diff --git a/SConstruct b/SConstruct
index 14450cec9f8925..6b45d60f2e9110 100644
--- a/SConstruct
+++ b/SConstruct
@@ -127,6 +127,7 @@ else:
       "/opt/homebrew/lib",
       "/usr/local/opt/openssl/lib",
       "/opt/homebrew/opt/openssl/lib",
+      f"#third_party/acados/{arch}/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
     cflags += ["-DGL_SILENCE_DEPRECATION"]
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index 148e4e123d320a..f402e6e15e72c0 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -48,12 +48,13 @@ lenv.Clean(generated_files, Dir(gen))
 
 lenv.Command(generated_files,
              ["lat_mpc.py"],
-             f"cd {Dir('.').abspath} && python lat_mpc.py")
+             f"cd {Dir('.').abspath} && python3 lat_mpc.py")
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CCFLAGS"].append("-Wno-unused")
-lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
+if arch != "Darwin":
+  lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
 lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
                                 build_files,
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 4abe90f8f892b0..4c43985d1fdb35 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -58,12 +58,13 @@ lenv.Clean(generated_files, Dir(gen))
 
 lenv.Command(generated_files,
              ["long_mpc.py"],
-             f"cd {Dir('.').abspath} && python long_mpc.py")
+             f"cd {Dir('.').abspath} && python3 long_mpc.py")
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CCFLAGS"].append("-Wno-unused")
-lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
+if arch != "Darwin":
+  lenv["LINKFLAGS"].append("-Wl,--disable-new-dtags")
 lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
                                 build_files,
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index ff9f7754d16b31..289f61afe0cf76 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -31,8 +31,8 @@ const char frame_fragment_shader[] =
   "#version 150 core\n"
 #else
   "#version 300 es\n"
-#endif
   "precision mediump float;\n"
+#endif
   "uniform sampler2D uTexture;\n"
   "in vec4 vTexCoord;\n"
   "out vec4 colorOut;\n"
diff --git a/selfdrive/ui/replay/framereader.cc b/selfdrive/ui/replay/framereader.cc
index 5955d1bfcb05a3..59e43cb58f89ff 100644
--- a/selfdrive/ui/replay/framereader.cc
+++ b/selfdrive/ui/replay/framereader.cc
@@ -15,7 +15,8 @@ struct buffer_data {
 
 int readPacket(void *opaque, uint8_t *buf, int buf_size) {
   struct buffer_data *bd = (struct buffer_data *)opaque;
-  buf_size = std::min((size_t)buf_size, bd->size - bd->offset);
+  assert(bd->offset <= bd->size);
+  buf_size = std::min((size_t)buf_size, (size_t)(bd->size - bd->offset));
   if (!buf_size) return AVERROR_EOF;
 
   memcpy(buf, bd->data + bd->offset, buf_size);
diff --git a/third_party/acados/Darwin/lib/libacados.dylib b/third_party/acados/Darwin/lib/libacados.dylib
new file mode 100755
index 00000000000000..36dc230f71a42c
Binary files /dev/null and b/third_party/acados/Darwin/lib/libacados.dylib differ
diff --git a/third_party/acados/Darwin/lib/libblasfeo.dylib b/third_party/acados/Darwin/lib/libblasfeo.dylib
new file mode 100755
index 00000000000000..cefef889408948
Binary files /dev/null and b/third_party/acados/Darwin/lib/libblasfeo.dylib differ
diff --git a/third_party/acados/Darwin/lib/libhpipm.dylib b/third_party/acados/Darwin/lib/libhpipm.dylib
new file mode 100755
index 00000000000000..5c05838618facd
Binary files /dev/null and b/third_party/acados/Darwin/lib/libhpipm.dylib differ
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
new file mode 100755
index 00000000000000..2ea5465beb848f
Binary files /dev/null and b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib differ
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.dylib
new file mode 120000
index 00000000000000..e3d94c4bc2d648
--- /dev/null
+++ b/third_party/acados/Darwin/lib/libqpOASES_e.dylib
@@ -0,0 +1 @@
+libqpOASES_e.3.1.dylib
\ No newline at end of file
diff --git a/third_party/acados/Darwin/t_renderer b/third_party/acados/Darwin/t_renderer
new file mode 100755
index 00000000000000..7ee3eda293deb3
Binary files /dev/null and b/third_party/acados/Darwin/t_renderer differ