diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 9c92fef35..ff4024930 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -1,17 +1,17 @@
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.4.0
+    rev: v4.5.0
     hooks:
     -   id: check-ast
     -   id: check-yaml
     -   id: check-executables-have-shebangs
     -   id: check-shebang-scripts-are-executable
 -   repo: https://github.com/pre-commit/mirrors-mypy
-    rev: v1.5.1
+    rev: v1.6.1
     hooks:
     -   id: mypy
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.291
+    rev: v0.1.3
     hooks:
     -   id: ruff
 -   repo: local
@@ -39,7 +39,7 @@ repos:
         - --linelength=240
         - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.5
+    rev: v2.2.6
     hooks:
     -   id: codespell
         args:
diff --git a/log.capnp b/log.capnp
index 4a59ca8d3..12e25b14f 100644
--- a/log.capnp
+++ b/log.capnp
@@ -46,6 +46,8 @@ struct InitData {
 
   commands @19 :Map(Text, Data);
 
+  wallTimeNanos @20 :UInt64;
+
   enum DeviceType {
     unknown @0;
     neo @1;
@@ -872,6 +874,8 @@ struct ModelDataV2 {
   navEnabled @22 :Bool;
   locationMonoTime @24 :UInt64;
 
+  # e2e lateral planner
+  lateralPlannerSolution @25: LateralPlannerSolution;
 
   struct LeadDataV2 {
     prob @0 :Float32; # probability that car is your lead at time t
@@ -938,6 +942,18 @@ struct ModelDataV2 {
     transStd @2 :List(Float32); # std m/s in device frame
     rotStd @3 :List(Float32); # std rad/s in device frame
   }
+
+  struct LateralPlannerSolution {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+    yaw @2 :List(Float32);
+    yawRate @3 :List(Float32);
+    xStd @4 :List(Float32);
+    yStd @5 :List(Float32);
+    yawStd @6 :List(Float32);
+    yawRateStd @7 :List(Float32);
+  }
+
 }
 
 struct EncodeIndex {
diff --git a/messaging/impl_zmq.cc b/messaging/impl_zmq.cc
index aa95d94fb..7da9df1b8 100644
--- a/messaging/impl_zmq.cc
+++ b/messaging/impl_zmq.cc
@@ -3,6 +3,7 @@
 #include <iostream>
 #include <cstdlib>
 #include <cerrno>
+#include <unistd.h>
 
 #include "cereal/services.h"
 #include "cereal/messaging/impl_zmq.h"
@@ -108,14 +109,19 @@ int ZMQPubSocket::connect(Context *context, std::string endpoint, bool check_end
     full_endpoint += endpoint;
   }
 
+  // ZMQ pub sockets cannot be shared between processes, so we need to ensure pid stays the same
+  pid = getpid();
+
   return zmq_bind(sock, full_endpoint.c_str());
 }
 
-int ZMQPubSocket::sendMessage(Message *message){
+int ZMQPubSocket::sendMessage(Message *message) {
+  assert(pid == getpid());
   return zmq_send(sock, message->getData(), message->getSize(), ZMQ_DONTWAIT);
 }
 
-int ZMQPubSocket::send(char *data, size_t size){
+int ZMQPubSocket::send(char *data, size_t size) {
+  assert(pid == getpid());
   return zmq_send(sock, data, size, ZMQ_DONTWAIT);
 }
 
diff --git a/messaging/impl_zmq.h b/messaging/impl_zmq.h
index 34864f633..903875f63 100644
--- a/messaging/impl_zmq.h
+++ b/messaging/impl_zmq.h
@@ -46,6 +46,7 @@ class ZMQPubSocket : public PubSocket {
 private:
   void * sock;
   std::string full_endpoint;
+  int pid = -1;
 public:
   int connect(Context *context, std::string endpoint, bool check_endpoint=true);
   int sendMessage(Message *message);
diff --git a/visionipc/visionipc_client.h b/visionipc/visionipc_client.h
index 8dff9b2e0..d67734d32 100644
--- a/visionipc/visionipc_client.h
+++ b/visionipc/visionipc_client.h
@@ -19,8 +19,6 @@ class VisionIpcClient {
   cl_device_id device_id = nullptr;
   cl_context ctx = nullptr;
 
-  void init_msgq(bool conflate);
-
 public:
   bool connected = false;
   VisionStreamType type;