Merge branch 'optimus_prime' (commaai#29752) #1194

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Run time

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Job	Run time
build release	1m 32s
build (x86_64)	1m 32s
build macos	1m 18s
static analysis	1m 33s
valgrind	1m 31s
unit tests	1m 33s
docker_push	0s
model tests	1m 34s
process replay	1m 33s
cars (0)	1m 31s
cars (1)	1m 31s
cars (2)	1m 32s
PR comments	0s
cars (3)	1m 31s
cars (4)	1m 31s
docker push multiarch tag	0s
	19m 42s