diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 599daa2a2ab96a..219c316781703e 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -222,13 +222,6 @@ jobs:
       if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
         ${{ env.RUN }} "unset PYTHONWARNINGS && AZURE_TOKEN='$AZURE_TOKEN' python3 selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
-    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
-    - name: Run model replay with ONNX
-      timeout-minutes: 4
-      run: |
-        ${{ env.RUN }} "unset PYTHONWARNINGS && \
-                        ONNXCPU=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
-                        coverage combine && coverage xml"
     - name: Run regen
       timeout-minutes: 4
       run: |
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 52f755e9d8c0b0..674c26fd11a73b 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -27,7 +27,9 @@ env:
 jobs:
   simulator_driving:
     name: simulator driving
-    runs-on: ubuntu-latest
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+               ((github.event_name != 'pull_request') ||
+                (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
     timeout-minutes: 20
     steps:
     - uses: actions/checkout@v4
diff --git a/Jenkinsfile b/Jenkinsfile
index 7137b8bf36f5ee..a98280ccd9476f 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -25,6 +25,8 @@ export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
+export CI_ARTIFACTS_TOKEN=${env.CI_ARTIFACTS_TOKEN}
+export GITHUB_COMMENTS_TOKEN=${env.GITHUB_COMMENTS_TOKEN}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
 # only use 1 thread for tici tests since most require HIL
 export PYTEST_ADDOPTS="-n 0"
@@ -89,7 +91,12 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
             device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
           }
           steps.each { item ->
-            device(device_ip, item[0], item[1])
+            if (branch != "master" && item.size() == 3 && !hasPathChanged(item[2])) {
+              println "Skipping ${item[0]}: no changes in ${item[2]}."
+              return;
+            } else {
+              device(device_ip, item[0], item[1])
+            }
           }
         }
       }
@@ -97,12 +104,49 @@ def deviceStage(String stageName, String deviceType, List extra_env, def steps)
   }
 }
 
+@NonCPS
+def hasPathChanged(List<String> paths) {
+  changedFiles = []
+  for (changeLogSet in currentBuild.changeSets) {
+    for (entry in changeLogSet.getItems()) {
+      for (file in entry.getAffectedFiles()) {
+        changedFiles.add(file.getPath())
+      }
+    }
+  }
+
+  env.CHANGED_FILES = changedFiles.join(" ")
+  if (currentBuild.number > 1) {
+    env.CHANGED_FILES += currentBuild.previousBuild.getBuildVariables().get("CHANGED_FILES")
+  }
+
+  for (path in paths) {
+    if (env.CHANGED_FILES.contains(path)) {
+      return true;
+    }
+  }
+
+  return false;
+}
+
 def setupCredentials() {
   withCredentials([
     string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
   ]) {
     env.AZURE_TOKEN = "${AZURE_TOKEN}"
   }
+
+  withCredentials([
+    string(credentialsId: 'ci_artifacts_pat', variable: 'CI_ARTIFACTS_TOKEN'),
+  ]) {
+    env.CI_ARTIFACTS_TOKEN = "${CI_ARTIFACTS_TOKEN}"
+  }
+
+  withCredentials([
+    string(credentialsId: 'post_comments_github_pat', variable: 'GITHUB_COMMENTS_TOKEN'),
+  ]) {
+    env.GITHUB_COMMENTS_TOKEN = "${GITHUB_COMMENTS_TOKEN}"
+  }
 }
 
 
@@ -155,7 +199,7 @@ node {
       'HW + Unit Tests': {
         deviceStage("tici-hardware", "tici-common", ["UNSAFE=1"], [
           ["build", "cd system/manager && ./build.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", ["panda/", "selfdrive/pandad/"]],
           ["test power draw", "pytest -s system/hardware/tici/tests/test_power_draw.py"],
           ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
           ["test pigeond", "pytest system/ubloxd/tests/test_pigeond.py"],
@@ -192,8 +236,8 @@ node {
       },
       'replay': {
         deviceStage("model-replay", "tici-replay", ["UNSAFE=1"], [
-          ["build", "cd system/manager && ./build.py"],
-          ["model replay", "selfdrive/test/process_replay/model_replay.py"],
+          ["build", "cd system/manager && ./build.py", ["selfdrive/modeld/"]],
+          ["model replay", "selfdrive/test/process_replay/model_replay.py", ["selfdrive/modeld/"]],
         ])
       },
       'tizi': {
@@ -201,7 +245,7 @@ node {
           ["build openpilot", "cd system/manager && ./build.py"],
           ["test pandad loopback", "SINGLE_PANDA=1 pytest selfdrive/pandad/tests/test_pandad_loopback.py"],
           ["test pandad spi", "pytest selfdrive/pandad/tests/test_pandad_spi.py"],
-          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py"],
+          ["test pandad", "pytest selfdrive/pandad/tests/test_pandad.py", ["panda/", "selfdrive/pandad/"]],
           ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
           ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
           ["test qcomgpsd", "pytest system/qcomgpsd/tests/test_qcomgpsd.py"],
diff --git a/msgq_repo b/msgq_repo
index cdcf84f44a4edd..b4f0692c1a166f 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit cdcf84f44a4edd40f7aa4d06eb95550ac64b3b37
+Subproject commit b4f0692c1a166f0abac41f1ae7dc64c97b98688d
diff --git a/opendbc_repo b/opendbc_repo
index fb7e12b44a6355..58445741dc1e50 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit fb7e12b44a63559ae349ed467c31212d6d1ad666
+Subproject commit 58445741dc1e5087efaa996d7da087c2771d2700
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 72f511b7ce3b7e..025c3ab66057dc 100644
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -4,7 +4,6 @@
 import random
 import unittest # noqa: TID251
 from collections import defaultdict, Counter
-from functools import partial
 import hypothesis.strategies as st
 from hypothesis import Phase, given, settings
 from parameterized import parameterized_class
@@ -23,7 +22,7 @@
 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
-from openpilot.tools.lib.logreader import LogReader, auto_source, internal_source, openpilotci_source, openpilotci_source_zst
+from openpilot.tools.lib.logreader import LogReader
 from openpilot.tools.lib.route import SegmentName
 
 from panda.tests.libpanda import libpanda_py
@@ -68,7 +67,6 @@ def get_test_cases() -> list[tuple[str, CarTestRoute | None]]:
 class TestCarModelBase(unittest.TestCase):
   platform: Platform | None = None
   test_route: CarTestRoute | None = None
-  test_route_on_bucket: bool = True  # whether the route is on the preserved CI bucket
 
   can_msgs: list[capnp.lib.capnp._DynamicStructReader]
   fingerprint: dict[int, dict[int, int]]
@@ -126,31 +124,15 @@ def get_testing_data(cls):
     if cls.test_route.segment is not None:
       test_segs = (cls.test_route.segment,)
 
-    is_internal = len(INTERNAL_SEG_LIST)
-
     for seg in test_segs:
       segment_range = f"{cls.test_route.route}/{seg}"
 
       try:
-        source = partial(auto_source, sources=[internal_source] if is_internal else [openpilotci_source, openpilotci_source_zst])
-        lr = LogReader(segment_range, source=source)
+        lr = LogReader(segment_range)
         return cls.get_testing_data_from_logreader(lr)
       except Exception:
         pass
 
-    # Route is not in CI bucket, assume either user has access (private), or it is public
-    # test_route_on_ci_bucket will fail when running in CI
-    if not is_internal:
-      cls.test_route_on_bucket = False
-
-      for seg in test_segs:
-        segment_range = f"{cls.test_route.route}/{seg}"
-        try:
-          lr = LogReader(segment_range)
-          return cls.get_testing_data_from_logreader(lr)
-        except Exception:
-          pass
-
     raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded and public?")
 
 
@@ -467,11 +449,6 @@ def test_panda_safety_carstate(self):
     failed_checks = {k: v for k, v in checks.items() if v > 0}
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
 
-  @unittest.skipIf(not CI, "Accessing non CI-bucket routes is allowed only when not in CI")
-  def test_route_on_ci_bucket(self):
-    self.assertTrue(self.test_route_on_bucket, "Route not on CI bucket. " +
-                    "This is fine to fail for WIP car ports, just let us know and we can upload your routes to the CI bucket.")
-
 
 @parameterized_class(('platform', 'test_route'), get_test_cases())
 @pytest.mark.xdist_group_class_property('test_route')
diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py
index 68308bb62782d5..9da388999b2c14 100755
--- a/selfdrive/debug/fingerprint_from_route.py
+++ b/selfdrive/debug/fingerprint_from_route.py
@@ -8,10 +8,12 @@ def get_fingerprint(lr):
   # TODO: make this a nice tool for car ports. should also work with qlogs for FW
 
   fw = None
+  vin = None
   msgs = {}
   for msg in lr:
     if msg.which() == 'carParams':
       fw = msg.carParams.carFw
+      vin = msg.carParams.carVin
     elif msg.which() == 'can':
       for c in msg.can:
         # read also msgs sent by EON on CAN bus 0x80 and filter out the
@@ -32,6 +34,7 @@ def get_fingerprint(lr):
     print(f"      {f.fwVersion},")
     print("    ],")
   print()
+  print(f"VIN: {vin}")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 89042dbe474334..b80a79624d285a 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 sha256:2431f40b8ca9926629e461e06316f9bbba984c821ebbc11e6449ca0c96c42d95
+oid sha256:8f61f872fef307b82e08ac5bcbd6cfa1a0943e1597376b05a7b27ff77cc2abfe
 size 50309976
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index 145ba31adeedcb..6927c9e4731ef3 100644
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -19,9 +19,9 @@ class TestModeld:
 
   def setup_method(self):
     self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
     self.vipc_server.start_listener()
     Params().put("CarParams", get_demo_car_params().to_bytes())
 
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 9ee1b6be4ef758..123383477246d2 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -3,14 +3,19 @@
 import sys
 from collections import defaultdict
 from typing import Any
+import tempfile
+from itertools import zip_longest
+
+import matplotlib.pyplot as plt
 
 from openpilot.common.git import get_commit
 from openpilot.system.hardware import PC
-from openpilot.tools.lib.openpilotci import BASE_URL, get_url
+from openpilot.tools.lib.openpilotci import get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.tools.lib.framereader import FrameReader
 from openpilot.tools.lib.logreader import LogReader, save_log
+from openpilot.tools.lib.github_utils import GithubUtils
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
@@ -19,10 +24,79 @@
 NO_MODEL = "NO_MODEL" in os.environ
 SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
 
-
-def get_log_fn(ref_commit, test_route):
-  return f"{test_route}_model_tici_{ref_commit}.bz2"
-
+DATA_TOKEN = os.getenv("CI_ARTIFACTS_TOKEN","")
+API_TOKEN = os.getenv("GITHUB_COMMENTS_TOKEN","")
+MODEL_REPLAY_BUCKET="model_replay_master"
+GITHUB = GithubUtils(API_TOKEN, DATA_TOKEN)
+
+
+def get_log_fn(test_route, ref="master"):
+  return f"{test_route}_model_tici_{ref}.bz2"
+
+def plot(proposed, master, title, tmp):
+  proposed = list(proposed)
+  master = list(master)
+  fig, ax = plt.subplots()
+  ax.plot(proposed, label='PROPOSED')
+  ax.plot(master, label='MASTER')
+  plt.legend(loc='best')
+  plt.title(title)
+  plt.savefig(f'{tmp}/{title}.png')
+  return (title + '.png', proposed == master)
+
+def get_event(logs, event):
+  return (getattr(m, m.which()) for m in filter(lambda m: m.which() == event, logs))
+
+def zl(array, fill):
+  return zip_longest(array, [], fillvalue=fill)
+
+def generate_report(proposed, master, tmp):
+  ModelV2_Plots = zl([
+                     (lambda x: x.velocity.x[0], "velocity.x"),
+                     (lambda x: x.action.desiredCurvature, "desiredCurvature"),
+                     (lambda x: x.leadsV3[0].x[0], "leadsV3.x"),
+                     (lambda x: x.laneLines[1].y[0], "laneLines.y"),
+                     (lambda x: x.meta.disengagePredictions.gasPressProbs[1], "gasPressProbs")
+                    ], "modelV2")
+
+  return [plot(map(v[0], get_event(proposed, event)), \
+               map(v[0], get_event(master, event)), v[1], tmp) \
+               for v,event in [*ModelV2_Plots]]
+
+def create_table(title, files, link, open_table=False):
+  if not files:
+    return ""
+  table = [f'<details {"open" if open_table else ""}><summary>{title}</summary><table>']
+  for i,f in enumerate(files):
+    if not (i % 2):
+      table.append("<tr>")
+    table.append(f'<td><img src=\\"{link}/{f[0]}\\"></td>')
+    if (i % 2):
+      table.append("</tr>")
+  table.append("</table></details>")
+  table = "".join(table)
+  return table
+
+def comment_replay_report(proposed, master, full_logs):
+  with tempfile.TemporaryDirectory() as tmp:
+    PR_BRANCH = os.getenv("GIT_BRANCH","")
+    DATA_BUCKET = f"model_replay_{PR_BRANCH}"
+
+    files = generate_report(proposed, master, tmp)
+
+    GITHUB.upload_files(DATA_BUCKET, [(x[0], tmp + '/' + x[0]) for x in files])
+
+    commit = get_commit()
+    log_name = get_log_fn(TEST_ROUTE, commit)
+    save_log(log_name, full_logs)
+    GITHUB.upload_file(DATA_BUCKET, os.path.basename(log_name), log_name)
+
+    diff_files = [x for x in files if not x[1]]
+    link = GITHUB.get_bucket_link(DATA_BUCKET)
+    diff_plots = create_table("Model Replay Differences", diff_files, link, open_table=True)
+    all_plots = create_table("All Model Replay Plots", files, link)
+    comment = f"ref for commit {commit}: {link}/{log_name}" + diff_plots + all_plots
+    GITHUB.comment_on_pr(comment, PR_BRANCH)
 
 def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
   all_msgs = []
@@ -68,9 +142,8 @@ def model_replay(lr, frs):
 
 
 if __name__ == "__main__":
-  update = "--update" in sys.argv
+  update = "--update" in sys.argv or (os.getenv("GIT_BRANCH", "") == 'master')
   replay_dir = os.path.dirname(os.path.abspath(__file__))
-  ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit")
 
   # load logs
   lr = list(LogReader(get_url(TEST_ROUTE, SEGMENT, "rlog.bz2")))
@@ -88,11 +161,9 @@ def model_replay(lr, frs):
   # get diff
   failed = False
   if not update:
-    with open(ref_commit_fn) as f:
-      ref_commit = f.read().strip()
-    log_fn = get_log_fn(ref_commit, TEST_ROUTE)
+    log_fn = get_log_fn(TEST_ROUTE)
     try:
-      all_logs = list(LogReader(BASE_URL + log_fn))
+      all_logs = list(LogReader(GITHUB.get_file_url(MODEL_REPLAY_BUCKET, log_fn)))
       cmp_log = []
 
       # logs are ordered based on type: modelV2, drivingModelData, driverStateV2
@@ -134,11 +205,13 @@ def model_replay(lr, frs):
             ignore.append(f'modelV2.roadEdges.{i}.{field}')
       tolerance = .3 if PC else None
       results: Any = {TEST_ROUTE: {}}
-      log_paths: Any = {TEST_ROUTE: {"models": {'ref': BASE_URL + log_fn, 'new': log_fn}}}
+      log_paths: Any = {TEST_ROUTE: {"models": {'ref': log_fn, 'new': log_fn}}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
-      diff_short, diff_long, failed = format_diff(results, log_paths, ref_commit)
+      diff_short, diff_long, failed = format_diff(results, log_paths, 'master')
 
       if "CI" in os.environ:
+        comment_replay_report(log_msgs, cmp_log, log_msgs)
+        failed = False
         print(diff_long)
       print('-------------\n'*5)
       print(diff_short)
@@ -149,22 +222,13 @@ def model_replay(lr, frs):
       failed = True
 
   # upload new refs
-  if (update or failed) and not PC:
-    from openpilot.tools.lib.openpilotci import upload_file
-
+  if update and not PC:
     print("Uploading new refs")
-
-    new_commit = get_commit()
-    log_fn = get_log_fn(new_commit, TEST_ROUTE)
+    log_fn = get_log_fn(TEST_ROUTE)
     save_log(log_fn, log_msgs)
     try:
-      upload_file(log_fn, os.path.basename(log_fn))
+      GITHUB.upload_file(MODEL_REPLAY_BUCKET, os.path.basename(log_fn), log_fn)
     except Exception as e:
       print("failed to upload", e)
 
-    with open(ref_commit_fn, 'w') as f:
-      f.write(str(new_commit))
-
-    print("\n\nNew ref commit: ", new_commit)
-
   sys.exit(int(failed))
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
deleted file mode 100644
index f14eef06b9f7bc..00000000000000
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ /dev/null
@@ -1 +0,0 @@
-c4d60dfe4b677f9230eebb47614501ea8d0b99a3
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index a5008931c8aede..ef17325642da95 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -212,7 +212,7 @@ def _setup_vision_ipc(self, all_msgs: LogIterable, frs: dict[str, Any]):
     for meta in streams_metas:
       if meta.camera_state in self.cfg.vision_pubs:
         frame_size = (frs[meta.camera_state].w, frs[meta.camera_state].h)
-        vipc_server.create_buffers(meta.stream, 2, False, *frame_size)
+        vipc_server.create_buffers(meta.stream, 2, *frame_size)
     vipc_server.start_listener()
 
     self.vipc_server = vipc_server
diff --git a/selfdrive/ui/tests/test_ui/run.py b/selfdrive/ui/tests/test_ui/run.py
index a918a573649d4b..0b98cb0b38a368 100644
--- a/selfdrive/ui/tests/test_ui/run.py
+++ b/selfdrive/ui/tests/test_ui/run.py
@@ -48,7 +48,7 @@ def setup_settings_toggles(click, pm: PubMaster):
 def setup_onroad(click, pm: PubMaster):
   vipc_server = VisionIpcServer("camerad")
   for stream_type, cam, _ in STREAMS:
-    vipc_server.create_buffers(stream_type, 5, False, cam.width, cam.height)
+    vipc_server.create_buffers(stream_type, 5, cam.width, cam.height)
   vipc_server.start_listener()
 
   uidebug_received_cnt = 0
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 769557d70bd29e..9fa9bb6a737329 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -89,7 +89,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, SpectraCamera *
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
   size_t nv12_size = (out_img_width <= 1344 ? 2900 : 2346)*nv12_width;
 
-  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset);
+  vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, out_img_width, out_img_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
   imgproc = new ImgProc(device_id, context, this, sensor, cam->cc.camera_num, nv12_width, nv12_uv_offset);
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index e0e16e18fca417..a52fc59c41f948 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -13,11 +13,8 @@ const int YUV_BUFFER_COUNT = 20;
 typedef struct FrameMetadata {
   uint32_t frame_id;
   uint32_t request_id;
-
-  // Timestamps
   uint64_t timestamp_sof;
   uint64_t timestamp_eof;
-
   float processing_time;
 } FrameMetadata;
 
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 3d5507add9bbfa..df884e7b92340a 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -64,6 +64,8 @@ class CameraState {
 };
 
 void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ctx) {
+  if (!camera.enabled) return;
+
   camera.camera_open(v, device_id, ctx);
 
   fl_pix = camera.cc.focal_len / camera.sensor->pixel_size_mm;
@@ -73,7 +75,7 @@ void CameraState::init(VisionIpcServer *v, cl_device_id device_id, cl_context ct
   gain_idx = camera.sensor->analog_gain_rec_idx;
   cur_ev[0] = cur_ev[1] = cur_ev[2] = get_gain_factor() * camera.sensor->sensor_analog_gains[gain_idx] * exposure_time;
 
-  if (camera.enabled) thread = std::thread(&CameraState::run, this);
+  thread = std::thread(&CameraState::run, this);
 }
 
 CameraState::~CameraState() {
diff --git a/system/camerad/cameras/cdm.h b/system/camerad/cameras/cdm.h
new file mode 100644
index 00000000000000..413c4e23d72d1b
--- /dev/null
+++ b/system/camerad/cameras/cdm.h
@@ -0,0 +1,66 @@
+// from drivers/media/platform/msm/camera/cam_cdm/cam_cdm_util.{c,h}
+
+enum cam_cdm_command {
+  CAM_CDM_CMD_UNUSED = 0x0,
+  CAM_CDM_CMD_DMI = 0x1,
+  CAM_CDM_CMD_NOT_DEFINED = 0x2,
+  CAM_CDM_CMD_REG_CONT = 0x3,
+  CAM_CDM_CMD_REG_RANDOM = 0x4,
+  CAM_CDM_CMD_BUFF_INDIRECT = 0x5,
+  CAM_CDM_CMD_GEN_IRQ = 0x6,
+  CAM_CDM_CMD_WAIT_EVENT = 0x7,
+  CAM_CDM_CMD_CHANGE_BASE = 0x8,
+  CAM_CDM_CMD_PERF_CTRL = 0x9,
+  CAM_CDM_CMD_DMI_32 = 0xa,
+  CAM_CDM_CMD_DMI_64 = 0xb,
+  CAM_CDM_CMD_PRIVATE_BASE = 0xc,
+  CAM_CDM_CMD_SWD_DMI_32 = (CAM_CDM_CMD_PRIVATE_BASE + 0x64),
+  CAM_CDM_CMD_SWD_DMI_64 = (CAM_CDM_CMD_PRIVATE_BASE + 0x65),
+  CAM_CDM_CMD_PRIVATE_BASE_MAX = 0x7F
+};
+
+/**
+ * struct cdm_regrandom_cmd - Definition for CDM random register command.
+ * @count: Number of register writes
+ * @reserved: reserved bits
+ * @cmd: Command ID (CDMCmd)
+ */
+struct cdm_regrandom_cmd {
+  unsigned int count    : 16;
+  unsigned int reserved : 8;
+  unsigned int cmd      : 8;
+} __attribute__((__packed__));
+
+/**
+ * struct cdm_regcontinuous_cmd - Definition for a CDM register range command.
+ * @count: Number of register writes
+ * @reserved0: reserved bits
+ * @cmd: Command ID (CDMCmd)
+ * @offset: Start address of the range of registers
+ * @reserved1: reserved bits
+ */
+struct cdm_regcontinuous_cmd {
+  unsigned int count     : 16;
+  unsigned int reserved0 : 8;
+  unsigned int cmd       : 8;
+  unsigned int offset    : 24;
+  unsigned int reserved1 : 8;
+} __attribute__((__packed__));
+
+/**
+ * struct cdm_dmi_cmd - Definition for a CDM DMI command.
+ * @length: Number of bytes in LUT - 1
+ * @reserved: reserved bits
+ * @cmd: Command ID (CDMCmd)
+ * @addr: Address of the LUT in memory
+ * @DMIAddr: Address of the target DMI config register
+ * @DMISel: DMI identifier
+ */
+struct cdm_dmi_cmd {
+  unsigned int length   : 16;
+  unsigned int reserved : 8;
+  unsigned int cmd      : 8;
+  unsigned int addr;
+  unsigned int DMIAddr  : 24;
+  unsigned int DMISel   : 8;
+} __attribute__((__packed__));
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index ef771a64b72467..e4036ca6f62cc1 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -37,6 +37,26 @@ int do_cam_control(int fd, int op_code, void *handle, int size) {
   return ret;
 }
 
+int do_sync_control(int fd, uint32_t id, void *handle, uint32_t size) {
+  struct cam_private_ioctl_arg arg = {
+    .id = id,
+    .size = size,
+    .ioctl_ptr = (uint64_t)handle,
+  };
+  int ret = HANDLE_EINTR(ioctl(fd, CAM_PRIVATE_IOCTL_CMD, &arg));
+
+  int32_t ioctl_result = (int32_t)arg.result;
+  if (ret < 0) {
+    LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
+    return ret;
+  }
+  if (ioctl_result < 0) {
+    LOGE("CAM_SYNC error: id %u - errno %d - ret %d - ioctl_result %d", id, errno, ret, ioctl_result);
+    return ioctl_result;
+  }
+  return ret;
+}
+
 std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data, uint32_t num_resources) {
   struct cam_acquire_dev_cmd cmd = {
     .session_handle = session_handle,
@@ -558,7 +578,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
     struct cam_sync_wait sync_wait = {0};
     sync_wait.sync_obj = sync_objs[i];
     sync_wait.timeout_ms = 50; // max dt tolerance, typical should be 23
-    ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
+    ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_WAIT, &sync_wait, sizeof(sync_wait));
     if (ret != 0) {
       LOGE("failed to wait for sync: %d %d", ret, sync_wait.sync_obj);
       // TODO: handle frame drop cleanly
@@ -570,7 +590,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
     // destroy old output fence
     struct cam_sync_info sync_destroy = {0};
     sync_destroy.sync_obj = sync_objs[i];
-    ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
+    ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_DESTROY, &sync_destroy, sizeof(sync_destroy));
     if (ret != 0) {
       LOGE("failed to destroy sync object: %d %d", ret, sync_destroy.sync_obj);
     }
@@ -579,7 +599,7 @@ void SpectraCamera::enqueue_buffer(int i, bool dp) {
   // create output fence
   struct cam_sync_info sync_create = {0};
   strcpy(sync_create.name, "NodeOutputPortFence");
-  ret = do_cam_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
+  ret = do_sync_control(m->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
   if (ret != 0) {
     LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
   }
diff --git a/system/camerad/test/debug.sh b/system/camerad/test/debug.sh
new file mode 100755
index 00000000000000..40d2dda2371336
--- /dev/null
+++ b/system/camerad/test/debug.sh
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+#echo 4294967295 | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
+
+# no CCI and UTIL, very spammy
+echo 0xfffdbfff | sudo tee /sys/module/cam_debug_util/parameters/debug_mdl
+
+sudo dmesg -C
+scons -u -j8 --minimal .
+export DEBUG_FRAMES=1
+#export DISABLE_ROAD=1 DISABLE_WIDE_ROAD=1
+export DISABLE_DRIVER=1
+#export LOGPRINT=debug
+./camerad
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index cfd12477029b81..34abe553a18687 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -150,7 +150,7 @@ def test_rotation(self):
     pm = messaging.PubMaster(["roadCameraState", "driverCameraState", "wideRoadCameraState"])
     vipc_server = VisionIpcServer("camerad")
     for stream_type, frame_spec, _ in streams:
-      vipc_server.create_buffers_with_sizes(stream_type, 40, False, *(frame_spec))
+      vipc_server.create_buffers_with_sizes(stream_type, 40, *(frame_spec))
     vipc_server.start_listener()
 
     num_segs = random.randint(2, 5)
@@ -281,4 +281,3 @@ def test_not_preserving_unflagged_segments(self):
 
     segment_dir = self._get_latest_log_dir()
     assert getxattr(segment_dir, PRESERVE_ATTR_NAME) is None
-
diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc
index 9cbc24864d35f9..189da78099d888 100644
--- a/system/sensord/sensors_qcom2.cc
+++ b/system/sensord/sensors_qcom2.cc
@@ -62,7 +62,7 @@ void interrupt_loop(std::vector<std::tuple<Sensor *, std::string>> sensors) {
 
     // Read all events
     struct gpioevent_data evdata[16];
-    err = read(fd, evdata, sizeof(evdata));
+    err = HANDLE_EINTR(read(fd, evdata, sizeof(evdata)));
     if (err < 0 || err % sizeof(*evdata) != 0) {
       LOGE("error reading event data %d", err);
       continue;
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 27846f9c925990..e2f0d4d0c9b0c9 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -255,14 +255,15 @@ ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *si
   return nullptr;
 }
 
-ChartView *ChartsWidget::createChart() {
+ChartView *ChartsWidget::createChart(int pos) {
   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);
   QObject::connect(chart, &ChartView::axisYLabelWidthChanged, align_timer, qOverload<>(&QTimer::start));
-  charts.push_front(chart);
-  currentCharts().push_front(chart);
+  pos = std::clamp(pos, 0, charts.size());
+  charts.insert(pos, chart);
+  currentCharts().insert(pos, chart);
   updateLayout(true);
   updateToolBar();
   return chart;
@@ -281,8 +282,9 @@ void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, boo
 
 void ChartsWidget::splitChart(ChartView *src_chart) {
   if (src_chart->sigs.size() > 1) {
+    int pos = charts.indexOf(src_chart) + 1;
     for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
-      auto c = createChart();
+      auto c = createChart(pos);
       src_chart->chart()->removeSeries(it->series);
 
       // Restore to the original color
@@ -434,7 +436,9 @@ void ChartsWidget::alignCharts() {
 }
 
 bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
-  if (value_tip_visible_ && e->type() == QEvent::MouseMove) {
+  if (!value_tip_visible_) return false;
+
+  if (e->type() == QEvent::MouseMove) {
     bool on_tip = qobject_cast<TipLabel *>(o) != nullptr;
     auto global_pos = static_cast<QMouseEvent *>(e)->globalPos();
 
@@ -449,6 +453,11 @@ bool ChartsWidget::eventFilter(QObject *o, QEvent *e) {
     }
 
     showValueTip(-1);
+  } else if (e->type() == QEvent::Wheel) {
+    if (auto tip = qobject_cast<TipLabel *>(o)) {
+      // Forward the event to the parent widget
+      QCoreApplication::sendEvent(tip->parentWidget(), e);
+    }
   }
   return false;
 }
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index a9251917924eb3..bfdaaaa95496b3 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -58,7 +58,7 @@ public slots:
   bool event(QEvent *event) override;
   void alignCharts();
   void newChart();
-  ChartView *createChart();
+  ChartView *createChart(int pos = 0);
   void removeChart(ChartView *chart);
   void splitChart(ChartView *chart);
   QRect chartVisibleRect(ChartView *chart);
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 07d283787f7a78..66a6efe5697555 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -368,6 +368,7 @@ bool Slider::event(QEvent *event) {
 
 InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint) {
   setAttribute(Qt::WA_ShowWithoutActivating);
+  setAttribute(Qt::WA_TransparentForMouseEvents);
   setVisible(false);
 }
 
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index f531a289f91ffa..cbea0609208742 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -120,7 +120,7 @@ def __init__(self, addr, vision_streams, nvidia=False, debug=False):
     self.vipc_server = VisionIpcServer("camerad")
     for vst in vision_streams:
       ed = sm[ENCODE_SOCKETS[vst]]
-      self.vipc_server.create_buffers(vst, 4, False, ed.width, ed.height)
+      self.vipc_server.create_buffers(vst, 4, ed.width, ed.height)
     self.vipc_server.start_listener()
 
     self.procs = []
diff --git a/tools/lib/github_utils.py b/tools/lib/github_utils.py
new file mode 100644
index 00000000000000..4dc22b9524f7aa
--- /dev/null
+++ b/tools/lib/github_utils.py
@@ -0,0 +1,114 @@
+import base64
+import requests
+from http import HTTPMethod
+
+class GithubUtils:
+  def __init__(self, api_token, data_token, owner='commaai', api_repo='openpilot', data_repo='ci-artifacts'):
+    self.OWNER = owner
+    self.API_REPO = api_repo
+    self.DATA_REPO = data_repo
+    self.API_TOKEN = api_token
+    self.DATA_TOKEN = data_token
+
+  @property
+  def API_ROUTE(self):
+    return f"https://api.github.com/repos/{self.OWNER}/{self.API_REPO}"
+
+  @property
+  def DATA_ROUTE(self):
+    return f"https://api.github.com/repos/{self.OWNER}/{self.DATA_REPO}"
+
+  def api_call(self, path, data="", method=HTTPMethod.GET, accept="", data_call=False, raise_on_failure=True):
+    token = self.DATA_TOKEN if data_call else self.API_TOKEN
+    if token:
+      headers = {"Authorization": f"Bearer {self.DATA_TOKEN if data_call else self.API_TOKEN}", \
+                 "Accept": f"application/vnd.github{accept}+json"}
+    else:
+      headers = {}
+    path = f'{self.DATA_ROUTE if data_call else self.API_ROUTE}/{path}'
+    r = requests.request(method, path, headers=headers, data=data)
+    if not r.ok and raise_on_failure:
+      raise Exception(f"Call to {path} failed with {r.status_code}")
+    else:
+      return r
+
+  def upload_file(self, bucket, path, file_name):
+    with open(path, "rb") as f:
+      encoded = base64.b64encode(f.read()).decode()
+
+      # check if file already exists
+      sha = self.get_file_sha(bucket, file_name)
+      sha = f'"sha":"{sha}",' if sha else ''
+
+      data = f'{{"message":"uploading {file_name}", \
+                    "branch":"{bucket}", \
+                    "committer":{{"name":"Vehicle Researcher", "email": "user@comma.ai"}}, \
+                    {sha} \
+                    "content":"{encoded}"}}'
+      github_path = f"contents/{file_name}"
+      self.api_call(github_path, data=data, method=HTTPMethod.PUT, data_call=True)
+
+  def upload_files(self, bucket, files):
+    self.create_bucket(bucket)
+    for file_name,path in files:
+      self.upload_file(bucket, path, file_name)
+
+  def create_bucket(self, bucket):
+    if self.get_bucket_sha(bucket):
+      return
+    master_sha = self.get_bucket_sha('master')
+    github_path = "git/refs"
+    data = f'{{"ref":"refs/heads/{bucket}", "sha":"{master_sha}"}}'
+    self.api_call(github_path, data=data, method=HTTPMethod.POST, data_call=True)
+
+  def get_bucket_sha(self, bucket):
+    github_path = f"git/refs/heads/{bucket}"
+    r = self.api_call(github_path, data_call=True, raise_on_failure=False)
+    return r.json()['object']['sha'] if r.ok else None
+
+  def get_file_url(self, bucket, file_name):
+    github_path = f"contents/{file_name}?ref={bucket}"
+    r = self.api_call(github_path, data_call=True)
+    return r.json()['download_url']
+
+  def get_file_sha(self, bucket, file_name):
+    github_path = f"contents/{file_name}?ref={bucket}"
+    r = self.api_call(github_path, data_call=True, raise_on_failure=False)
+    return r.json()['sha'] if r.ok else None
+
+  def get_pr_number(self, pr_branch):
+    github_path = f"commits/{pr_branch}/pulls"
+    r = self.api_call(github_path)
+    return r.json()[0]['number']
+
+  def get_bucket_link(self, bucket):
+    return f'https://raw.githubusercontent.com/{self.OWNER}/{self.DATA_REPO}/refs/heads/{bucket}'
+
+  def comment_on_pr(self, comment, pr_branch, commenter="", overwrite=False):
+    pr_number = self.get_pr_number(pr_branch)
+    data = f'{{"body": "{comment}"}}'
+    if overwrite:
+      github_path = f'issues/{pr_number}/comments'
+      r = self.api_call(github_path)
+      comments = [x['id'] for x in r.json() if x['user']['login'] == commenter]
+      if comments:
+        github_path = f'issues/comments/{comments[0]}'
+        self.api_call(github_path, data=data, method=HTTPMethod.PATCH)
+        return
+
+    github_path=f'issues/{pr_number}/comments'
+    self.api_call(github_path, data=data, method=HTTPMethod.POST)
+
+  # upload files to github and comment them on the pr
+  def comment_images_on_pr(self, title, commenter, pr_branch, bucket, images):
+    self.upload_files(bucket, images)
+    table = [f'<details><summary>{title}</summary><table>']
+    for i,f in enumerate(images):
+      if not (i % 2):
+        table.append('<tr>')
+      table.append(f'<td><img src=\\"https://raw.githubusercontent.com/{self.OWNER}/{self.DATA_REPO}/{bucket}/{f[0]}\\"></td>')
+      if (i % 2):
+        table.append('</tr>')
+    table.append('</table></details>')
+    table = ''.join(table)
+    self.comment_on_pr(table, commenter, pr_branch)
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index 914c18e15f9f63..73243ed20d56df 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -51,7 +51,7 @@ void CameraServer::startVipcServer() {
     if (cam.width > 0 && cam.height > 0) {
       rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height);
       auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height);
-      vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, false, cam.width, cam.height,
+      vipc_server_->create_buffers_with_sizes(cam.stream_type, BUFFER_COUNT, cam.width, cam.height,
                                               nv12_buffer_size, nv12_width, nv12_width * nv12_height);
       if (!cam.thread.joinable()) {
         cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));
diff --git a/tools/replay/lib/rp_helpers.py b/tools/replay/lib/rp_helpers.py
index 95eef9d233da30..aa20ab8e32654f 100644
--- a/tools/replay/lib/rp_helpers.py
+++ b/tools/replay/lib/rp_helpers.py
@@ -8,7 +8,8 @@
                      (230, "vibrantpink", (255, 36, 170)),
                      (240, "orange", (255, 146, 0)),
                      (255, "white", (255, 255, 255)),
-                     (110, "carColor", (255,0,127))]
+                     (110, "carColor", (255,0,127)),
+                     (0, "background", (0, 0, 0))]
 
 
 class UIParams:
@@ -68,7 +69,7 @@ def plot_lead(rs, lid_overlay):
     lid_overlay[px_left:px_right, py] = rerunColorPalette[0][0]
 
 
-def maybe_update_radar_points(lt, lid_overlay):
+def update_radar_points(lt, lid_overlay):
   ar_pts = []
   if lt is not None:
     ar_pts = {}
diff --git a/tools/replay/rp_visualization.py b/tools/replay/rp_visualization.py
index 01058967b2cc56..25169b72ae2e0f 100755
--- a/tools/replay/rp_visualization.py
+++ b/tools/replay/rp_visualization.py
@@ -8,7 +8,7 @@
 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,
+                                         update_radar_points, plot_lead,
                                          plot_model)
 from msgq.visionipc import VisionIpcClient, VisionStreamType
 
@@ -33,7 +33,8 @@ def visualize(addr):
     if sm.recv_frame['radarState']:
       plot_lead(sm['radarState'], lid_overlay)
     liveTracksTime = sm.logMonoTime['liveTracks']
-    maybe_update_radar_points(sm['liveTracks'], lid_overlay)
+    if sm.updated['liveTracks']:
+      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)))
 
diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py
index b8dc94cf86fc75..7bfadc5533fa89 100644
--- a/tools/sim/bridge/metadrive/metadrive_bridge.py
+++ b/tools/sim/bridge/metadrive/metadrive_bridge.py
@@ -50,12 +50,13 @@ def create_map(track_size=60):
 class MetaDriveBridge(SimulatorBridge):
   TICKS_PER_FRAME = 5
 
-  def __init__(self, dual_camera, high_quality, test_duration=math.inf, test_run=False):
+  def __init__(self, dual_camera, high_quality, test_duration=math.inf, minimal_distance=0, test_run=False):
     super().__init__(dual_camera, high_quality)
 
     self.should_render = False
     self.test_run = test_run
     self.test_duration = test_duration if self.test_run else math.inf
+    self.minimal_distance = minimal_distance if self.test_run else 0
 
   def spawn_world(self, queue: Queue):
     sensors = {
@@ -90,4 +91,4 @@ def spawn_world(self, queue: Queue):
       anisotropic_filtering=False
     )
 
-    return MetaDriveWorld(queue, config, self.test_duration, self.test_run, self.dual_camera)
+    return MetaDriveWorld(queue, config, self.test_duration, self.minimal_distance, self.test_run, self.dual_camera)
diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py
index 2486d87ff997cb..c788b8cda2804a 100644
--- a/tools/sim/bridge/metadrive/metadrive_process.py
+++ b/tools/sim/bridge/metadrive/metadrive_process.py
@@ -19,6 +19,7 @@
 C3_POSITION = Vec3(0.0, 0, 1.22)
 C3_HPR = Vec3(0, 0,0)
 
+VEHICLE_STARTING_POS = [110, 4.5]
 
 metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"])
 metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"])
@@ -50,7 +51,7 @@ def arrive_destination_patch(self, *args, **kwargs):
 
 def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock,
                       controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection,
-                      exit_event, op_engaged, test_duration, test_run):
+                      exit_event, op_engaged, test_duration, minimal_distance, test_run):
   arrive_dest_done = config.pop("arrive_dest_done", True)
   apply_metadrive_patches(arrive_dest_done)
 
@@ -70,6 +71,7 @@ def reset():
     env.reset()
     env.vehicle.config["max_speed_km_h"] = 1000
     lane_idx_prev, _ = get_current_lane_info(env.vehicle)
+    env.vehicle.set_position(VEHICLE_STARTING_POS)
 
     simulation_state = metadrive_simulation_state(
       running=True,
@@ -98,6 +100,9 @@ def get_cam_as_rgb(cam):
   steer_ratio = 8
   vc = [0,0]
 
+  total_distance = 0
+  prev_x_pos = VEHICLE_STARTING_POS[0]
+
   while not exit_event.is_set():
     vehicle_state = metadrive_vehicle_state(
       velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0),
@@ -107,6 +112,9 @@ def get_cam_as_rgb(cam):
     )
     vehicle_state_send.send(vehicle_state)
 
+    total_distance += abs(env.vehicle.position[0] - prev_x_pos)
+    prev_x_pos = env.vehicle.position[0]
+
     if controls_recv.poll(0):
       while controls_recv.poll(0):
         steer_angle, gas, should_reset = controls_recv.recv()
@@ -137,7 +145,10 @@ def get_cam_as_rgb(cam):
         elif out_of_lane:
           done_result = (True, {"out_of_lane" : True})
         elif timeout:
-          done_result = (True, {"timeout" : True})
+          if total_distance < minimal_distance:
+            done_result = (True, {"minimal_distance" : True})
+          else:
+            done_result = (True, {"timeout" : True})
 
         simulation_state = metadrive_simulation_state(
           running=False,
diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py
index 5bb4555dc1e97d..7b6c8656903584 100644
--- a/tools/sim/bridge/metadrive/metadrive_world.py
+++ b/tools/sim/bridge/metadrive/metadrive_world.py
@@ -14,7 +14,7 @@
 
 
 class MetaDriveWorld(World):
-  def __init__(self, status_q, config, test_duration, test_run, dual_camera=False):
+  def __init__(self, status_q, config, test_duration, minimal_distance, test_run, dual_camera=False):
     super().__init__(dual_camera)
     self.status_q = status_q
     self.camera_array = Array(ctypes.c_uint8, W*H*3)
@@ -41,7 +41,7 @@ def __init__(self, status_q, config, test_duration, test_run, dual_camera=False)
                               functools.partial(metadrive_process, dual_camera, config,
                                                 self.camera_array, self.wide_camera_array, self.image_lock,
                                                 self.controls_recv, self.simulation_state_send,
-                                                self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, self.test_run))
+                                                self.vehicle_state_send, self.exit_event, self.op_engaged, test_duration, minimal_distance, self.test_run))
 
     self.metadrive_process.start()
     self.status_q.put(QueueMessage(QueueMessageType.START_STATUS, "starting"))
@@ -105,7 +105,7 @@ def read_sensors(self, state: SimulatorState):
       if x_dist >= dist_threshold or y_dist >= dist_threshold: # position not the same during staying still, > threshold is considered moving
         self.distance_moved += x_dist + y_dist
 
-      time_check_threshold = 30
+      time_check_threshold = 7.5
       current_time = time.monotonic()
       since_last_check = current_time - self.last_check_timestamp
       if since_last_check >= time_check_threshold:
diff --git a/tools/sim/lib/camerad.py b/tools/sim/lib/camerad.py
index b58cbeaaf26334..be4e1a610c3bae 100644
--- a/tools/sim/lib/camerad.py
+++ b/tools/sim/lib/camerad.py
@@ -18,9 +18,9 @@ def __init__(self, dual_camera):
     self.frame_wide_id = 0
     self.vipc_server = VisionIpcServer("camerad")
 
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
+    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
     if dual_camera:
-      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
+      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, W, H)
 
     self.vipc_server.start_listener()
 
diff --git a/tools/sim/tests/test_metadrive_bridge.py b/tools/sim/tests/test_metadrive_bridge.py
index 8849e901cbbc8f..bed0601b7a56b5 100644
--- a/tools/sim/tests/test_metadrive_bridge.py
+++ b/tools/sim/tests/test_metadrive_bridge.py
@@ -11,11 +11,9 @@
 @pytest.mark.filterwarnings("ignore::pyopencl.CompilerWarning") # Unimportant warning of non-empty compile log
 class TestMetaDriveBridge(TestSimBridgeBase):
   @pytest.fixture(autouse=True)
-  def setup_create_bridge(self, test_duration):
-    # run bridge test for at least 60s, since not-moving check runs every 30s
-    if test_duration < 60:
-      test_duration = 60
-    self.test_duration = test_duration
+  def setup_create_bridge(self):
+    self.test_duration = 15
+    self.minimal_distance = 10
 
   def create_bridge(self):
-    return MetaDriveBridge(False, False, self.test_duration, True)
+    return MetaDriveBridge(False, False, self.test_duration, self.minimal_distance, True)
diff --git a/uv.lock b/uv.lock
index 81c6fa00c28855..91577f63ae1058 100644
--- a/uv.lock
+++ b/uv.lock
@@ -11,16 +11,16 @@ resolution-markers = [
 
 [[package]]
 name = "aiohappyeyeballs"
-version = "2.4.2"
+version = "2.4.3"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c7/d9/e710a5c9e51b4d5a977c823ce323a81d344da8c1b6fba16bb270a8be800d/aiohappyeyeballs-2.4.2.tar.gz", hash = "sha256:4ca893e6c5c1f5bf3888b04cb5a3bee24995398efef6e0b9f747b5e89d84fd74", size = 18391 }
+sdist = { url = "https://files.pythonhosted.org/packages/bc/69/2f6d5a019bd02e920a3417689a89887b39ad1e350b562f9955693d900c40/aiohappyeyeballs-2.4.3.tar.gz", hash = "sha256:75cf88a15106a5002a8eb1dab212525c00d1f4c0fa96e551c9fbe6f09a621586", size = 21809 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/13/64/40165ff77ade5203284e3015cf88e11acb07d451f6bf83fff71192912a0d/aiohappyeyeballs-2.4.2-py3-none-any.whl", hash = "sha256:8522691d9a154ba1145b157d6d5c15e5c692527ce6a53c5e5f9876977f6dab2f", size = 14105 },
+    { url = "https://files.pythonhosted.org/packages/f7/d8/120cd0fe3e8530df0539e71ba9683eade12cae103dd7543e50d15f737917/aiohappyeyeballs-2.4.3-py3-none-any.whl", hash = "sha256:8a7a83727b2756f394ab2895ea0765a0a8c475e3c71e98d43d76f22b4b435572", size = 14742 },
 ]
 
 [[package]]
 name = "aiohttp"
-version = "3.10.8"
+version = "3.10.9"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aiohappyeyeballs" },
@@ -30,53 +30,53 @@ dependencies = [
     { name = "multidict" },
     { name = "yarl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/4e/05/da5ff89c85444a6ade9079e73580fb3f78c6ba0e170a2472f15400d03e02/aiohttp-3.10.8.tar.gz", hash = "sha256:21f8225f7dc187018e8433c9326be01477fb2810721e048b33ac49091b19fb4a", size = 7540022 }
-wheels = [
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 [[package]]