT:
-        pygame.quit()
-        sys.exit()
-
-    screen.fill((64, 64, 64))
-    lid_overlay = lid_overlay_blank.copy()
-    top_down = top_down_surface, lid_overlay
-
-    # ***** frame *****
-    if not vipc_client.is_connected():
-      vipc_client.connect(True)
-
-    yuv_img_raw = vipc_client.recv()
-    if yuv_img_raw is None or not yuv_img_raw.data.any():
-      continue
-
-    sm.update(0)
-
-    camera = DEVICE_CAMERAS[("tici", str(sm['roadCameraState'].sensor))]
-
-    imgff = np.frombuffer(yuv_img_raw.data, dtype=np.uint8).reshape((len(yuv_img_raw.data) // vipc_client.stride, vipc_client.stride))
-    num_px = vipc_client.width * vipc_client.height
-    rgb = cv2.cvtColor(imgff[:vipc_client.height * 3 // 2, :vipc_client.width], cv2.COLOR_YUV2RGB_NV12)
-
-    qcam = "QCAM" in os.environ
-    bb_scale = (528 if qcam else camera.fcam.width) / 640.
-    calib_scale = camera.fcam.width / 640.
-    zoom_matrix = np.asarray([
-        [bb_scale, 0., 0.],
-        [0., bb_scale, 0.],
-        [0., 0., 1.]])
-    cv2.warpAffine(rgb, zoom_matrix[:2], (img.shape[1], img.shape[0]), dst=img, flags=cv2.WARP_INVERSE_MAP)
-
-    intrinsic_matrix = camera.fcam.intrinsics
-
-    w = sm['controlsState'].lateralControlState.which()
-    if w == 'lqrStateDEPRECATED':
-      angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg
-    elif w == 'indiState':
-      angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
-    else:
-      angle_steers_k = np.inf
-
-    plot_arr[:-1] = plot_arr[1:]
-    plot_arr[-1, name_to_arr_idx['angle_steers']] = sm['carState'].steeringAngleDeg
-    plot_arr[-1, name_to_arr_idx['angle_steers_des']] = sm['carControl'].actuators.steeringAngleDeg
-    plot_arr[-1, name_to_arr_idx['angle_steers_k']] = angle_steers_k
-    plot_arr[-1, name_to_arr_idx['gas']] = sm['carState'].gas
-    # TODO gas is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
-    plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
-    plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
-    # TODO brake is deprecated
-    plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
-    plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo
-    plot_arr[-1, name_to_arr_idx['v_pid']] = sm['controlsState'].vPid
-    plot_arr[-1, name_to_arr_idx['v_cruise']] = sm['carState'].cruiseState.speed
-    plot_arr[-1, name_to_arr_idx['a_ego']] = sm['carState'].aEgo
-
-    if len(sm['longitudinalPlan'].accels):
-      plot_arr[-1, name_to_arr_idx['a_target']] = sm['longitudinalPlan'].accels[0]
-
-    if sm.recv_frame['modelV2']:
-      plot_model(sm['modelV2'], img, calibration, top_down)
-
-    if sm.recv_frame['radarState']:
-      plot_lead(sm['radarState'], top_down)
-
-    # draw all radar points
-    maybe_update_radar_points(sm['liveTracks'], top_down[1])
-
-    if sm.updated['liveCalibration'] and num_px:
-      rpyCalib = np.asarray(sm['liveCalibration'].rpyCalib)
-      calibration = Calibration(num_px, rpyCalib, intrinsic_matrix, calib_scale)
-
-    # *** blits ***
-    pygame.surfarray.blit_array(camera_surface, img.swapaxes(0, 1))
-    screen.blit(camera_surface, (0, 0))
-
-    # display alerts
-    alert_line1 = alert1_font.render(sm['controlsState'].alertText1, True, (255, 0, 0))
-    alert_line2 = alert2_font.render(sm['controlsState'].alertText2, True, (255, 0, 0))
-    screen.blit(alert_line1, (180, 150))
-    screen.blit(alert_line2, (180, 190))
-
-    if hor_mode:
-      screen.blit(draw_plots(plot_arr), (640+384, 0))
-    else:
-      screen.blit(draw_plots(plot_arr), (0, 600))
-
-    pygame.surfarray.blit_array(*top_down)
-    screen.blit(top_down[0], (640, 0))
-
-    SPACING = 25
-
-    lines = [
-      info_font.render("ENABLED", True, GREEN if sm['controlsState'].enabled else BLACK),
-      info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
-      info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
-      info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),
-      None,
-      info_font.render("ANGLE OFFSET (AVG): " + str(round(sm['liveParameters'].angleOffsetAverageDeg, 2)) + " deg", True, YELLOW),
-      info_font.render("ANGLE OFFSET (INSTANT): " + str(round(sm['liveParameters'].angleOffsetDeg, 2)) + " deg", True, YELLOW),
-      info_font.render("STIFFNESS: " + str(round(sm['liveParameters'].stiffnessFactor * 100., 2)) + " %", True, YELLOW),
-      info_font.render("STEER RATIO: " + str(round(sm['liveParameters'].steerRatio, 2)), True, YELLOW)
-    ]
-
-    for i, line in enumerate(lines):
-      if line is not None:
-        screen.blit(line, (write_x, write_y + i * SPACING))
-
-    # this takes time...vsync or something
-    pygame.display.flip()
-
-def get_arg_parser():
-  parser = argparse.ArgumentParser(
-    description="Show replay data in a UI.",
-    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-
-  parser.add_argument("ip_address", nargs="?", default="127.0.0.1",
-                      help="The ip address on which to receive zmq messages.")
-
-  parser.add_argument("--frame-address", default=None,
-                      help="The frame address (fully qualified ZMQ endpoint for frames) on which to receive zmq messages.")
-  return parser
-
-if __name__ == "__main__":
-  args = get_arg_parser().parse_args(sys.argv[1:])
-
-  if args.ip_address != "127.0.0.1":
-    os.environ["ZMQ"] = "1"
-    messaging.context = messaging.Context()
-
-  ui_thread(args.ip_address)
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index c8203fd79d815a..81e87b7dd393b8 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -15,6 +15,7 @@
 #include <mutex>
 #include <numeric>
 #include <utility>
+#include <zstd.h>
 
 #include "common/timing.h"
 #include "common/util.h"
@@ -300,7 +301,7 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool>
     if (bzerror == BZ_OK && prev_write_pos == strm.next_out) {
       // content is corrupt
       bzerror = BZ_STREAM_END;
-      rWarning("decompressBZ2 error : content is corrupt");
+      rWarning("decompressBZ2 error: content is corrupt");
       break;
     }
 
@@ -318,33 +319,57 @@ std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool>
   return {};
 }
 
-void precise_nano_sleep(int64_t nanoseconds) {
-#ifdef __APPLE__
-  const long estimate_ns = 1 * 1e6;  // 1ms
-  struct timespec req = {.tv_nsec = estimate_ns};
-  uint64_t start_sleep = nanos_since_boot();
-  while (nanoseconds > estimate_ns) {
-    nanosleep(&req, nullptr);
-    uint64_t end_sleep = nanos_since_boot();
-    nanoseconds -= (end_sleep - start_sleep);
-    start_sleep = end_sleep;
-  }
-  // spin wait
-  if (nanoseconds > 0) {
-    while ((nanos_since_boot() - start_sleep) <= nanoseconds) {
-      std::this_thread::yield();
+std::string decompressZST(const std::string &in, std::atomic<bool> *abort) {
+  return decompressZST((std::byte *)in.data(), in.size(), abort);
+}
+
+std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool> *abort) {
+  ZSTD_DCtx *dctx = ZSTD_createDCtx();
+  assert(dctx != nullptr);
+
+  // Initialize input and output buffers
+  ZSTD_inBuffer input = {in, in_size, 0};
+  std::string decompressedData;
+  const size_t bufferSize = ZSTD_DStreamOutSize();  // recommended output buffer size
+  std::string outputBuffer(bufferSize, '\0');
+
+  while (input.pos < input.size && !(abort && *abort)) {
+    ZSTD_outBuffer output = {outputBuffer.data(), bufferSize, 0};
+
+    size_t result = ZSTD_decompressStream(dctx, &output, &input);
+    if (ZSTD_isError(result)) {
+      rWarning("decompressZST error: content is corrupt");
+      break;
     }
+
+    decompressedData.append(outputBuffer.data(), output.pos);
   }
-#else
-  struct timespec req, rem;
 
-  req.tv_sec = nanoseconds / 1e9;
-  req.tv_nsec = nanoseconds % (int64_t)1e9;
-  while (clock_nanosleep(CLOCK_MONOTONIC, 0, &req, &rem) && errno == EINTR) {
+  ZSTD_freeDCtx(dctx);
+  if (!(abort && *abort)) {
+    decompressedData.shrink_to_fit();
+    return decompressedData;
+  }
+  return {};
+}
+
+void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit) {
+  struct timespec req, rem;
+  req.tv_sec = nanoseconds / 1000000000;
+  req.tv_nsec = nanoseconds % 1000000000;
+  while (!should_exit) {
+#ifdef __APPLE__
+    int ret = nanosleep(&req, &rem);
+    if (ret == 0 || errno != EINTR)
+      break;
+#else
+    int ret = clock_nanosleep(CLOCK_MONOTONIC, 0, &req, &rem);
+    if (ret == 0 || ret != EINTR)
+      break;
+#endif
     // Retry sleep if interrupted by a signal
     req = rem;
   }
-#endif
 }
 
 std::string sha256(const std::string &str) {
diff --git a/tools/replay/util.h b/tools/replay/util.h
index 750c13355520aa..c3b016c3918b13 100644
--- a/tools/replay/util.h
+++ b/tools/replay/util.h
@@ -37,9 +37,11 @@ class MonotonicBuffer {
 };
 
 std::string sha256(const std::string &str);
-void precise_nano_sleep(int64_t nanoseconds);
+void precise_nano_sleep(int64_t nanoseconds, std::atomic<bool> &should_exit);
 std::string decompressBZ2(const std::string &in, std::atomic<bool> *abort = nullptr);
 std::string decompressBZ2(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
+std::string decompressZST(const std::string &in, std::atomic<bool> *abort = nullptr);
+std::string decompressZST(const std::byte *in, size_t in_size, std::atomic<bool> *abort = nullptr);
 std::string getUrlWithoutQuery(const std::string &url);
 size_t getRemoteFileSize(const std::string &url, std::atomic<bool> *abort = nullptr);
 std::string httpGet(const std::string &url, size_t chunk_size = 0, std::atomic<bool> *abort = nullptr);
diff --git a/tools/rerun/README.md b/tools/rerun/README.md
new file mode 100644
index 00000000000000..0fd50e1562617f
--- /dev/null
+++ b/tools/rerun/README.md
@@ -0,0 +1,57 @@
+# Rerun
+Rerun is a tool to quickly visualize time series data. It supports all openpilot logs , both the `logMessages` and video logs.
+
+[Instructions](https://rerun.io/docs/reference/viewer/overview) for navigation within the Rerun Viewer.
+
+## Usage
+```
+usage: run.py [-h] [--demo] [--qcam] [--fcam] [--ecam] [--dcam] [--print_services] [--services [SERVICES ...]] [route_or_segment_name]
+
+A helper to run rerun on openpilot routes
+
+options:
+  -h, --help                  show this help message and exit
+  --demo                      Use the demo route instead of providing one (default: False)
+  --qcam                      Log decimated driving camera (default: False)
+  --fcam                      Log driving camera (default: False)
+  --ecam                      Log wide camera (default: False)
+  --dcam                      Log driver monitoring camera (default: False)
+  --print_services            List out openpilot services (default: False)
+  --services [SERVICES ...]   Specify openpilot services that will be logged. No service will be logged if not specified.
+                              To log all services include 'all' as one of your services (default: [])
+  --route [ROUTE]             The route or segment name to plot (default: None)
+```
+
+Examples using route name to observe accelerometer and qcamera:
+
+`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
+
+Examples using segment range (more on [SegmentRange](https://github.com/commaai/openpilot/tree/master/tools/lib)):
+
+`./run.py --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19/2:4"`
+
+## Cautions:
+- You can specify `--services all` to visualize all `logMessage`, but it will draw a lot of memory usage and take a long time to log all messages. Rerun isn't ready for logging big number of data.
+
+- Logging hevc videos (`--fcam`, `--ecam`, and `--dcam`)  are expensive, and it's recommended to use `--qcam` for optimized performance. If possible, limiting your route to a few segments using `SegmentRange` will speed up logging and reduce memory usage
+
+This example draws 13GB of memory:
+
+`./run.py --services accelerometer --qcam --route "a2a0ccea32023010/2023-07-27--13-01-19"`
+
+
+## Openpilot services
+To list all openpilot services:
+
+`./run.py --print_services`
+
+Examples including openpilot services:
+
+`./run.py --services accelerometer cameraodometry --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
+
+Examples including all services:
+
+`./run.py --services all --route "a2a0ccea32023010/2023-07-27--13-01-19/0/q"`
+
+## Demo
+`./run.py --services accelerometer carcontrol caroutput --qcam --demo`
diff --git a/tools/rerun/camera_reader.py b/tools/rerun/camera_reader.py
new file mode 100644
index 00000000000000..325fad18b8ecfa
--- /dev/null
+++ b/tools/rerun/camera_reader.py
@@ -0,0 +1,92 @@
+import tqdm
+import subprocess
+import multiprocessing
+from enum import StrEnum
+from functools import partial
+from collections import namedtuple
+
+from openpilot.tools.lib.framereader import ffprobe
+
+CameraConfig = namedtuple("CameraConfig", ["qcam", "fcam", "ecam", "dcam"])
+
+class CameraType(StrEnum):
+  qcam = "qcamera"
+  fcam = "fcamera"
+  ecam = "ecamera"
+  dcam = "dcamera"
+
+
+def probe_packet_info(camera_path):
+  args = ["ffprobe", "-v", "quiet", "-show_packets", "-probesize", "10M", camera_path]
+  dat = subprocess.check_output(args)
+  dat = dat.decode().split()
+  return dat
+
+
+class _FrameReader:
+  def __init__(self, camera_path, segment, h, w, start_time):
+    self.camera_path = camera_path
+    self.segment = segment
+    self.h = h
+    self.w = w
+    self.start_time = start_time
+
+    self.ts = self._get_ts()
+
+  def _read_stream_nv12(self):
+    frame_sz = self.w * self.h * 3 // 2
+    proc = subprocess.Popen(
+             ["ffmpeg", "-v", "quiet", "-i", self.camera_path, "-f", "rawvideo", "-pix_fmt", "nv12", "-"],
+             stdout=subprocess.PIPE,
+             stderr=subprocess.DEVNULL
+           )
+    try:
+      while True:
+        dat = proc.stdout.read(frame_sz)
+        if len(dat) == 0:
+          break
+        yield dat
+    finally:
+      proc.kill()
+
+  def _get_ts(self):
+    dat = probe_packet_info(self.camera_path)
+    try:
+      ret = [float(d.split('=')[1]) for d in dat if d.startswith("pts_time=")]
+    except ValueError:
+      # pts_times aren't available. Infer timestamps from duration_times
+      ret = [d for d in dat if d.startswith("duration_time")]
+      ret = [float(d.split('=')[1])*(i+1)+(self.segment*60)+self.start_time for i, d in enumerate(ret)]
+    return ret
+
+  def __iter__(self):
+    for i, frame in enumerate(self._read_stream_nv12()):
+      yield self.ts[i], frame
+
+
+class CameraReader:
+  def __init__(self, camera_paths, start_time, seg_idxs):
+    self.seg_idxs = seg_idxs
+    self.camera_paths = camera_paths
+    self.start_time = start_time
+
+    probe = ffprobe(camera_paths[0])["streams"][0]
+    self.h = probe["height"]
+    self.w = probe["width"]
+
+    self.__frs = {}
+
+  def _get_fr(self, i):
+    if i not in self.__frs:
+      self.__frs[i] = _FrameReader(self.camera_paths[i], segment=i, h=self.h, w=self.w, start_time=self.start_time)
+    return self.__frs[i]
+
+  def _run_on_segment(self, func, i):
+    return func(self._get_fr(i))
+
+  def run_across_segments(self, num_processes, func):
+    with multiprocessing.Pool(num_processes) as pool:
+      num_segs = len(self.seg_idxs)
+      for _ in tqdm.tqdm(pool.imap_unordered(partial(self._run_on_segment, func), self.seg_idxs), total=num_segs):
+        continue
+
diff --git a/tools/rerun/run.py b/tools/rerun/run.py
index 9975478a732e44..6d9554038c69de 100755
--- a/tools/rerun/run.py
+++ b/tools/rerun/run.py
@@ -6,84 +6,176 @@
 import rerun.blueprint as rrb
 from functools import partial
 
-from openpilot.tools.lib.logreader import LogReader
 from cereal.services import SERVICE_LIST
+from openpilot.tools.rerun.camera_reader import probe_packet_info, CameraReader, CameraConfig, CameraType
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route, SegmentRange
 
 
 NUM_CPUS = multiprocessing.cpu_count()
 DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
+RR_TIMELINE_NAME = "Timeline"
+RR_WIN = "rerun_test"
+
+
+"""
+Relevant upstream Rerun issues:
+- large time series: https://github.com/rerun-io/rerun/issues/5967
+- loading videos directly: https://github.com/rerun-io/rerun/issues/6532
+"""
+
+class Rerunner:
+  def __init__(self, route, segment_range, camera_config, enabled_services):
+    self.enabled_services = [s.lower() for s in enabled_services]
+    self.log_all = "all" in self.enabled_services
+    self.lr = LogReader(route_or_segment_name)
+
+    # hevc files don't have start_time. We get it from qcamera.ts
+    start_time = 0
+    dat = probe_packet_info(r.qcamera_paths()[0])
+    for d in dat:
+      if d.startswith("pts_time="):
+        start_time = float(d.split('=')[1])
+        break
+
+    qcam, fcam, ecam, dcam = camera_config
+    self.camera_readers = {}
+    if qcam:
+      self.camera_readers[CameraType.qcam] = CameraReader(route.qcamera_paths(), start_time, segment_range.seg_idxs)
+    if fcam:
+      self.camera_readers[CameraType.fcam] = CameraReader(route.camera_paths(), start_time, segment_range.seg_idxs)
+    if ecam:
+      self.camera_readers[CameraType.ecam] = CameraReader(route.ecamera_paths(), start_time, segment_range.seg_idxs)
+    if dcam:
+      self.camera_readers[CameraType.dcam] = CameraReader(route.dcamera_paths(), start_time, segment_range.seg_idxs)
+
+  def _start_rerun(self):
+    self.blueprint = self._create_blueprint()
+    rr.init(RR_WIN, spawn=True)
+
+  def _create_blueprint(self):
+    blueprint = None
+    service_views = []
+
+    log_msg_visible = len(self.enabled_services) <= 3 and not self.log_all
+    for topic in sorted(SERVICE_LIST.keys()):
+      if not self.log_all and topic.lower() not in self.enabled_services:
+        continue
+      View = rrb.TimeSeriesView if topic != "thumbnail" else rrb.Spatial2DView
+      service_views.append(View(name=topic, origin=f"/{topic}/", visible=log_msg_visible))
+      rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
+
+    blueprint = rrb.Blueprint(
+      rrb.Horizontal(
+        rrb.Vertical(*service_views),
+        rrb.Vertical(*[rrb.Spatial2DView(name=cam_type, origin=cam_type) for cam_type in self.camera_readers.keys()]),
+      ),
+      rrb.SelectionPanel(expanded=False),
+      rrb.TimePanel(expanded=False)
+    )
+    return blueprint
+
+  @staticmethod
+  def _log_msg(msg, parent_key=''):
+    stack = [(msg, parent_key)]
+    while stack:
+      current_msg, current_parent_key = stack.pop()
+      if isinstance(current_msg, list):
+        for index, item in enumerate(current_msg):
+          new_key = f"{current_parent_key}/{index}"
+          if isinstance(item, (int, float)):
+            rr.log(new_key, rr.Scalar(item))
+          elif isinstance(item, dict):
+            stack.append((item, new_key))
+      elif isinstance(current_msg, dict):
+        for key, value in current_msg.items():
+          new_key = f"{current_parent_key}/{key}"
+          if isinstance(value, (int, float)):
+            rr.log(new_key, rr.Scalar(value))
+          elif isinstance(value, dict):
+            stack.append((value, new_key))
+          elif isinstance(value, list):
+            for index, item in enumerate(value):
+              if isinstance(item, (int, float)):
+                rr.log(f"{new_key}/{index}", rr.Scalar(item))
+      else:
+        pass  # Not a plottable value
+
+  @staticmethod
+  @rr.shutdown_at_exit
+  def _process_log_msgs(blueprint, enabled_services, log_all, lr):
+    rr.init(RR_WIN)
+    rr.connect(default_blueprint=blueprint)
+
+    for msg in lr:
+      rr.set_time_nanos(RR_TIMELINE_NAME, msg.logMonoTime)
+      msg_type = msg.which()
+
+      if not log_all and msg_type.lower() not in enabled_services:
+        continue
+
+      if msg_type != "thumbnail":
+        Rerunner._log_msg(msg.to_dict()[msg.which()], msg.which())
+      else:
+        rr.log("/thumbnail", rr.ImageEncoded(contents=msg.to_dict()[msg.which()].get("thumbnail")))
+
+    return []
+
+  @staticmethod
+  @rr.shutdown_at_exit
+  def _process_cam_readers(blueprint, cam_type, h, w, fr):
+    rr.init(RR_WIN)
+    rr.connect(default_blueprint=blueprint)
+
+    size_hint = (h, w)
+    for ts, frame in fr:
+      rr.set_time_nanos(RR_TIMELINE_NAME, int(ts * 1e9))
+      rr.log(cam_type, rr.ImageEncoded(contents=frame,format=rr.ImageFormat.NV12(size_hint)))
+
+  def load_data(self):
+    self._start_rerun()
+    if len(self.enabled_services) > 0:
+      self.lr.run_across_segments(NUM_CPUS, partial(self._process_log_msgs, self.blueprint, self.enabled_services, self.log_all))
+    for cam_type, cr in self.camera_readers.items():
+      cr.run_across_segments(NUM_CPUS, partial(self._process_cam_readers, self.blueprint, cam_type, cr.h, cr.w))
 
-def log_msg(msg, parent_key=''):
-  stack = [(msg, parent_key)]
-  while stack:
-    current_msg, current_parent_key = stack.pop()
-    if isinstance(current_msg, list):
-      for index, item in enumerate(current_msg):
-        new_key = f"{current_parent_key}/{index}"
-        if isinstance(item, (int, float)):
-          rr.log(str(new_key), rr.Scalar(item))
-        elif isinstance(item, dict):
-          stack.append((item, new_key))
-    elif isinstance(current_msg, dict):
-      for key, value in current_msg.items():
-        new_key = f"{current_parent_key}/{key}"
-        if isinstance(value, (int, float)):
-          rr.log(str(new_key), rr.Scalar(value))
-        elif isinstance(value, dict):
-          stack.append((value, new_key))
-        elif isinstance(value, list):
-          for index, item in enumerate(value):
-            if isinstance(item, (int, float)):
-              rr.log(f"{new_key}/{index}", rr.Scalar(item))
-    else:
-      pass  # Not a plottable value
-
-def createBlueprint():
-  blueprint = None
-  timeSeriesViews = []
-  for topic in sorted(SERVICE_LIST.keys()):
-    timeSeriesViews.append(rrb.TimeSeriesView(name=topic, origin=f"/{topic}/", visible=False))
-    rr.log(topic, rr.SeriesLine(name=topic), timeless=True)
-    blueprint = rrb.Blueprint(rrb.Grid(rrb.Vertical(*timeSeriesViews,rrb.SelectionPanel(expanded=False),rrb.TimePanel(expanded=False)),
-                                        rrb.Spatial2DView(name="thumbnail", origin="/thumbnail")))
-  return blueprint
-
-def log_thumbnail(thumbnailMsg):
-  bytesImgData = thumbnailMsg.get('thumbnail')
-  rr.log("/thumbnail", rr.ImageEncoded(contents=bytesImgData))
-
-@rr.shutdown_at_exit
-def process(blueprint, lr):
-  rr.init("rerun_test")
-  rr.connect(default_blueprint=blueprint)
-
-  ret = []
-  for msg in lr:
-    ret.append(msg)
-    rr.set_time_nanos("TIMELINE", msg.logMonoTime)
-    if msg.which() != "thumbnail":
-      log_msg(msg.to_dict()[msg.which()], msg.which())
-    else:
-      log_thumbnail(msg.to_dict()[msg.which()])
-  return ret
 
 if __name__ == '__main__':
   parser = argparse.ArgumentParser(description="A helper to run rerun on openpilot routes",
                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
-  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to plot")
+  parser.add_argument("--qcam", action="store_true", help="Log decimated driving camera")
+  parser.add_argument("--fcam", action="store_true", help="Log driving camera")
+  parser.add_argument("--ecam", action="store_true", help="Log wide camera")
+  parser.add_argument("--dcam", action="store_true", help="Log driver monitoring camera")
+  parser.add_argument("--print_services", action="store_true", help="List out openpilot services")
+  parser.add_argument("--services", default=[], nargs='*', help="Specify openpilot services that will be logged.\
+                                                                No service will be logged if not specified.\
+                                                                To log all services include 'all' as one of your services")
+  parser.add_argument("--route", nargs='?', help="The route or segment name to plot")
+  args = parser.parse_args()
 
-  if len(sys.argv) == 1:
+  if not args.demo and not args.route:
     parser.print_help()
     sys.exit()
 
-  args = parser.parse_args()
+  if args.print_services:
+    print("\n".join(SERVICE_LIST.keys()))
+    sys.exit()
+
+  camera_config = CameraConfig(args.qcam, args.fcam, args.ecam, args.dcam)
+
+  route_or_segment_name = DEMO_ROUTE if args.demo else args.route.strip()
+  sr = SegmentRange(route_or_segment_name)
+  r = Route(sr.route_name)
+
+  if len(sr.seg_idxs) > 10:
+    print("You're requesting more than 10 segments of the route, " + \
+          "please be aware that might take a lot of memory")
+    response = input("Do you wish to continue? (Y/n): ")
+    if response.strip() != "Y":
+      sys.exit()
 
-  blueprint = createBlueprint()
-  rr.init("rerun_test")
-  rr.spawn(connect=False) # child processes stream data to Viewer
+  rerunner = Rerunner(r, sr, camera_config, args.services)
+  rerunner.load_data()
 
-  route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-  print("Getting route log paths")
-  lr = LogReader(route_or_segment_name)
-  lr.run_across_segments(NUM_CPUS, partial(process, blueprint))
diff --git a/tools/setup.sh b/tools/setup.sh
new file mode 100755
index 00000000000000..9b1ee9c0c1a21a
--- /dev/null
+++ b/tools/setup.sh
@@ -0,0 +1,59 @@
+#!/usr/bin/env bash
+
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+NC='\033[0m'
+
+if [ -z "$OPENPILOT_ROOT" ]; then
+  # default to current directory for installation
+  OPENPILOT_ROOT="$(pwd)/openpilot"
+fi
+
+function check_dir() {
+  echo "Checking for installation directory..."
+  if [ -d "$OPENPILOT_ROOT" ]; then
+    echo -e " ↳ [${RED}✗${NC}] can't install openpilot in $OPENPILOT_ROOT !"
+    return 1
+  fi
+
+  echo -e " ↳ [${GREEN}✔${NC}] Successfully chosen $OPENPILOT_ROOT as installation directory\n"
+}
+
+function check_git() {
+  echo "Checking for git..."
+  if ! command -v "git" > /dev/null 2>&1; then
+    echo -e " ↳ [${RED}✗${NC}] git not found on your system, can't continue!"
+    return 1
+  else
+    echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
+  fi
+}
+
+function git_clone() {
+  echo "Cloning openpilot..."
+  if $(git clone --filter=blob:none https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then
+    if [[ -f $OPENPILOT_ROOT/launch_openpilot.sh ]]; then
+      echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot.\n"
+      return 0
+    fi
+  fi
+
+  echo -e " ↳ [${RED}✗${NC}] failed to clone openpilot!"
+  return 1
+}
+
+function install_with_op() {
+  cd $OPENPILOT_ROOT
+  $OPENPILOT_ROOT/tools/op.sh install
+  $OPENPILOT_ROOT/tools/op.sh setup
+
+  # make op usable right now
+  alias op="source $OPENPILOT_ROOT/tools/op.sh \"\$@\""
+}
+
+check_dir && check_git && git_clone && install_with_op
+
+unset OPENPILOT_ROOT
+unset RED
+unset GREEN
+unset NC
diff --git a/tools/sim/README.md b/tools/sim/README.md
index ff95d16de6c802..f6ddde2580d2b5 100644
--- a/tools/sim/README.md
+++ b/tools/sim/README.md
@@ -4,7 +4,7 @@ openpilot in simulator
 openpilot implements a [bridge](run_bridge.py) that allows it to run in the [MetaDrive simulator](https://github.com/metadriverse/metadrive).
 
 ## Launching openpilot
-First, start openpilot. Note that you will either need a [mapbox token](https://docs.mapbox.com/help/getting-started/access-tokens/#how-access-tokens-work) (set with ```export MAPBOX_TOKEN="1234"```), or to disable mapsd with ```export BLOCK=mapsd```
+First, start openpilot.
 ``` bash
 # Run locally
 ./tools/sim/launch_openpilot.sh
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
index 38c13a14345b77..2486d87ff997cb 100644
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -89,7 +89,7 @@ def get_cam_as_rgb(cam):
     cam.get_cam().setPos(C3_POSITION)
     cam.get_cam().setHpr(C3_HPR)
     img = cam.perceive(to_float=False)
-    if type(img) != np.ndarray:
+    if not isinstance(img, np.ndarray):
       img = img.get() # convert cupy array to numpy
     return img
 
diff --git a/tools/sim/start_openpilot_docker.sh b/tools/sim/start_openpilot_docker.sh
deleted file mode 100755
index 3dce6605795750..00000000000000
--- a/tools/sim/start_openpilot_docker.sh
+++ /dev/null
@@ -1,37 +0,0 @@
-#!/bin/bash
-
-DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
-cd $DIR
-
-OPENPILOT_DIR="/tmp/openpilot"
-if ! [[ -z "$MOUNT_OPENPILOT" ]]; then
-  OPENPILOT_DIR="$(dirname $(dirname $DIR))"
-  EXTRA_ARGS="-v $OPENPILOT_DIR:$OPENPILOT_DIR -e PYTHONPATH=$OPENPILOT_DIR:$PYTHONPATH"
-fi
-
-if [[ "$CI" ]]; then
-  CMD="CI=1 ${OPENPILOT_DIR}/tools/sim/tests/test_metadrive_integration.py"
-else
-  # expose X to the container
-  xhost +local:root
-
-  docker pull ghcr.io/commaai/openpilot-sim:latest
-  CMD="./tmux_script.sh $*"
-  EXTRA_ARGS="${EXTRA_ARGS} -it"
-fi
-
-docker kill openpilot_client || true
-docker run --net=host\
-  --name openpilot_client \
-  --rm \
-  --gpus all \
-  --device=/dev/dri:/dev/dri \
-  --device=/dev/input:/dev/input \
-  -v /tmp/.X11-unix:/tmp/.X11-unix \
-  --shm-size 1G \
-  -e DISPLAY=$DISPLAY \
-  -e QT_X11_NO_MITSHM=1 \
-  -w "$OPENPILOT_DIR/tools/sim" \
-  $EXTRA_ARGS \
-  ghcr.io/commaai/openpilot-sim:latest \
-  /bin/bash -c "$CMD"
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index 6abf1338dcb4dd..0b8916343e9e2d 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -147,7 +147,7 @@ def update(self, sm):
   else:
     if args.addr != "127.0.0.1":
       os.environ["ZMQ"] = "1"
-      messaging.context = messaging.Context()
+      messaging.reset_context()
 
     carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True)
     sm = messaging.SubMaster(['carState', 'carControl', 'carOutput', 'controlsState', 'modelV2'], addr=args.addr)
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 1bdeb50e0d7ce2..f425e14cf2f71d 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -8,8 +8,3 @@ DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 
 $DIR/install_ubuntu_dependencies.sh
 $DIR/install_python_dependencies.sh
-
-echo
-echo "----   OPENPILOT SETUP DONE   ----"
-echo "Open a new shell or configure your active shell env by running:"
-echo "source ~/.bashrc"
diff --git a/tools/webcam/README.md b/tools/webcam/README.md
index 7334d87b38c167..c756069bb5d683 100644
--- a/tools/webcam/README.md
+++ b/tools/webcam/README.md
@@ -1,7 +1,7 @@
 # Run openpilot with webcam on PC
 
 What's needed:
-- Ubuntu 20.04
+- Ubuntu 24.04
 - GPU (recommended)
 - Two USB webcams, at least 720p and 78 degrees FOV (e.g. Logitech C920/C615)
 - [Car harness](https://comma.ai/shop/products/comma-car-harness) with black panda to connect to your car
diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py
index d1d61b64d7a473..10900b60ff8323 100644
--- a/tools/webcam/camera.py
+++ b/tools/webcam/camera.py
@@ -1,5 +1,4 @@
-import cv2 as cv
-import numpy as np
+import av
 
 class Camera:
   def __init__(self, cam_type_state, stream_type, camera_id):
@@ -11,23 +10,19 @@ def __init__(self, cam_type_state, stream_type, camera_id):
     self.stream_type = stream_type
     self.cur_frame_id = 0
 
-    self.cap = cv.VideoCapture(camera_id)
-    self.W = self.cap.get(cv.CAP_PROP_FRAME_WIDTH)
-    self.H = self.cap.get(cv.CAP_PROP_FRAME_HEIGHT)
+    self.container = av.open(camera_id)
+    self.video_stream = self.container.streams.video[0]
+    self.W = self.video_stream.codec_context.width
+    self.H = self.video_stream.codec_context.height
 
   @classmethod
   def bgr2nv12(self, bgr):
-    yuv = cv.cvtColor(bgr, cv.COLOR_BGR2YUV_I420)
-    uv_row_cnt = yuv.shape[0] // 3
-    uv_plane = np.transpose(yuv[uv_row_cnt * 2:].reshape(2, -1), [1, 0])
-    yuv[uv_row_cnt * 2:] = uv_plane.reshape(uv_row_cnt, -1)
-    return yuv
+    frame = av.VideoFrame.from_ndarray(bgr, format='bgr24')
+    return frame.reformat(format='nv12').to_ndarray()
 
   def read_frames(self):
-    while True:
-      sts , frame = self.cap.read()
-      if not sts:
-        break
-      yuv = Camera.bgr2nv12(frame)
+    for frame in self.container.decode(self.video_stream):
+      img = frame.to_rgb().to_ndarray()[:,:, ::-1] # convert to bgr24
+      yuv = Camera.bgr2nv12(img)
       yield yuv.data.tobytes()
-    self.cap.release()
+    self.container.close()
diff --git a/uv.lock b/uv.lock
new file mode 100644
index 00000000000000..ded3ddec7c360a
--- /dev/null
+++ b/uv.lock
@@ -0,0 +1,5338 @@
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+requires-python = ">=3.11"
+
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+version = "3.9.5"
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+    { name = "attrs" },
+    { name = "frozenlist" },
+    { name = "multidict" },
+    { name = "yarl" },
+]
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