diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 103bb38e2642a0..f98bca606070ec 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -44,7 +44,7 @@ repos:
         - --explicit-package-bases
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.2.1
+    rev: v0.2.2
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
@@ -74,6 +74,14 @@ repos:
         # https://google.github.io/styleguide/cppguide.html
         # relevant rules are whitelisted, see all options with: cpplint --filter=
         - --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/MarcoGorelli/cython-lint
+    rev: v0.16.0
+    hooks:
+    -   id: cython-lint
+        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --max-line-length=240
+        - --ignore=E111, E302, E305
 -   repo: local
     hooks:
     -   id: test_translations
diff --git a/RELEASES.md b/RELEASES.md
index 215b9759742def..096fa691ac615b 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,4 +1,8 @@
-Version 0.9.6 (2024-02-22)
+Version 0.9.7 (2024-XX-XX)
+========================
+* New driving model
+
+Version 0.9.6 (2024-02-27)
 ========================
 * New driving model
   * Vision model trained on more data
@@ -9,8 +13,9 @@ Version 0.9.6 (2024-02-22)
 * AGNOS 9
 * comma body streaming and controls over WebRTC
 * Improved fuzzy fingerprinting for many makes and models
+* Alpha longitudinal support for new Toyota models
 * Chevrolet Equinox 2019-22 support thanks to JasonJShuler and nworb-cire!
-* Dodge Duranago 2020-21 support
+* Dodge Durango 2020-21 support
 * Hyundai Staria 2023 support thanks to sunnyhaibin!
 * Kia Niro Plug-in Hybrid 2022 support thanks to sunnyhaibin!
 * Lexus LC 2024 support thanks to nelsonjchen!
diff --git a/cereal b/cereal
index e86a48cf413c48..b891fcca7abc7a 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit e86a48cf413c48e8d5a0d247f3b64fdcb800096f
+Subproject commit b891fcca7abc7a25e7322afa8b4ab381d695564c
diff --git a/common/params.cc b/common/params.cc
index 0733aeaee9394a..0f08501da4f66c 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -125,6 +125,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
+    {"GitCommitDate", PERSISTENT},
     {"GitDiff", PERSISTENT},
     {"GithubSshKeys", PERSISTENT},
     {"GithubUsername", PERSISTENT},
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 47d2075df25eb3..535514e521a6d9 100644
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -29,7 +29,7 @@ cdef extern from "common/params.h":
 
 
 def ensure_bytes(v):
-  return v.encode() if isinstance(v, str) else v;
+  return v.encode() if isinstance(v, str) else v
 
 class UnknownKeyName(Exception):
   pass
diff --git a/common/transformations/transformations.pxd b/common/transformations/transformations.pxd
index 7af009870198ad..964adf06ece9e8 100644
--- a/common/transformations/transformations.pxd
+++ b/common/transformations/transformations.pxd
@@ -1,4 +1,4 @@
-#cython: language_level=3
+# cython: language_level=3
 from libcpp cimport bool
 
 cdef extern from "orientation.cc":
diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx
index c5cb9e00568e96..ae045c369d7506 100644
--- a/common/transformations/transformations.pyx
+++ b/common/transformations/transformations.pyx
@@ -17,7 +17,6 @@ from openpilot.common.transformations.transformations cimport ecef2geodetic as e
 from openpilot.common.transformations.transformations cimport LocalCoord_c
 
 
-import cython
 import numpy as np
 cimport numpy as np
 
@@ -34,14 +33,14 @@ cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
     return Matrix3(<double*>m.data)
 
 cdef ECEF list2ecef(ecef):
-    cdef ECEF e;
+    cdef ECEF e
     e.x = ecef[0]
     e.y = ecef[1]
     e.z = ecef[2]
     return e
 
 cdef NED list2ned(ned):
-    cdef NED n;
+    cdef NED n
     n.n = ned[0]
     n.e = ned[1]
     n.d = ned[2]
@@ -61,7 +60,7 @@ def euler2quat_single(euler):
 
 def quat2euler_single(quat):
     cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Vector3 e = quat2euler_c(q);
+    cdef Vector3 e = quat2euler_c(q)
     return [e(0), e(1), e(2)]
 
 def quat2rot_single(quat):
diff --git a/common/version.h b/common/version.h
index a0147beadf3052..dce92e08019cd3 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.6.0"
+#define COMMA_VERSION "0.9.6.1"
diff --git a/conftest.py b/conftest.py
index e4dc6640c0df48..0d2a4a8fc4d6ba 100644
--- a/conftest.py
+++ b/conftest.py
@@ -1,3 +1,4 @@
+import contextlib
 import gc
 import os
 import pytest
@@ -25,42 +26,42 @@ def pytest_runtest_call(item):
     yield
 
 
-@pytest.fixture(scope="function", autouse=True)
-def openpilot_function_fixture(request):
+@contextlib.contextmanager
+def clean_env():
   starting_env = dict(os.environ)
+  yield
+  os.environ.clear()
+  os.environ.update(starting_env)
 
-  random.seed(0)
 
-  # setup a clean environment for each test
-  with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
-    prefix = os.environ["OPENPILOT_PREFIX"]
+@pytest.fixture(scope="function", autouse=True)
+def openpilot_function_fixture(request):
+  random.seed(0)
 
-    yield
+  with clean_env():
+    # setup a clean environment for each test
+    with OpenpilotPrefix(shared_download_cache=request.node.get_closest_marker("shared_download_cache") is not None) as prefix:
+      prefix = os.environ["OPENPILOT_PREFIX"]
 
-    # ensure the test doesn't change the prefix
-    assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
+      yield
 
-  os.environ.clear()
-  os.environ.update(starting_env)
+      # ensure the test doesn't change the prefix
+      assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
 
-  # cleanup any started processes
-  manager.manager_cleanup()
+    # cleanup any started processes
+    manager.manager_cleanup()
 
-  # some processes disable gc for performance, re-enable here
-  if not gc.isenabled():
-    gc.enable()
-    gc.collect()
+    # some processes disable gc for performance, re-enable here
+    if not gc.isenabled():
+      gc.enable()
+      gc.collect()
 
 # If you use setUpClass, the environment variables won't be cleared properly,
 # so we need to hook both the function and class pytest fixtures
 @pytest.fixture(scope="class", autouse=True)
 def openpilot_class_fixture():
-  starting_env = dict(os.environ)
-
-  yield
-
-  os.environ.clear()
-  os.environ.update(starting_env)
+  with clean_env():
+    yield
 
 
 @pytest.fixture(scope="function")
diff --git a/docs/CARS.md b/docs/CARS.md
index 48e2e77e624a29..6d3ee716598f6a 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -216,9 +216,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</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 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 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|Avalon Hybrid 2022|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=Avalon Hybrid 2022">Buy Here</a></sub></details>||
 |Toyota|C-HR 2017-20|All|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 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=C-HR 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR 2021|All|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 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=C-HR 2021">Buy Here</a></sub></details>||
+|Toyota|C-HR 2021|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=C-HR 2021">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2017-20|All|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 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=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
-|Toyota|C-HR Hybrid 2021-22|All|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 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=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2021-22|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=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
 |Toyota|Camry 2018-20|All|Stock|0 mph[<sup>9</sup>](#footnotes)|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=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>9</sup>](#footnotes)|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=Camry 2021-24">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|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 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=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -244,13 +244,13 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 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=RAV4 2016">Buy Here</a></sub></details>||
 |Toyota|RAV4 2017-18|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=RAV4 2017-18">Buy Here</a></sub></details>||
 |Toyota|RAV4 2019-21|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=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|RAV4 2022|All|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 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 2022">Buy Here</a></sub></details>||
-|Toyota|RAV4 2023-24|All|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 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 2023-24">Buy Here</a></sub></details>||
+|Toyota|RAV4 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 2022">Buy Here</a></sub></details>||
+|Toyota|RAV4 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 2023-24">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</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 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</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 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|RAV4 Hybrid 2019-21|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=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
-|Toyota|RAV4 Hybrid 2022|All|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 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|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 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|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-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=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>1,13</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>1,13</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>|
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 9271c154368737..a7f61411c867de 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -15,6 +15,11 @@ function agnos_init {
   # set success flag for current boot slot
   sudo abctl --set_success
 
+  # TODO: do this without udev in AGNOS
+  # udev does this, but sometimes we startup faster
+  sudo chgrp gpu /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+  sudo chmod 660 /dev/adsprpc-smd /dev/ion /dev/kgsl-3d0
+
   # Check if AGNOS update is required
   if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
     AGNOS_PY="$DIR/system/hardware/tici/agnos.py"
diff --git a/opendbc b/opendbc
index a49eea191e4957..e8e8ed72221e16 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit a49eea191e4957fc149178c44ee418d3387194c3
+Subproject commit e8e8ed72221e161cc2952ce09deb776673ffbff6
diff --git a/panda b/panda
index 30af1bcdaacb0d..c3f5332ea0b800 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 30af1bcdaacb0d1f5173a12585f244965351eb10
+Subproject commit c3f5332ea0b800454a4d284ce735aa55ba1a1873
diff --git a/poetry.lock b/poetry.lock
index 4333f01267bf91..9972cd77322f63 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -825,43 +825,43 @@ files = [
 
 [[package]]
 name = "cryptography"
-version = "42.0.2"
+version = "42.0.3"
 description = "cryptography is a package which provides cryptographic recipes and primitives to Python developers."
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "cryptography-42.0.3-pp39-pypy39_pp73-manylinux_2_28_x86_64.whl", hash = "sha256:9541c69c62d7446539f2c1c06d7046aef822940d248fa4b8962ff0302862cc1f"},
+    {file = "cryptography-42.0.3-pp39-pypy39_pp73-win_amd64.whl", hash = "sha256:1b797099d221df7cce5ff2a1d272761d1554ddf9a987d3e11f6459b38cd300fd"},
+    {file = "cryptography-42.0.3.tar.gz", hash = "sha256:069d2ce9be5526a44093a0991c450fe9906cdf069e0e7cd67d9dee49a62b9ebe"},
 ]
 
 [package.dependencies]
@@ -989,22 +989,22 @@ files = [
 
 [[package]]
 name = "dnspython"
-version = "2.5.0"
+version = "2.6.1"
 description = "DNS toolkit"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "dnspython-2.5.0-py3-none-any.whl", hash = "sha256:6facdf76b73c742ccf2d07add296f178e629da60be23ce4b0a9c927b1e02c3a6"},
-    {file = "dnspython-2.5.0.tar.gz", hash = "sha256:a0034815a59ba9ae888946be7ccca8f7c157b286f8455b379c692efb51022a15"},
+    {file = "dnspython-2.6.1-py3-none-any.whl", hash = "sha256:5ef3b9680161f6fa89daf8ad451b5f1a33b18ae8a1c6778cdf4b43f08c0a6e50"},
+    {file = "dnspython-2.6.1.tar.gz", hash = "sha256:e8f0f9c23a7b7cb99ded64e6c3a6f3e701d78f50c55e002b839dea7225cff7cc"},
 ]
 
 [package.extras]
-dev = ["black (>=23.1.0)", "coverage (>=7.0)", "flake8 (>=5.0.3)", "mypy (>=1.0.1)", "pylint (>=2.7)", "pytest (>=6.2.5)", "pytest-cov (>=3.0.0)", "sphinx (>=7.0.0)", "twine (>=4.0.0)", "wheel (>=0.41.0)"]
+dev = ["black (>=23.1.0)", "coverage (>=7.0)", "flake8 (>=7)", "mypy (>=1.8)", "pylint (>=3)", "pytest (>=7.4)", "pytest-cov (>=4.1.0)", "sphinx (>=7.2.0)", "twine (>=4.0.0)", "wheel (>=0.42.0)"]
 dnssec = ["cryptography (>=41)"]
-doh = ["h2 (>=4.1.0)", "httpcore (>=0.17.3)", "httpx (>=0.25.1)"]
-doq = ["aioquic (>=0.9.20)"]
-idna = ["idna (>=2.1)"]
-trio = ["trio (>=0.14)"]
+doh = ["h2 (>=4.1.0)", "httpcore (>=1.0.0)", "httpx (>=0.26.0)"]
+doq = ["aioquic (>=0.9.25)"]
+idna = ["idna (>=3.6)"]
+trio = ["trio (>=0.23)"]
 wmi = ["wmi (>=1.5.1)"]
 
 [[package]]
@@ -1131,53 +1131,53 @@ files = [
 
 [[package]]
 name = "fonttools"
-version = "4.48.1"
+version = "4.49.0"
 description = "Tools to manipulate font files"
 optional = false
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 [package.dependencies]
@@ -3041,17 +3041,17 @@ testing = ["pytest", "pytest-benchmark"]
 
 [[package]]
 name = "polyline"
-version = "2.0.1"
+version = "2.0.2"
 description = "A Python implementation of Google's Encoded Polyline Algorithm Format."
 optional = false
 python-versions = ">=3.7"
 files = [
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 ]
 
 [package.extras]
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 publish = ["build (>=0.8,<1.0)", "twine (>=4.0,<5.0)"]
 
 [[package]]
@@ -3085,13 +3085,13 @@ files = [
 
 [[package]]
 name = "pre-commit"
-version = "3.6.1"
+version = "3.6.2"
 description = "A framework for managing and maintaining multi-language pre-commit hooks."
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 python-versions = ">=3.9"
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 ]
 
 [package.dependencies]
@@ -3113,22 +3113,22 @@ files = [
 
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 description = ""
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 python-versions = ">=3.8"
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 ]
 
 [[package]]
@@ -6468,13 +6468,13 @@ cp2110 = ["hidapi"]
 
 [[package]]
 name = "pytest"
-version = "8.0.0"
+version = "8.0.1"
 description = "pytest: simple powerful testing with Python"
 optional = false
 python-versions = ">=3.8"
 files = [
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 ]
 
 [package.dependencies]
@@ -6639,12 +6639,12 @@ numpy = ["numpy (>=1.6.0)"]
 
 [[package]]
 name = "pytweening"
-version = "1.0.7"
+version = "1.1.0"
 description = "A collection of tweening / easing functions."
 optional = false
 python-versions = "*"
 files = [
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 ]
 
 [[package]]
@@ -6924,28 +6924,28 @@ docs = ["furo (==2023.9.10)", "pyenchant (==3.2.2)", "sphinx (==7.1.2)", "sphinx
 
 [[package]]
 name = "ruff"
-version = "0.2.1"
+version = "0.2.2"
 description = "An extremely fast Python linter and code formatter, written in Rust."
 optional = false
 python-versions = ">=3.7"
 files = [
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+    {file = "shapely-2.0.3-cp39-cp39-macosx_11_0_arm64.whl", hash = "sha256:71b2de56a9e8c0e5920ae5ddb23b923490557ac50cb0b7fa752761bf4851acde"},
+    {file = "shapely-2.0.3-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:4d279e56bbb68d218d63f3efc80c819cedcceef0e64efbf058a1df89dc57201b"},
+    {file = "shapely-2.0.3-cp39-cp39-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:88566d01a30f0453f7d038db46bc83ce125e38e47c5f6bfd4c9c287010e9bf74"},
+    {file = "shapely-2.0.3-cp39-cp39-win32.whl", hash = "sha256:58afbba12c42c6ed44c4270bc0e22f3dadff5656d711b0ad335c315e02d04707"},
+    {file = "shapely-2.0.3-cp39-cp39-win_amd64.whl", hash = "sha256:5026b30433a70911979d390009261b8c4021ff87c7c3cbd825e62bb2ffa181bc"},
+    {file = "shapely-2.0.3.tar.gz", hash = "sha256:4d65d0aa7910af71efa72fd6447e02a8e5dd44da81a983de9d736d6e6ccbe674"},
+]
+
+[package.dependencies]
+numpy = ">=1.14,<2"
 
 [package.extras]
 docs = ["matplotlib", "numpydoc (==1.1.*)", "sphinx", "sphinx-book-theme", "sphinx-remove-toctrees"]
@@ -7594,13 +7594,13 @@ telegram = ["requests"]
 
 [[package]]
 name = "types-requests"
-version = "2.31.0.20240125"
+version = "2.31.0.20240218"
 description = "Typing stubs for requests"
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "types-requests-2.31.0.20240125.tar.gz", hash = "sha256:03a28ce1d7cd54199148e043b2079cdded22d6795d19a2c2a6791a4b2b5e2eb5"},
-    {file = "types_requests-2.31.0.20240125-py3-none-any.whl", hash = "sha256:9592a9a4cb92d6d75d9b491a41477272b710e021011a2a3061157e2fb1f1a5d1"},
+    {file = "types-requests-2.31.0.20240218.tar.gz", hash = "sha256:f1721dba8385958f504a5386240b92de4734e047a08a40751c1654d1ac3349c5"},
+    {file = "types_requests-2.31.0.20240218-py3-none-any.whl", hash = "sha256:a82807ec6ddce8f00fe0e949da6d6bc1fbf1715420218a9640d695f70a9e5a9b"},
 ]
 
 [package.dependencies]
@@ -7641,13 +7641,13 @@ files = [
 
 [[package]]
 name = "urllib3"
-version = "2.2.0"
+version = "2.2.1"
 description = "HTTP library with thread-safe connection pooling, file post, and more."
 optional = false
 python-versions = ">=3.8"
 files = [
-    {file = "urllib3-2.2.0-py3-none-any.whl", hash = "sha256:ce3711610ddce217e6d113a2732fafad960a03fd0318c91faa79481e35c11224"},
-    {file = "urllib3-2.2.0.tar.gz", hash = "sha256:051d961ad0c62a94e50ecf1af379c3aba230c66c710493493560c0c223c49f20"},
+    {file = "urllib3-2.2.1-py3-none-any.whl", hash = "sha256:450b20ec296a467077128bff42b73080516e71b56ff59a60a02bef2232c4fa9d"},
+    {file = "urllib3-2.2.1.tar.gz", hash = "sha256:d0570876c61ab9e520d776c38acbbb5b05a776d3f9ff98a5c8fd5162a444cf19"},
 ]
 
 [package.extras]
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 833bf841f5c9a3..cc3ab5e95b7e5a 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -206,13 +206,17 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
         break
 
 
-def cb(sm, item, tid, sz: int, cur: int) -> None:
+def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
   # Abort transfer if connection changed to metered after starting upload
+  # or if athenad is shutting down to re-connect the websocket
   sm.update(0)
   metered = sm['deviceState'].networkMetered
   if metered and (not item.allow_cellular):
     raise AbortTransferException
 
+  if end_event.is_set():
+    raise AbortTransferException
+
   cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
 
 
@@ -252,7 +256,7 @@ def upload_handler(end_event: threading.Event) -> None:
           sz = -1
 
         cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count)
-        response = _do_upload(item, partial(cb, sm, item, tid))
+        response = _do_upload(item, partial(cb, sm, item, tid, end_event))
 
         if response.status_code not in (200, 201, 401, 403, 412):
           cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
@@ -746,6 +750,9 @@ def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
       onroad_prev = onroad
 
       if sock is not None:
+        # While not sending data, onroad, we can expect to time out in 7 + (7 * 2) = 21s
+        #                         offroad, we can expect to time out in 30 + (10 * 3) = 60s
+        # FIXME: TCP_USER_TIMEOUT is effectively 2x for some reason (32s), so it's mostly unused
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_USER_TIMEOUT, 16000 if onroad else 0)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
         sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index 2fecab1b1b5761..d59058d7e29b34 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -233,6 +233,7 @@ def test_upload_handler(self, host):
     time.sleep(0.1)
 
     # TODO: verify that upload actually succeeded
+    # TODO: also check that end_event and metered network raises AbortTransferException
     self.assertEqual(athenad.upload_queue.qsize(), 0)
 
   @parameterized.expand([(500, True), (412, False)])
diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py
index 5231b0475f90ec..7f32f60cb444d6 100755
--- a/selfdrive/athena/tests/test_athenad_ping.py
+++ b/selfdrive/athena/tests/test_athenad_ping.py
@@ -12,6 +12,8 @@
 from openpilot.selfdrive.manager.helpers import write_onroad_params
 from openpilot.system.hardware import TICI
 
+TIMEOUT_TOLERANCE = 20  # seconds
+
 
 def wifi_radio(on: bool) -> None:
   if not TICI:
@@ -55,7 +57,7 @@ def tearDown(self) -> None:
       self.exit_event.set()
       self.athenad.join()
 
-  @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', autospec=True)
+  @mock.patch('openpilot.selfdrive.athena.athenad.create_connection', new_callable=lambda: mock.MagicMock(wraps=athenad.create_connection))
   def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.MagicMock) -> None:
     self.athenad.start()
 
@@ -63,7 +65,7 @@ def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.Magi
     mock_create_connection.assert_called_once()
     mock_create_connection.reset_mock()
 
-    # check normal behaviour
+    # check normal behaviour, server pings on connection
     with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
       while not self._received_ping():
         time.sleep(0.1)
@@ -92,12 +94,12 @@ def assertTimeout(self, reconnect_time: float, mock_create_connection: mock.Magi
   @unittest.skipIf(not TICI, "only run on desk")
   def test_offroad(self) -> None:
     write_onroad_params(False, self.params)
-    self.assertTimeout(100)  # expect approx 90s
+    self.assertTimeout(60 + TIMEOUT_TOLERANCE)  # based using TCP keepalive settings
 
   @unittest.skipIf(not TICI, "only run on desk")
   def test_onroad(self) -> None:
     write_onroad_params(True, self.params)
-    self.assertTimeout(30)  # expect 20-30s
+    self.assertTimeout(21 + TIMEOUT_TOLERANCE)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 9e2a9600557381..b2b59d3752fc2c 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -362,11 +362,11 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setHeartbeatLost((bool)(health.heartbeat_lost_pkt));
     ps.setAlternativeExperience(health.alternative_experience_pkt);
     ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
-    ps.setInterruptLoad(health.interrupt_load);
+    ps.setInterruptLoad(health.interrupt_load_pkt);
     ps.setFanPower(health.fan_power);
     ps.setFanStallCount(health.fan_stall_count);
-    ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
-    ps.setSpiChecksumErrorCount(health.spi_checksum_error_count);
+    ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid_pkt));
+    ps.setSpiChecksumErrorCount(health.spi_checksum_error_count_pkt);
     ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
     ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
 
diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index 672678778ba901..a87613c8034b51 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -93,6 +93,11 @@ def main() -> NoReturn:
       cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
+      # TODO: remove this in the next AGNOS
+      # wait until USB is up before counting
+      if time.monotonic() < 25.:
+        no_internal_panda_count = 0
+
       # Handle missing internal panda
       if no_internal_panda_count > 0:
         if no_internal_panda_count == 3:
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index c90ae50ab9b771..ab0a26ca0c00c7 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -1,11 +1,14 @@
 # functions common among cars
 from collections import namedtuple
-from typing import Dict, List, Optional
+from dataclasses import dataclass
+from enum import ReprEnum
+from typing import Dict, List, Optional, Union
 
 import capnp
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
+from openpilot.selfdrive.car.docs_definitions import CarInfo
 
 
 # kg of standard extra cargo to count for drive, gas, etc...
@@ -73,7 +76,9 @@ def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor
   return tire_stiffness_front, tire_stiffness_rear
 
 
-def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, str]:
+DbcDict = Dict[str, str]
+
+def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> DbcDict:
   return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
 
 
@@ -236,3 +241,33 @@ def update(self, current_value, current_counter):
     self.previous_value = current_value
 
     return self.rate
+
+
+CarInfos = Union[CarInfo, List[CarInfo]]
+
+@dataclass(order=True)
+class PlatformConfig:
+  platform_str: str
+  car_info: CarInfos
+  dbc_dict: DbcDict
+
+  def __hash__(self) -> int:
+    return hash(self.platform_str)
+
+
+class Platforms(str, ReprEnum):
+  config: PlatformConfig
+
+  def __new__(cls, platform_config: PlatformConfig):
+    member = str.__new__(cls, platform_config.platform_str)
+    member.config = platform_config
+    member._value_ = platform_config.platform_str
+    return member
+
+  @classmethod
+  def create_dbc_map(cls) -> Dict[str, DbcDict]:
+    return {p.config.platform_str: p.config.dbc_dict for p in cls}
+
+  @classmethod
+  def create_carinfo_map(cls) -> Dict[str, CarInfos]:
+    return {p.config.platform_str: p.config.car_info for p in cls}
diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py
index 33119bf0fdfc37..441905f28b840c 100644
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@@ -1,8 +1,5 @@
-from enum import StrEnum
-from typing import Dict
-
 from cereal import car
-from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarInfo
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
@@ -22,13 +19,12 @@ def __init__(self, CP):
     pass
 
 
-class CAR(StrEnum):
-  BODY = "COMMA BODY"
-
-
-CAR_INFO: Dict[str, CarInfo] = {
-  CAR.BODY: CarInfo("comma body", package="All"),
-}
+class CAR(Platforms):
+  BODY = PlatformConfig(
+    "COMMA BODY",
+    CarInfo("comma body", package="All"),
+    dbc_dict('comma_body', None),
+  )
 
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -41,7 +37,5 @@ class CAR(StrEnum):
   ],
 )
 
-
-DBC = {
-  CAR.BODY: dbc_dict('comma_body', None),
-}
+CAR_INFO = CAR.create_carinfo_map()
+DBC = CAR.create_dbc_map()
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 7654475358fcbd..95028e10c5d06c 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -162,7 +162,7 @@ def fingerprint(logcan, sendcan, num_pandas):
   cloudlog.warning("VIN %s", vin)
   params.put("CarVin", vin)
 
-  # disable OBD multiplexing for potential ECU knockouts
+  # disable OBD multiplexing for CAN fingerprinting and potential ECU knockouts
   set_obd_multiplexing(params, False)
   params.put_bool("FirmwareQueryDone", True)
 
diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py
index 952a297e8f07c8..1df514e79b96ef 100644
--- a/selfdrive/car/chrysler/fingerprints.py
+++ b/selfdrive/car/chrysler/fingerprints.py
@@ -401,6 +401,7 @@
       b'68527383AD',
       b'68527387AE',
       b'68527403AC',
+      b'68546047AF',
       b'68631938AA',
       b'68631942AA',
     ],
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index c080e02299b1e0..979cc6d20a6e3d 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -111,6 +111,11 @@ def init_make(self, CP: car.CarParams):
   requests=[
     # CAN and CAN FD queries are combined.
     # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
+    Request(
+      [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      logging=True,
+    ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index ed886a69dbea33..36e6794d2c1a50 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -17,7 +17,7 @@
 # A global list of addresses we will only ever consider for VIN responses
 # engine, hybrid controller, Ford abs, Hyundai CAN FD cluster, 29-bit engine, PGM-FI
 # TODO: move these to each brand's FW query config
-STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c4, 0x18da10f1, 0x18da0ef1]
+STANDARD_VIN_ADDRS = [0x7e0, 0x7e2, 0x760, 0x7c6, 0x18da10f1, 0x18da0ef1]
 
 
 def p16(val):
@@ -65,6 +65,9 @@ class StdQueries:
   GM_VIN_REQUEST = b'\x1a\x90'
   GM_VIN_RESPONSE = b'\x5a\x90'
 
+  KWP_VIN_REQUEST = b'\x21\x81'
+  KWP_VIN_RESPONSE = b'\x61\x81'
+
 
 @dataclass
 class Request:
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 988d54338ce991..ef2386c6ffb88a 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -7,8 +7,8 @@
 from opendbc.can.parser import CANParser
 from openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
 from openpilot.selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, \
-                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, \
-                                                 HONDA_BOSCH_RADARLESS, SERIAL_STEERING
+                                                 HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, \
+                                                 HondaFlags, SERIAL_STEERING
 from openpilot.selfdrive.car.interfaces import CarStateBase
 
 TransmissionType = car.CarParams.TransmissionType
@@ -44,7 +44,7 @@ def get_can_messages(CP, gearbox_msg):
   else:
     messages.append((gearbox_msg, 100))
 
-  if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+  if CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
     messages.append(("BRAKE_MODULE", 50))
 
   if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CLARITY}):
@@ -221,7 +221,7 @@ def update(self, cp, cp_cam, cp_body):
     else:
       ret.cruiseState.speed = cp.vl["CRUISE"]["CRUISE_SPEED_PCM"] * CV.KPH_TO_MS
 
-    if self.CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+    if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
       ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     else:
       # brake switch has shown some single time step noise, so only considered when
diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py
index 172557f7a76676..1922c44c4b8a1a 100644
--- a/selfdrive/car/honda/fingerprints.py
+++ b/selfdrive/car/honda/fingerprints.py
@@ -101,10 +101,6 @@
       b'39990-TVA-X040\x00\x00',
       b'39990-TVE-H130\x00\x00',
     ],
-    (Ecu.unknown, 0x18da3af1, None): [
-      b'39390-TVA-A020\x00\x00',
-      b'39390-TVA-A120\x00\x00',
-    ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBX-H230\x00\x00',
       b'77959-TVA-A460\x00\x00',
@@ -313,6 +309,7 @@
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBA-A030\x00\x00',
       b'77959-TBA-A040\x00\x00',
+      b'77959-TBG-A020\x00\x00',
       b'77959-TBG-A030\x00\x00',
       b'77959-TEA-Q820\x00\x00',
     ],
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index ee9eec9765f6d7..ecac9d92448aad 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -3,8 +3,9 @@
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
+from openpilot.selfdrive.car.honda.hondacan import get_pt_bus
 from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, \
-                                                                                            HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
+                                                 HONDA_BOSCH_RADARLESS
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
@@ -310,7 +311,8 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
       raise ValueError(f"unsupported car {candidate}")
 
     # These cars use alternate user brake msg (0x1BE)
-    if candidate in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
+    if 0x1BE in fingerprint[get_pt_bus(candidate)] and candidate in HONDA_BOSCH:
+      ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE
 
     # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON)
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index e539f7422800e1..3a7c706cd09fca 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -49,6 +49,7 @@ def __init__(self, CP):
 class HondaFlags(IntFlag):
   # Bosch models with alternate set of LKAS_HUD messages
   BOSCH_EXT_HUD = 1
+  BOSCH_ALT_BRAKE = 2
 
 
 # Car button codes
@@ -267,7 +268,6 @@ def init_make(self, CP: car.CarParams):
                                 CAR.PILOT, CAR.RIDGELINE, CAR.ACCORD_NIDEC_4CYL}
 HONDA_BOSCH = {CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G,
                CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
 HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}
 
 SERIAL_STEERING = {CAR.ACCORD_NIDEC_4CYL, }
diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py
index 0671dbe1819b47..11f7919b69df58 100644
--- a/selfdrive/car/hyundai/fingerprints.py
+++ b/selfdrive/car/hyundai/fingerprints.py
@@ -1549,6 +1549,7 @@
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
       b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
+      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 1.01 99211-GI010 211007',
@@ -1556,7 +1557,6 @@
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
-      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.00 99211-GI020 230719',
     ],
   },
   CAR.IONIQ_6: {
diff --git a/selfdrive/car/nissan/fingerprints.py b/selfdrive/car/nissan/fingerprints.py
index 6cd0df4c9b761f..19267ded4633db 100644
--- a/selfdrive/car/nissan/fingerprints.py
+++ b/selfdrive/car/nissan/fingerprints.py
@@ -46,6 +46,7 @@
   CAR.LEAF: {
     (Ecu.abs, 0x740, None): [
       b'476605SA1C',
+      b'476605SA7D',
       b'476605SC2D',
       b'476606WK7B',
       b'476606WK9B',
@@ -65,6 +66,7 @@
     ],
     (Ecu.gateway, 0x18dad0f1, None): [
       b'284U25SA3C',
+      b'284U25SP0C',
       b'284U25SP1C',
       b'284U26WK0A',
       b'284U26WK0C',
diff --git a/selfdrive/car/subaru/fingerprints.py b/selfdrive/car/subaru/fingerprints.py
index ad8ebe87cdebd5..90fa6093d97922 100644
--- a/selfdrive/car/subaru/fingerprints.py
+++ b/selfdrive/car/subaru/fingerprints.py
@@ -509,17 +509,20 @@
     (Ecu.fwdCamera, 0x787, None): [
       b'\x04!\x01\x1eD\x07!\x00\x04,',
       b'\x04!\x08\x01.\x07!\x08\x022',
+      b'\r!\x08\x017\n!\x08\x003',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xd5"`0\x07',
       b'\xd5"a0\x07',
       b'\xf1"`q\x07',
       b'\xf1"aq\x07',
+      b'\xfa"ap\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\x1d\x86B0\x00',
       b'\x1d\xf6B0\x00',
       b'\x1e\x86B0\x00',
+      b'\x1e\x86F0\x00',
       b'\x1e\xf6D0\x00',
     ],
   },
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index a2bd81ac08e7bd..1c6c4f9dd93e5b 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -135,7 +135,7 @@ def init_make(self, CP: car.CarParams):
   CAR.LEGACY_PREGLOBAL: SubaruCarInfo("Subaru Legacy 2015-18"),
   CAR.OUTBACK_PREGLOBAL: SubaruCarInfo("Subaru Outback 2015-17"),
   CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
-  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-23", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
+  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
   CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
   CAR.ASCENT_2023: SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
 }
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index b874e31b6aec04..f7ae4e038e7df5 100755
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -187,6 +187,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
   CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLA_TSS2),  # hybrid
   CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS),
+  CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4),
   CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
   CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
   CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
@@ -223,7 +224,7 @@ class CarTestRoute(NamedTuple):
   CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
   CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
   CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHR_TSS2),  # hybrid
-  # CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
+  CarTestRoute("6719965b0e1d1737|2023-08-29--06-40-05", TOYOTA.CHR_TSS2),  # hybrid, openpilot longitudinal, radar disabled
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
@@ -291,7 +292,6 @@ class CarTestRoute(NamedTuple):
   # Segments that test specific issues
   # Controls mismatch due to interceptor threshold
   CarTestRoute("cfb32f0fb91b173b|2022-04-06--14-54-45", HONDA.CIVIC, segment=21),
-  CarTestRoute("5a8762b91fc70467|2022-04-14--21-26-20", TOYOTA.RAV4, segment=2),
   # Controls mismatch due to standstill threshold
   CarTestRoute("bec2dcfde6a64235|2022-04-08--14-21-32", HONDA.CRV_HYBRID, segment=22),
 ]
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index f2625abe572a20..a454f616cbf38f 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -74,6 +74,10 @@ def test_car_interfaces(self, car_name, data):
     self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
     self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
 
+    # If we're using the interceptor for gasPressed, we should be commanding gas with it
+    if car_params.enableGasInterceptor:
+      self.assertTrue(car_params.openpilotLongitudinalControl)
+
     # Lateral sanity checks
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
       tune = car_params.lateralTuning
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index fa006e51a66858..e1ebd5cf183568 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -33,18 +33,29 @@ def assertFingerprints(self, candidates, expected):
     self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}")
     self.assertEqual(candidates[0], expected)
 
-  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
-  def test_exact_match(self, brand, car_model, ecus):
+  @parameterized.expand([(b, c, e[c], n) for b, e in VERSIONS.items() for c in e for n in (True, False)])
+  def test_exact_match(self, brand, car_model, ecus, test_non_essential):
+    config = FW_QUERY_CONFIGS[brand]
     CP = car.CarParams.new_message()
-    for _ in range(200):
+    for _ in range(100):
       fw = []
       for ecu, fw_versions in ecus.items():
+        # Assume non-essential ECUs apply to all cars, so we catch cases where Car A with
+        # missing ECUs won't match to Car B where only Car B has labeled non-essential ECUs
+        if ecu[0] in config.non_essential_ecus and test_non_essential:
+          continue
+
         ecu_name, addr, sub_addr = ecu
         fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP.carFw = fw
       _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
-      self.assertFingerprints(matches, car_model)
+      if not test_non_essential:
+        self.assertFingerprints(matches, car_model)
+      else:
+        # if we're removing ECUs we expect some match loss, but it shouldn't mismatch
+        if len(matches) != 0:
+          self.assertFingerprints(matches, car_model)
 
   @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
   def test_custom_fuzzy_match(self, brand, car_model, ecus):
@@ -225,7 +236,7 @@ def _assert_timing(self, avg_time, ref_time):
 
   def test_startup_timing(self):
     # Tests worse-case VIN query time and typical present ECU query time
-    vin_ref_times = {'worst': 1.0, 'best': 0.5}  # best assumes we go through all queries to get a match
+    vin_ref_times = {'worst': 1.2, 'best': 0.6}  # best assumes we go through all queries to get a match
     present_ecu_ref_time = 0.75
 
     def fake_get_ecu_addrs(*_, timeout):
@@ -252,13 +263,13 @@ def fake_get_ecu_addrs(*_, timeout):
         print(f'get_vin {name} case, query time={self.total_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    total_ref_time = {1: 5.95, 2: 6.85}
+    total_ref_time = {1: 6.05, 2: 6.95}
     brand_ref_times = {
       1: {
         'gm': 0.5,
         'body': 0.1,
         'chrysler': 0.3,
-        'ford': 0.1,
+        'ford': 0.2,
         'honda': 0.55,
         'hyundai': 1.05,
         'mazda': 0.1,
@@ -269,7 +280,7 @@ def test_fw_query_timing(self):
         'volkswagen': 0.2,
       },
       2: {
-        'ford': 0.2,
+        'ford': 0.3,
         'hyundai': 1.85,
       }
     }
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 7add9baaa7ba77..2df852e8ccf729 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -226,20 +226,16 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     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.enableGasInterceptor = 0x201 in fingerprint[0]
-
-    if ret.enableGasInterceptor:
-      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
 
     # 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
+      ret.experimentalLongitudinalAvailable = use_sdsu or 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 and False:  # TODO: disabling radar isn't supported yet
+        if experimental_long and candidate in RADAR_ACC_CAR:
           ret.flags |= ToyotaFlags.DISABLE_RADAR.value
       else:
         use_sdsu = use_sdsu and experimental_long
@@ -254,10 +250,14 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     #  - 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)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
+    ret.enableGasInterceptor = 0x201 in fingerprint[0] and ret.openpilotLongitudinalControl
 
     if not ret.openpilotLongitudinalControl:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL
 
+    if ret.enableGasInterceptor:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_GAS_INTERCEPTOR
+
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else MIN_ACC_SPEED
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index 184455af17922f..e668c35f7d5086 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -22,6 +22,7 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
         (StdQueries.UDS_VIN_REQUEST, StdQueries.UDS_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
         (StdQueries.OBD_VIN_REQUEST, StdQueries.OBD_VIN_RESPONSE, (0, 1), STANDARD_VIN_ADDRS, FUNCTIONAL_ADDRS, 0x8),
         (StdQueries.GM_VIN_REQUEST, StdQueries.GM_VIN_RESPONSE, (0,), [0x24b], None, 0x400),  # Bolt fwdCamera
+        (StdQueries.KWP_VIN_REQUEST, StdQueries.KWP_VIN_RESPONSE, (0,), [0x797], None, 0x3),  # Nissan Leaf VCM
       ):
         if bus not in valid_buses:
           continue
@@ -40,8 +41,8 @@ def get_vin(logcan, sendcan, buses, timeout=0.1, retry=2, debug=False):
           for addr in vin_addrs:
             vin = results.get((addr, None))
             if vin is not None:
-              # Ford pads with null bytes
-              if len(vin) == 24:
+              # Ford and Nissan pads with null bytes
+              if len(vin) in (19, 24):
                 vin = re.sub(b'\x00*$', b'', vin)
 
               # Honda Bosch response starts with a length, trim to correct length
diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py
index 8e5a0667bd91ef..eab2bc0090140c 100644
--- a/selfdrive/car/volkswagen/fingerprints.py
+++ b/selfdrive/car/volkswagen/fingerprints.py
@@ -1043,6 +1043,7 @@
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AC\xf1\x890200\xf1\x82\r11120011100010022212110200',
+      b'\xf1\x873Q0959655AK\xf1\x890306\xf1\x82\r31210031210021033733310331',
       b'\xf1\x873Q0959655AP\xf1\x890305\xf1\x82\r11110011110011213331312131',
       b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
       b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
@@ -1062,6 +1063,7 @@
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
       b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
+      b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572J \xf1\x890654',
       b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
       b'\xf1\x875Q0907572P \xf1\x890682',
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 70dc8472128cf5..c6b9ef038e8f3a 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -5,28 +5,34 @@
 import threading
 from typing import SupportsFloat
 
-from cereal import car, log
-from openpilot.common.numpy_fast import clip
-from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
-from openpilot.common.params import Params
 import cereal.messaging as messaging
+
+from cereal import car, log
 from cereal.visionipc import VisionIpcClient, VisionStreamType
-from openpilot.common.conversions import Conversions as CV
+
 from panda import ALTERNATIVE_EXPERIENCE
+
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import clip
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.version import get_short_branch
+
 from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
 from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
+from openpilot.selfdrive.controls.lib.events import Events, ET
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
-from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
 from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
 from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
-from openpilot.selfdrive.controls.lib.events import Events, ET
-from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
+from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+
 from openpilot.system.hardware import HARDWARE
+from openpilot.system.version import get_short_branch
 
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
@@ -55,33 +61,19 @@
 ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES)
 
 
-class Controls:
-  def __init__(self, CI=None):
-    config_realtime_process(4, Priority.CTRL_HIGH)
-
-    # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
-    self.branch = get_short_branch()
-
-    # Setup sockets
-    self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
-                                   'carControl', 'onroadEvents', 'carParams'])
-
-    self.sensor_packets = ["accelerometer", "gyroscope"]
-    self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
+class CarD:
+  CI: CarInterfaceBase
+  CS: car.CarState
 
-    self.log_sock = messaging.sub_sock('androidLog')
+  def __init__(self, CI=None):
     self.can_sock = messaging.sub_sock('can', timeout=20)
+    self.sm = messaging.SubMaster(['pandaStates'])
+    self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams'])
+
+    self.can_rcv_timeout_counter = 0      # conseuctive timeout count
+    self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
 
     self.params = Params()
-    ignore = self.sensor_packets + ['testJoystick']
-    if SIMULATION:
-      ignore += ['driverCameraState', 'managerState']
-    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
-                                   'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
-                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
-                                   'testJoystick', 'longitudinalPlanSP', 'modelV2SP'] + self.camera_packets + self.sensor_packets,
-                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
-                                  frequency=int(1/DT_CTRL))
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -94,25 +86,17 @@ def __init__(self, CI=None):
     else:
       self.CI, self.CP = CI, CI.CP
 
-    self.joystick_mode = self.params.get_bool("JoystickDebugMode")
-
     # set alternative experiences from parameters
-    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
     self.CP.alternativeExperience = 0
-    if not self.disengage_on_accelerator:
+    if not disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-    # read params
-    self.is_metric = self.params.get_bool("IsMetric")
-    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
-    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
-
-    # detect sound card presence and ensure successful init
-    sounds_available = HARDWARE.get_sound_card_online()
-
     car_recognized = self.CP.carName != 'mock'
+    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
+
     self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly
     if self.CP.passive:
       safety_config = car.CarParams.SafetyConfig.new_message()
@@ -130,6 +114,113 @@ def __init__(self, CI=None):
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
+  def initialize(self):
+    """Initialize CarInterface, once controls are ready"""
+    self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+
+  def state_update(self, CC: car.CarControl):
+    """carState update loop, driven by can"""
+
+    # TODO: This should not depend on carControl
+
+    # Update carState from CAN
+    can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
+    self.CS = self.CI.update(CC, can_strs)
+
+    self.sm.update(0)
+
+    can_rcv_valid = len(can_strs) > 0
+
+    # Check for CAN timeout
+    if not can_rcv_valid:
+      self.can_rcv_timeout_counter += 1
+      self.can_rcv_cum_timeout_counter += 1
+    else:
+      self.can_rcv_timeout_counter = 0
+
+    self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5
+
+    if can_rcv_valid and REPLAY:
+      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
+
+    return self.CS
+
+  def state_publish(self, car_events):
+    """carState and carParams publish loop"""
+
+    # TODO: carState should be independent of the event loop
+
+    # carState
+    cs_send = messaging.new_message('carState')
+    cs_send.valid = self.CS.canValid
+    cs_send.carState = self.CS
+    cs_send.carState.events = car_events
+    self.pm.send('carState', cs_send)
+
+    # carParams - logged every 50 seconds (> 1 per segment)
+    if (self.sm.frame % int(50. / DT_CTRL) == 0):
+      cp_send = messaging.new_message('carParams')
+      cp_send.valid = True
+      cp_send.carParams = self.CP
+      self.pm.send('carParams', cp_send)
+
+  def controls_update(self, CC: car.CarControl):
+    """control update loop, driven by carControl"""
+
+    # send car controls over can
+    now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
+    actuators_output, can_sends = self.CI.apply(CC, now_nanos)
+    self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid))
+
+    return actuators_output
+
+
+class Controls:
+  def __init__(self, CI=None):
+    self.card = CarD(CI)
+
+    self.CP = self.card.CP
+    self.CI = self.card.CI
+
+    config_realtime_process(4, Priority.CTRL_HIGH)
+
+    # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
+    self.branch = get_short_branch()
+
+    # Setup sockets
+    self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents'])
+
+    self.sensor_packets = ["accelerometer", "gyroscope"]
+    self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
+
+    self.log_sock = messaging.sub_sock('androidLog')
+
+    self.params = Params()
+    ignore = self.sensor_packets + ['testJoystick']
+    if SIMULATION:
+      ignore += ['driverCameraState', 'managerState']
+    self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
+                                   'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
+                                   'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
+                                   'testJoystick', 'longitudinalPlanSP', 'modelV2SP'] + self.camera_packets + self.sensor_packets,
+                                  ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
+                                  frequency=int(1/DT_CTRL))
+
+    self.joystick_mode = self.params.get_bool("JoystickDebugMode")
+
+    # read params
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.is_metric = self.params.get_bool("IsMetric")
+    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
+    openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
+
+    # detect sound card presence and ensure successful init
+    sounds_available = HARDWARE.get_sound_card_online()
+
+    car_recognized = self.CP.carName != 'mock'
+
+    controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
+
     # cleanup old params
     if not self.CP.experimentalLongitudinalAvailable:
       self.params.remove("ExperimentalLongitudinalEnabled")
@@ -159,8 +250,6 @@ def __init__(self, CI=None):
     self.soft_disable_timer = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
-    self.can_rcv_timeout_counter = 0      # conseuctive timeout count
-    self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
     self.last_blinker_frame = 0
     self.last_steering_pressed_frame = 0
     self.distance_traveled = 0
@@ -319,7 +408,8 @@ def update_events(self, CS):
       else:
         safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
 
-      if safety_mismatch or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
+      # safety mismatch allows some time for boardd to set the safety mode and publish it back from panda
+      if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
         self.events.add(EventName.controlsMismatch)
 
       if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
@@ -354,10 +444,9 @@ def update_events(self, CS):
       self.events.add(EventName.canError)
 
     # generic catch-all. ideally, a more specific event should be added above instead
-    can_rcv_timeout = self.can_rcv_timeout_counter >= 5
     has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if (not self.sm.all_checks() or can_rcv_timeout) and no_system_errors:
+    if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
@@ -369,7 +458,7 @@ def update_events(self, CS):
         'invalid': [s for s, valid in self.sm.valid.items() if not valid],
         'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
         'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
-        'can_rcv_timeout': can_rcv_timeout,
+        'can_rcv_timeout': self.card.can_rcv_timeout,
       }
       if logs != self.logged_comm_issue:
         cloudlog.event("commIssue", error=True, **logs)
@@ -418,9 +507,12 @@ def update_events(self, CS):
 
     # TODO: fix simulator
     if not SIMULATION or REPLAY:
+      # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
       if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
-        # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
         self.events.add(EventName.noGps)
+      if self.sm['liveLocationKalman'].gpsOK:
+        self.distance_traveled = 0
+      self.distance_traveled += CS.vEgo * DT_CTRL
 
       if self.sm['modelV2'].frameDropPerc > 20:
         self.events.add(EventName.modeldLagging)
@@ -428,17 +520,13 @@ def update_events(self, CS):
   def data_sample(self):
     """Receive data from sockets and update carState"""
 
-    # Update carState from CAN
-    can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
-    CS = self.CI.update(self.CC, can_strs)
-    if len(can_strs) and REPLAY:
-      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
+    CS = self.card.state_update(self.CC)
 
     self.sm.update(0)
 
     if not self.initialized:
       all_valid = CS.canValid and self.sm.all_checks()
-      timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
+      timed_out = self.sm.frame * DT_CTRL > 6.
       if all_valid or timed_out or (SIMULATION and not REPLAY):
         available_streams = VisionIpcClient.available_streams("camerad", block=False)
         if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
@@ -447,7 +535,7 @@ def data_sample(self):
           self.sm.ignore_alive.append('wideRoadCameraState')
 
         if not self.CP.passive:
-          self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
+          self.card.initialize()
 
         self.initialized = True
         self.set_initial_state()
@@ -464,13 +552,6 @@ def data_sample(self):
           error=True,
         )
 
-    # Check for CAN timeout
-    if not can_strs:
-      self.can_rcv_timeout_counter += 1
-      self.can_rcv_cum_timeout_counter += 1
-    else:
-      self.can_rcv_timeout_counter = 0
-
     # When the panda and controlsd do not agree on controls_allowed
     # we want to disengage openpilot. However the status from the panda goes through
     # another socket other than the CAN messages and one can arrive earlier than the other.
@@ -483,8 +564,6 @@ def data_sample(self):
            if ps.safetyModel not in IGNORED_SAFETY_MODES):
       self.mismatch_counter += 1
 
-    self.distance_traveled += CS.vEgo * DT_CTRL
-
     return CS
 
   def state_transition(self, CS):
@@ -761,10 +840,7 @@ def publish_logs(self, CS, start_time, CC, lac_log):
       hudControl.visualAlert = current_alert.visual_alert
 
     if not self.CP.passive and self.initialized:
-      # send car controls over can
-      now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
-      self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
-      self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
+      self.last_actuators = self.card.controls_update(CC)
       CC.actuatorsOutput = self.last_actuators
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited = abs(CC.actuators.steeringAngleDeg - CC.actuatorsOutput.steeringAngleDeg) > \
@@ -812,7 +888,7 @@ def publish_logs(self, CS, start_time, CC, lac_log):
     controlsState.cumLagMs = -self.rk.remaining * 1000.
     controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
-    controlsState.canErrorCounter = self.can_rcv_cum_timeout_counter
+    controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter
     controlsState.experimentalMode = self.experimental_mode
 
     lat_tuning = self.CP.lateralTuning.which()
@@ -827,13 +903,9 @@ def publish_logs(self, CS, start_time, CC, lac_log):
 
     self.pm.send('controlsState', dat)
 
-    # carState
     car_events = self.events.to_msg()
-    cs_send = messaging.new_message('carState')
-    cs_send.valid = CS.canValid
-    cs_send.carState = CS
-    cs_send.carState.events = car_events
-    self.pm.send('carState', cs_send)
+
+    self.card.state_publish(car_events)
 
     # onroadEvents - logged every second or on change
     if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
@@ -843,13 +915,6 @@ def publish_logs(self, CS, start_time, CC, lac_log):
       self.pm.send('onroadEvents', ce_send)
     self.events_prev = self.events.names.copy()
 
-    # carParams - logged every 50 seconds (> 1 per segment)
-    if (self.sm.frame % int(50. / DT_CTRL) == 0):
-      cp_send = messaging.new_message('carParams')
-      cp_send.valid = True
-      cp_send.carParams = self.CP
-      self.pm.send('carParams', cp_send)
-
     # carControl
     cc_send = messaging.new_message('carControl')
     cc_send.valid = CS.canValid
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 80a04bb878a022..0cf4708296f1a5 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -809,12 +809,12 @@ def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.
   # is thrown. This can mean a service crashed, did not broadcast a message for
   # ten times the regular interval, or the average interval is more than 10% too high.
   EventName.commIssue: {
-    ET.SOFT_DISABLE: soft_disable_alert("Communication Issue between Processes"),
+    ET.SOFT_DISABLE: soft_disable_alert("Communication Issue Between Processes"),
     ET.NO_ENTRY: comm_issue_alert,
   },
   EventName.commIssueAvgFreq: {
-    ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate between Processes"),
-    ET.NO_ENTRY: NoEntryAlert("Low Communication Rate between Processes"),
+    ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate Between Processes"),
+    ET.NO_ENTRY: NoEntryAlert("Low Communication Rate Between Processes"),
   },
 
   EventName.controlsdLagging: {
diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index 0d545b3153671b..30e9bf8ec5ba75 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -10,48 +10,52 @@
 from openpilot.tools.lib.logreader import LogReader, ReadMode
 
 if __name__ == "__main__":
-  cnt_valid: Counter = Counter()
   cnt_events: Counter = Counter()
 
   cams = [s for s in SERVICE_LIST if s.endswith('CameraState')]
   cnt_cameras = dict.fromkeys(cams, 0)
 
+  events: List[Tuple[float, set[str]]] = []
   alerts: List[Tuple[float, str]] = []
   start_time = math.inf
   end_time = -math.inf
   ignition_off = None
   for msg in LogReader(sys.argv[1], ReadMode.QLOG):
+    t = (msg.logMonoTime - start_time) / 1e9
     end_time = max(end_time, msg.logMonoTime)
     start_time = min(start_time, msg.logMonoTime)
 
     if msg.which() == 'onroadEvents':
       for e in msg.onroadEvents:
         cnt_events[e.name] += 1
+
+      ae = {str(e.name) for e in msg.onroadEvents if e.name not in ('pedalPressed', 'steerOverride', 'gasPressedOverride')}
+      if len(events) == 0 or ae != events[-1][1]:
+        events.append((t, ae))
+
     elif msg.which() == 'controlsState':
       at = msg.controlsState.alertType
       if "/override" not in at or "lanechange" in at.lower():
         if len(alerts) == 0 or alerts[-1][1] != at:
-          t = (msg.logMonoTime - start_time) / 1e9
           alerts.append((t, at))
     elif msg.which() == 'pandaStates':
       if ignition_off is None:
         ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates)
         if not ign:
           ignition_off = msg.logMonoTime
+          break
     elif msg.which() in cams:
       cnt_cameras[msg.which()] += 1
 
-    if not msg.valid:
-      cnt_valid[msg.which()] += 1
-
   duration = (end_time - start_time) / 1e9
 
   print("Events")
   pprint(cnt_events)
 
   print("\n")
-  print("Not valid")
-  pprint(cnt_valid)
+  print("Events")
+  for t, evt in events:
+    print(f"{t:8.2f} {evt}")
 
   print("\n")
   print("Cameras")
@@ -64,9 +68,9 @@
   print("Alerts")
   for t, a in alerts:
     print(f"{t:8.2f} {a}")
+
+  print("\n")
   if ignition_off is not None:
     ignition_off = round((ignition_off - start_time) / 1e9, 2)
   print("Ignition off at",  ignition_off)
-
-  print("\n")
   print("Route duration", datetime.timedelta(seconds=duration))
diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py
index 20028f8fd204c7..9cbab0b41fe1c6 100755
--- a/selfdrive/debug/filter_log_message.py
+++ b/selfdrive/debug/filter_log_message.py
@@ -46,6 +46,7 @@ def print_androidlog(t, msg):
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser()
+  parser.add_argument('--absolute', action='store_true')
   parser.add_argument('--level', default='DEBUG')
   parser.add_argument('--addr', default='127.0.0.1')
   parser.add_argument("route", type=str, nargs='*', help="route name + segment number for offline usage")
@@ -54,15 +55,18 @@ def print_androidlog(t, msg):
   min_level = LEVELS[args.level]
 
   if args.route:
+    st = None if not args.absolute else 0
     for route in args.route:
-      lr = LogReader(route)
+      lr = LogReader(route, sort_by_time=True)
       for m in lr:
+        if st is None:
+          st = m.logMonoTime
         if m.which() == 'logMessage':
-          print_logmessage(m.logMonoTime, m.logMessage, min_level)
+          print_logmessage(m.logMonoTime-st, m.logMessage, min_level)
         elif m.which() == 'errorLogMessage':
-          print_logmessage(m.logMonoTime, m.errorLogMessage, min_level)
+          print_logmessage(m.logMonoTime-st, m.errorLogMessage, min_level)
         elif m.which() == 'androidLog':
-          print_androidlog(m.logMonoTime, m.androidLog)
+          print_androidlog(m.logMonoTime-st, m.androidLog)
   else:
     sm = messaging.SubMaster(['logMessage', 'androidLog'], addr=args.addr)
     while True:
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index dd6243a44c2329..cc6fc2ae17e89f 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -44,11 +44,15 @@
 
   dongles = []
   for route in tqdm(routes):
-    dongle_id = SegmentRange(route).dongle_id
+    sr = SegmentRange(route)
+    dongle_id = sr.dongle_id
 
     if dongle_id in dongles:
       continue
 
+    if sr.slice == '' and sr.selector is None:
+      route += '/0'
+
     lr = LogReader(route, default_mode=ReadMode.QLOG)
 
     try:
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index 93e29291394a74..c292e9886c7e37 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -27,17 +27,17 @@ def __init__(self, x_bounds: List[Tuple[float, float]], min_points: List[float],
     self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True))
     self.min_points_total = min_points_total
 
-  def bucket_lengths(self) -> List[int]:
-    return [len(v) for v in self.buckets.values()]
-
   def __len__(self) -> int:
-    return sum(self.bucket_lengths())
+    return sum([len(v) for v in self.buckets.values()])
 
   def is_valid(self) -> bool:
     individual_buckets_valid = all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values(), strict=True))
     total_points_valid = self.__len__() >= self.min_points_total
     return individual_buckets_valid and total_points_valid
 
+  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:
     raise NotImplementedError
 
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 51418f9c1e94a5..69bab8d1fab9e5 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -184,23 +184,23 @@ def get_msg(self, valid=True, with_points=False):
     liveTorqueParameters.version = VERSION
     liveTorqueParameters.useParams = self.use_params
 
-    if self.filtered_points.is_valid():
+    # Calculate raw estimates when possible, only update filters when enough points are gathered
+    if self.filtered_points.is_calculable():
       latAccelFactor, latAccelOffset, frictionCoeff = self.estimate_params()
       liveTorqueParameters.latAccelFactorRaw = float(latAccelFactor)
       liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset)
       liveTorqueParameters.frictionCoefficientRaw = float(frictionCoeff)
 
-      if any(val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]):
-        cloudlog.exception("Live torque parameters are invalid.")
-        liveTorqueParameters.liveValid = False
-        self.reset()
-      else:
-        liveTorqueParameters.liveValid = True
-        latAccelFactor = np.clip(latAccelFactor, self.min_lataccel_factor, self.max_lataccel_factor)
-        frictionCoeff = np.clip(frictionCoeff, self.min_friction, self.max_friction)
-        self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': frictionCoeff})
-    else:
-      liveTorqueParameters.liveValid = False
+      if self.filtered_points.is_valid():
+        if any(val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]):
+          cloudlog.exception("Live torque parameters are invalid.")
+          liveTorqueParameters.liveValid = False
+          self.reset()
+        else:
+          liveTorqueParameters.liveValid = True
+          latAccelFactor = np.clip(latAccelFactor, self.min_lataccel_factor, self.max_lataccel_factor)
+          frictionCoeff = np.clip(frictionCoeff, self.min_friction, self.max_friction)
+          self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': frictionCoeff})
 
     if with_points:
       liveTorqueParameters.points = self.filtered_points.get_points()[:, [0, 2]].tolist()
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index aaa88df6d0a2f9..3a746f08f841b1 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -19,7 +19,7 @@
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
                            get_normalized_origin, terms_version, training_version, \
-                           is_tested_branch, is_release_branch
+                           is_tested_branch, is_release_branch, get_commit_date
 
 
 def manager_init() -> None:
@@ -126,6 +126,7 @@ def manager_init() -> None:
   params.put("TermsVersion", terms_version)
   params.put("TrainingVersion", training_version)
   params.put("GitCommit", get_commit())
+  params.put("GitCommitDate", get_commit_date())
   params.put("GitBranch", get_short_branch())
   params.put("GitRemote", get_origin())
   params.put_bool("IsTestedBranch", is_tested_branch())
diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py
index 523e1fd20933a3..ac1b4ac68c522f 100644
--- a/selfdrive/manager/process.py
+++ b/selfdrive/manager/process.py
@@ -281,11 +281,13 @@ def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None
   running = []
   for p in procs:
     if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
-      p.start()
       running.append(p)
     else:
       p.stop(block=False)
 
     p.check_watchdog(started)
 
+  for p in running:
+    p.start()
+
   return running
diff --git a/selfdrive/modeld/fill_model_msg.py b/selfdrive/modeld/fill_model_msg.py
index 93d1c7e77bac29..c76966867ae871 100644
--- a/selfdrive/modeld/fill_model_msg.py
+++ b/selfdrive/modeld/fill_model_msg.py
@@ -45,7 +45,7 @@ def fill_xyvat(builder, t, x, y, v, a, x_std=None, y_std=None, v_std=None, a_std
 def fill_model_msg(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, timestamp_llk: int, model_execution_time: float,
-                   nav_enabled: bool, v_ego: float, steer_delay: float, valid: bool) -> None:
+                   nav_enabled: bool, valid: bool) -> None:
   frame_age = frame_id - vipc_frame_id if frame_id > vipc_frame_id else 0
   msg.valid = valid
 
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 020fa36fca7a90..266b94be8f2976 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -116,12 +116,16 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
 
 
 def main(demo=False):
+  cloudlog.warning("modeld init")
+
   sentry.set_tag("daemon", PROCESS_NAME)
   cloudlog.bind(daemon=PROCESS_NAME)
   setproctitle(PROCESS_NAME)
   config_realtime_process(7, 54)
 
+  cloudlog.warning("setting up CL context")
   cl_context = CLContext()
+  cloudlog.warning("CL context ready; loading model")
   model = ModelState(cl_context)
   cloudlog.warning("models loaded, modeld starting")
 
@@ -152,12 +156,8 @@ def main(demo=False):
   pm = PubMaster(["modelV2", "modelV2SP", "cameraOdometry"])
   sm = SubMaster(["carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction", "carControl"])
 
-
   publish_state = PublishState()
   params = Params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
-    steer_delay = msg.steerActuatorDelay + .2
-  #steer_delay = 0.4
 
   # setup filter to track dropped frames
   frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
@@ -177,13 +177,15 @@ def main(demo=False):
 
   if demo:
     CP = get_demo_car_params()
-  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
-    CP = msg
-  cloudlog.info("plannerd got CarParams: %s", CP.carName)
+  else:
+    with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
+      CP = msg
+  cloudlog.info("modeld got CarParams: %s", CP.carName)
+
   # TODO this needs more thought, use .2s extra for now to estimate other delays
   steer_delay = CP.steerActuatorDelay + .2
-  DH = DesireHelper()
 
+  DH = DesireHelper()
 
   while True:
     # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -219,13 +221,10 @@ def main(demo=False):
       buf_extra = buf_main
       meta_extra = meta_main
 
-    # TODO: path planner timeout?
     sm.update(0)
     desire = DH.desire
-    v_ego = sm["carState"].vEgo
     is_rhd = sm["driverMonitoringState"].isRHD
     frame_id = sm["roadCameraState"].frameId
-    # TODO add lag
     lateral_control_params = np.array([sm["carState"].vEgo, steer_delay], dtype=np.float32)
     if sm.updated["liveCalibration"]:
       device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
@@ -294,7 +293,7 @@ def main(demo=False):
       modelv2_sp_send = messaging.new_message('modelV2SP')
       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, timestamp_llk, model_execution_time, nav_enabled, v_ego, steer_delay, live_calib_seen)
+                      meta_main.timestamp_eof, timestamp_llk, model_execution_time, nav_enabled, live_calib_seen)
 
       desire_state = modelv2_send.modelV2.meta.desireState
       l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd
index 21c0716de4c30e..97e391458892ad 100644
--- a/selfdrive/modeld/models/commonmodel_pyx.pxd
+++ b/selfdrive/modeld/models/commonmodel_pyx.pxd
@@ -7,7 +7,7 @@ cdef class CLContext(BaseCLContext):
   pass
 
 cdef class CLMem:
-  cdef cl_mem * mem;
+  cdef cl_mem * mem
 
   @staticmethod
   cdef create(void*)
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index dc93d84135ae81..ce346a406ad943 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 sha256:763821410b35b06b598cacfa5bc3e312610b3f8de2729e0d5954d7571b6794be
-size 48219112
+oid sha256:c11f99aab832242a604b1bb4c4cf391c9c3d5e90cbc07ab0d4c133473b56a3a4
+size 48193749
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx
index cdc62a79be0c15..e1b201a6a92742 100644
--- a/selfdrive/modeld/runners/runmodel_pyx.pyx
+++ b/selfdrive/modeld/runners/runmodel_pyx.pyx
@@ -2,7 +2,6 @@
 # cython: c_string_encoding=ascii
 
 from libcpp.string cimport string
-from libc.string cimport memcpy
 
 from .runmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
 from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc
index 6ed5c08e811be3..3dc2bef41448f8 100644
--- a/selfdrive/modeld/thneed/serialize.cc
+++ b/selfdrive/modeld/thneed/serialize.cc
@@ -4,13 +4,14 @@
 #include "third_party/json11/json11.hpp"
 #include "common/util.h"
 #include "common/clutil.h"
+#include "common/swaglog.h"
 #include "selfdrive/modeld/thneed/thneed.h"
 using namespace json11;
 
 extern map<cl_program, string> g_program_source;
 
 void Thneed::load(const char *filename) {
-  printf("Thneed::load: loading from %s\n", filename);
+  LOGD("Thneed::load: loading from %s\n", filename);
 
   string buf = util::read_file(filename);
   int jsz = *(int *)buf.data();
@@ -74,8 +75,8 @@ void Thneed::load(const char *filename) {
       clbuf = clCreateImage(context, CL_MEM_READ_WRITE, &format, &desc, NULL, &errcode);
 #endif
       if (clbuf == NULL) {
-        printf("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
-          desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
+        LOGE("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
+             desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
       }
       assert(clbuf != NULL);
     }
@@ -95,11 +96,11 @@ void Thneed::load(const char *filename) {
     cl_mem aa = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
     input_clmem.push_back(aa);
     input_sizes.push_back(sz);
-    printf("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
+    LOGD("Thneed::load: adding input %s with size %d\n", mobj["name"].string_value().data(), sz);
 
     cl_int cl_err;
     void *ret = clEnqueueMapBuffer(command_queue, aa, CL_TRUE, CL_MAP_WRITE, 0, sz, 0, NULL, NULL, &cl_err);
-    if (cl_err != CL_SUCCESS) printf("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
+    if (cl_err != CL_SUCCESS) LOGE("clError: %s map %p %d\n", cl_get_error_string(cl_err), aa, sz);
     assert(cl_err == CL_SUCCESS);
     inputs.push_back(ret);
   }
@@ -107,7 +108,7 @@ void Thneed::load(const char *filename) {
   for (auto &obj : jdat["outputs"].array_items()) {
     auto mobj = obj.object_items();
     int sz = mobj["size"].int_value();
-    printf("Thneed::save: adding output with size %d\n", sz);
+    LOGD("Thneed::save: adding output with size %d\n", sz);
     // TODO: support multiple outputs
     output = real_mem[*(cl_mem*)(mobj["buffer_id"].string_value().data())];
     assert(output != NULL);
diff --git a/selfdrive/modeld/transforms/transform.cl b/selfdrive/modeld/transforms/transform.cl
index 357ef87321371c..2ca25920cd19be 100644
--- a/selfdrive/modeld/transforms/transform.cl
+++ b/selfdrive/modeld/transforms/transform.cl
@@ -22,20 +22,20 @@ __kernel void warpPerspective(__global const uchar * src,
         W = W != 0.0f ? INTER_TAB_SIZE / W : 0.0f;
         int X = rint(X0 * W), Y = rint(Y0 * W);
 
-        short sx = convert_short_sat(X >> INTER_BITS);
-        short sy = convert_short_sat(Y >> INTER_BITS);
+        int sx = convert_short_sat(X >> INTER_BITS);
+        int sy = convert_short_sat(Y >> INTER_BITS);
+
+        short sx_clamp = clamp(sx, 0, src_cols - 1);
+        short sx_p1_clamp = clamp(sx + 1, 0, src_cols - 1);
+        short sy_clamp = clamp(sy, 0, src_rows - 1);
+        short sy_p1_clamp = clamp(sy + 1, 0, src_rows - 1);
+        int v0 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+        int v1 = convert_int(src[mad24(sy_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+        int v2 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_clamp*src_px_stride)]);
+        int v3 = convert_int(src[mad24(sy_p1_clamp, src_row_stride, src_offset + sx_p1_clamp*src_px_stride)]);
+
         short ay = (short)(Y & (INTER_TAB_SIZE - 1));
         short ax = (short)(X & (INTER_TAB_SIZE - 1));
-
-        int v0 = (sx >= 0 && sx < src_cols && sy >= 0 && sy < src_rows) ?
-            convert_int(src[mad24(sy, src_row_stride, src_offset + sx*src_px_stride)]) : 0;
-        int v1 = (sx+1 >= 0 && sx+1 < src_cols && sy >= 0 && sy < src_rows) ?
-            convert_int(src[mad24(sy, src_row_stride, src_offset + (sx+1)*src_px_stride)]) : 0;
-        int v2 = (sx >= 0 && sx < src_cols && sy+1 >= 0 && sy+1 < src_rows) ?
-            convert_int(src[mad24(sy+1, src_row_stride, src_offset + sx*src_px_stride)]) : 0;
-        int v3 = (sx+1 >= 0 && sx+1 < src_cols && sy+1 >= 0 && sy+1 < src_rows) ?
-            convert_int(src[mad24(sy+1, src_row_stride, src_offset + (sx+1)*src_px_stride)]) : 0;
-
         float taby = 1.f/INTER_TAB_SIZE*ay;
         float tabx = 1.f/INTER_TAB_SIZE*ax;
 
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index a8b7ca0c4d0528..0e7912a989ace2 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -11,7 +11,6 @@
 
 
 def set_params_enabled():
-  os.environ['REPLAY'] = "1"
   os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
   os.environ['LOGPRINT'] = "debug"
 
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index a2f6896307ff87..3b7b04df808560 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-fee90bcee1e545c7ec9a39d3c7d4e42cfefb9955
+fd6421f7551573c549480f9d29bb0dee4678344d
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 49e3461756aa46..fc38f873104b34 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-7d25b1f7d0bd3b506fa4e72ff893728894eb1a45
\ No newline at end of file
+d0cdea7eb15f3cac8a921f7ace3eaa6baebb4fd5
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index c9064df870ba16..de8a4420b38c2a 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -29,7 +29,7 @@
 
 # Baseline CPU usage by process
 PROCS = {
-  "selfdrive.controls.controlsd": 39.0,
+  "selfdrive.controls.controlsd": 41.0,
   "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
@@ -114,6 +114,7 @@ def setUpClass(cls):
     params = Params()
     params.remove("CurrentRoute")
     set_params_enabled()
+    os.environ['REPLAY'] = '1'
     os.environ['TESTING_CLOSET'] = '1'
     if os.path.exists(Paths.log_root()):
       shutil.rmtree(Paths.log_root())
diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py
index 9288188a778f9a..a3f803e2210624 100755
--- a/selfdrive/test/test_time_to_onroad.py
+++ b/selfdrive/test/test_time_to_onroad.py
@@ -18,33 +18,40 @@ def test_time_to_onroad():
   proc = subprocess.Popen(["python", manager_path])
 
   start_time = time.monotonic()
-  sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents'])
+  sm = messaging.SubMaster(['controlsState', 'deviceState', 'onroadEvents', 'sendcan'])
   try:
-    # wait for onroad
-    with Timeout(20, "timed out waiting to go onroad"):
-      while True:
-        sm.update(1000)
-        if sm['deviceState'].started:
-          break
-        time.sleep(1)
+    # wait for onroad. timeout assumes panda is up to date
+    with Timeout(10, "timed out waiting to go onroad"):
+      while not sm['deviceState'].started:
+        sm.update(100)
 
     # wait for engageability
     try:
       with Timeout(10, "timed out waiting for engageable"):
+        sendcan_frame = None
         while True:
-          sm.update(1000)
-          if sm['controlsState'].engageable:
+          sm.update(100)
+
+          # sendcan is only sent once we're initialized
+          if sm.seen['controlsState'] and sendcan_frame is None:
+            sendcan_frame = sm.frame
+
+          if sendcan_frame is not None and sm.recv_frame['sendcan'] > sendcan_frame:
+            sm.update(100)
+            assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
             break
-          time.sleep(1)
     finally:
       print(f"onroad events: {sm['onroadEvents']}")
     print(f"engageable after {time.monotonic() - start_time:.2f}s")
 
-    # once we're enageable, must be for the next few seconds
-    for _ in range(500):
+    # once we're enageable, must stay for the next few seconds
+    st = time.monotonic()
+    while (time.monotonic() - st) < 10.:
       sm.update(100)
+      assert sm.all_alive(), sm.alive
       assert sm['controlsState'].engageable, f"events: {sm['onroadEvents']}"
+      assert sm['controlsState'].cumLagMs < 10.
   finally:
     proc.terminate()
-    if proc.wait(60) is None:
+    if proc.wait(20) is None:
       proc.kill()
diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py
index d10d642f0ba05b..962ab7b069b1f3 100644
--- a/selfdrive/thermald/power_monitoring.py
+++ b/selfdrive/thermald/power_monitoring.py
@@ -15,7 +15,6 @@
 CAR_CHARGING_RATE_W = 45
 
 VBATT_PAUSE_CHARGING = 11.8           # Lower limit on the LPF car battery voltage
-VBATT_INSTANT_PAUSE_CHARGING = 7.0    # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss
 MIN_ON_TIME_S = 3600
 DELAY_SHUTDOWN_TIME_S = 300 # Wait at least DELAY_SHUTDOWN_TIME_S seconds after offroad_time to shutdown.
 VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 60
@@ -120,7 +119,6 @@ def should_shutdown(self, ignition: bool, in_car: bool, offroad_timestamp: Optio
     should_shutdown = False
     offroad_time = (now - offroad_timestamp)
     low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and
-                            self.car_voltage_instant_mV > (VBATT_INSTANT_PAUSE_CHARGING * 1e3) and
                             offroad_time > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S)
     should_shutdown |= (offroad_time > max_time_offroad_s) if max_time_offroad_s != 0 else False
     should_shutdown |= low_voltage_shutdown
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index bfca2ccabbbeb2..e868f2ffdd05a7 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -83,7 +83,6 @@ def read_thermal(thermal_config):
   dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
   dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
   dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
-  dat.deviceState.ambientTempC = read_tz(thermal_config.ambient[0]) / thermal_config.ambient[1]
   dat.deviceState.pmicTempC = [read_tz(z) / thermal_config.pmic[1] for z in thermal_config.pmic[0]]
   return dat
 
@@ -245,8 +244,10 @@ def thermald_thread(end_event, hw_queue) -> None:
 
     msg.deviceState.freeSpacePercent = get_available_percent(default=100.0)
     msg.deviceState.memoryUsagePercent = int(round(psutil.virtual_memory().percent))
-    msg.deviceState.cpuUsagePercent = [int(round(n)) for n in psutil.cpu_percent(percpu=True)]
     msg.deviceState.gpuUsagePercent = int(round(HARDWARE.get_gpu_usage_percent()))
+    online_cpu_usage = [int(round(n)) for n in psutil.cpu_percent(percpu=True)]
+    offline_cpu_usage = [0., ] * (len(msg.deviceState.cpuTempC) - len(online_cpu_usage))
+    msg.deviceState.cpuUsagePercent = online_cpu_usage + offline_cpu_usage
 
     msg.deviceState.networkType = last_hw_state.network_type
     msg.deviceState.networkMetered = last_hw_state.network_metered
@@ -410,7 +411,6 @@ def thermald_thread(end_event, hw_queue) -> None:
     for i, temp in enumerate(msg.deviceState.gpuTempC):
       statlog.gauge(f"gpu{i}_temperature", temp)
     statlog.gauge("memory_temperature", msg.deviceState.memoryTempC)
-    statlog.gauge("ambient_temperature", msg.deviceState.ambientTempC)
     for i, temp in enumerate(msg.deviceState.pmicTempC):
       statlog.gauge(f"pmic{i}_temperature", temp)
     for i, temp in enumerate(last_hw_state.nvme_temps):
diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore
index 104357f3969244..f9724816da6c5c 100644
--- a/selfdrive/ui/.gitignore
+++ b/selfdrive/ui/.gitignore
@@ -3,12 +3,13 @@ moc_*
 
 translations/main_test_en.*
 
+_text
+_spinner
+
 ui
 mui
 watch3
 installer/installers/*
-qt/text
-qt/spinner
 qt/setup/setup
 qt/setup/reset
 qt/setup/wifi
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 92b43a82b00870..ea5734fe6eb2da 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -72,8 +72,8 @@ asset_obj = qt_env.Object("assets", assets)
 qt_env.SharedLibrary("qt/python_helpers", ["qt/qt_window.cc"], LIBS=qt_libs)
 
 # spinner and text window
-qt_env.Program("qt/text", ["qt/text.cc"], LIBS=qt_libs)
-qt_env.Program("qt/spinner", ["qt/spinner.cc"], LIBS=qt_libs)
+qt_env.Program("_text", ["qt/text.cc"], LIBS=qt_libs)
+qt_env.Program("_spinner", ["qt/spinner.cc"], LIBS=qt_libs)
 
 # build main UI
 qt_env.Program("ui", qt_src + [asset_obj], LIBS=qt_libs)
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 02001fcc2320b7..b638381030a934 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -5,6 +5,7 @@
 #include <vector>
 
 #include <QApplication>
+#include <QDir>
 #include <QFile>
 #include <QFileInfo>
 #include <QHash>
@@ -114,6 +115,11 @@ void initApp(int argc, char *argv[], bool disable_hidpi) {
 
   qputenv("QT_DBL_CLICK_DIST", QByteArray::number(150));
 
+  // ensure the current dir matches the exectuable's directory
+  QApplication tmp(argc, argv);
+  QString appDir = QCoreApplication::applicationDirPath();
+  QDir::setCurrent(appDir);
+
   setQtSurfaceFormat();
 }
 
diff --git a/selfdrive/ui/spinner b/selfdrive/ui/spinner
index 35feab3f7e8f3d..965c8f581ab64a 100755
--- a/selfdrive/ui/spinner
+++ b/selfdrive/ui/spinner
@@ -1,7 +1,7 @@
 #!/bin/sh
 
-if [ -f /TICI ] && [ ! -f qt/spinner ]; then
-  cp qt/spinner_larch64 qt/spinner
+if [ -f /TICI ] && [ ! -f _spinner ]; then
+  cp qt/spinner_larch64 _spinner
 fi
 
-exec ./qt/spinner "$1"
+exec ./_spinner "$1"
diff --git a/selfdrive/ui/text b/selfdrive/ui/text
index b44bec42bdd15e..b12235f4e6a00e 100755
--- a/selfdrive/ui/text
+++ b/selfdrive/ui/text
@@ -1,7 +1,7 @@
 #!/bin/sh
 
-if [ -f /TICI ] && [ ! -f qt/text ]; then
-  cp qt/text_larch64 qt/text
+if [ -f /TICI ] && [ ! -f _text ]; then
+  cp qt/text_larch64 _text
 fi
 
-exec ./qt/text "$1"
+exec ./_text "$1"
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 9c7a618337c409..7434bb61e8cafa 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -4,7 +4,7 @@
 
 from cereal import log
 
-ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'ambient', 'pmic'])
+ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'bat', 'pmic'])
 NetworkType = log.DeviceState.NetworkType
 
 
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index 4c2c104f94b5fd..719e272aea1639 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -57,7 +57,7 @@ def shutdown(self):
     print("SHUTDOWN!")
 
   def get_thermal_config(self):
-    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), ambient=(None, 1), pmic=((None,), 1))
+    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), bat=(None, 1), pmic=((None,), 1))
 
   def set_screen_brightness(self, percentage):
     pass
diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
index ef7d9adb7956a5..342281b0f87a0e 100755
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@@ -20,7 +20,7 @@ class StreamingDecompressor:
   def __init__(self, url: str) -> None:
     self.buf = b""
 
-    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60)  # type: ignore
+    self.req = requests.get(url, stream=True, headers={'Accept-Encoding': None}, timeout=60)
     self.it = self.req.iter_content(chunk_size=1024 * 1024)
     self.decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
     self.eof = False
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index f6064220284230..5bb1032ba9749d 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -349,7 +349,6 @@ def get_thermal_config(self):
                          gpu=(("gpu0-usr", "gpu1-usr"), 1000),
                          mem=("ddr-usr", 1000),
                          bat=(None, 1),
-                         ambient=("xo-therm-adc", 1000),
                          pmic=(("pm8998_tz", "pm8005_tz"), 1000))
 
   def set_screen_brightness(self, percentage):
diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc
index 2fc6492ad4744c..7a829a2f1f9cb0 100644
--- a/system/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -44,6 +44,7 @@ kj::Array<capnp::word> logger_build_init_data() {
   std::map<std::string, std::string> params_map = params.readAll();
 
   init.setGitCommit(params_map["GitCommit"]);
+  init.setGitCommitDate(params_map["GitCommitDate"]);
   init.setGitBranch(params_map["GitBranch"]);
   init.setGitRemote(params_map["GitRemote"]);
   init.setPassive(false);
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 0cd854880962c4..963978926d4d92 100755
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -107,6 +107,7 @@ def test_init_data_values(self):
       # param, initData field, value
       ("DongleId", "dongleId", dongle),
       ("GitCommit", "gitCommit", "commit"),
+      ("GitCommitDate", "gitCommitDate", "date"),
       ("GitBranch", "gitBranch", "branch"),
       ("GitRemote", "gitRemote", "remote"),
     ]
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index c5cfb9a7ae685e..9e357957aa9050 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -207,10 +207,10 @@ def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool)
     return success
 
 
-  def step(self, network_type: int, metered: bool) -> bool:
+  def step(self, network_type: int, metered: bool) -> Optional[bool]:
     d = self.next_file_to_upload(metered)
     if d is None:
-      return True
+      return None
 
     name, key, fn = d
 
@@ -280,12 +280,15 @@ def main(exit_event: Optional[threading.Event] = None) -> None:
         continue
 
     success = uploader.step(sm['deviceState'].networkType.raw, sm['deviceState'].networkMetered)
-    if success:
+    if success is None:
+      backoff = 60 if offroad else 5
+    elif success:
       backoff = 0.1
-    elif allow_sleep:
+    else:
       cloudlog.info("upload backoff %r", backoff)
       backoff = min(backoff*2, 120)
-    time.sleep(backoff + random.uniform(0, backoff))
+    if allow_sleep:
+      time.sleep(backoff + random.uniform(0, backoff))
 
 
 if __name__ == "__main__":
diff --git a/system/qcomgpsd/qcomgpsd.py b/system/qcomgpsd/qcomgpsd.py
index 3f723502340e61..e2a180df863415 100755
--- a/system/qcomgpsd/qcomgpsd.py
+++ b/system/qcomgpsd/qcomgpsd.py
@@ -94,11 +94,7 @@ def at_cmd(cmd: str) -> Optional[str]:
   return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8')
 
 def gps_enabled() -> bool:
-  try:
-    p = subprocess.check_output("mmcli -m any --command=\"AT+QGPS?\"", shell=True)
-    return b"QGPS: 1" in p
-  except subprocess.CalledProcessError as exc:
-    raise Exception("failed to execute QGPS mmcli command") from exc
+  return "QGPS: 1" in at_cmd("AT+QGPS?")
 
 def download_assistance():
   try:
diff --git a/system/qcomgpsd/tests/test_qcomgpsd.py b/system/qcomgpsd/tests/test_qcomgpsd.py
index 8291f2cc32a92a..6c93f7dd9382fb 100755
--- a/system/qcomgpsd/tests/test_qcomgpsd.py
+++ b/system/qcomgpsd/tests/test_qcomgpsd.py
@@ -68,13 +68,14 @@ def test_startup_time(self):
 
   def test_turns_off_gnss(self):
     for s in (0.1, 1, 5):
-      managed_processes['qcomgpsd'].start()
-      time.sleep(s)
-      managed_processes['qcomgpsd'].stop()
+      with self.subTest(runtime=s):
+        managed_processes['qcomgpsd'].start()
+        time.sleep(s)
+        managed_processes['qcomgpsd'].stop()
 
-      ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
-      loc_status = json.loads(ls)
-      assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
+        ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
+        loc_status = json.loads(ls)
+        assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
 
 
   def check_assistance(self, should_be_loaded):
diff --git a/system/version.py b/system/version.py
index 980a4fcc7cb584..e34458f16f964a 100755
--- a/system/version.py
+++ b/system/version.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 import subprocess
-from typing import List, Optional, Callable, TypeVar
+from typing import List, Callable, TypeVar
 from functools import lru_cache
 
 from openpilot.common.basedir import BASEDIR
@@ -22,7 +22,7 @@ def run_cmd(cmd: List[str]) -> str:
   return subprocess.check_output(cmd, encoding='utf8').strip()
 
 
-def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[str]:
+def run_cmd_default(cmd: List[str], default: str = "") -> str:
   try:
     return run_cmd(cmd)
   except subprocess.CalledProcessError:
@@ -31,17 +31,22 @@ def run_cmd_default(cmd: List[str], default: Optional[str] = None) -> Optional[s
 
 @cache
 def get_commit(branch: str = "HEAD") -> str:
-  return run_cmd_default(["git", "rev-parse", branch]) or ""
+  return run_cmd_default(["git", "rev-parse", branch])
+
+
+@cache
+def get_commit_date(commit: str = "HEAD") -> str:
+  return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit])
 
 
 @cache
 def get_short_branch() -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"]) or ""
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"])
 
 
 @cache
 def get_branch() -> str:
-  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"]) or ""
+  return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"])
 
 
 @cache
@@ -51,7 +56,7 @@ def get_origin() -> str:
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"])
     return run_cmd(["git", "config", "remote." + tracking_remote + ".url"])
   except subprocess.CalledProcessError:  # Not on a branch, fallback
-    return run_cmd_default(["git", "config", "--get", "remote.origin.url"]) or ""
+    return run_cmd_default(["git", "config", "--get", "remote.origin.url"])
 
 
 @cache
@@ -132,3 +137,4 @@ def is_dirty() -> bool:
   print(f"Branch: {get_branch()}")
   print(f"Short branch: {get_short_branch()}")
   print(f"Prebuilt: {is_prebuilt()}")
+  print(f"Commit date: {get_commit_date()}")
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index af2c23ef4898ec..7957712aff6602 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -73,7 +73,7 @@ class ReadMode(enum.StrEnum):
   QLOG = "q"  # only read qlogs
   SANITIZED = "s"  # read from the commaCarSegments database
   AUTO = "a"  # default to rlogs, fallback to qlogs
-  AUTO_INTERACIVE = "i"  # default to rlogs, fallback to qlogs with a prompt from the user
+  AUTO_INTERACTIVE = "i"  # default to rlogs, fallback to qlogs with a prompt from the user
 
 
 LogPath = Optional[str]
@@ -81,6 +81,8 @@ class ReadMode(enum.StrEnum):
 ValidFileCallable = Callable[[LogPath], bool]
 Source = Callable[[SegmentRange, ReadMode], LogPaths]
 
+InternalUnavailableException = Exception("Internal source not available")
+
 def default_valid_file(fn: LogPath) -> bool:
   return fn is not None and file_exists(fn)
 
@@ -106,7 +108,7 @@ def apply_strategy(mode: ReadMode, rlog_paths: LogPaths, qlog_paths: LogPaths, v
     return qlog_paths
   elif mode == ReadMode.AUTO:
     return auto_strategy(rlog_paths, qlog_paths, False, valid_file)
-  elif mode == ReadMode.AUTO_INTERACIVE:
+  elif mode == ReadMode.AUTO_INTERACTIVE:
     return auto_strategy(rlog_paths, qlog_paths, True, valid_file)
   raise Exception(f"invalid mode: {mode}")
 
@@ -126,7 +128,7 @@ def valid_file(fn):
 
 def internal_source(sr: SegmentRange, mode: ReadMode) -> LogPaths:
   if not internal_source_available():
-    raise Exception("Internal source not available")
+    raise InternalUnavailableException
 
   def get_internal_url(sr: SegmentRange, seg, file):
     return f"cd:/{sr.dongle_id}/{sr.timestamp}/{seg}/{file}.bz2"
@@ -160,7 +162,7 @@ def get_invalid_files(files):
 
 def check_source(source: Source, *args) -> LogPaths:
   files = source(*args)
-  assert next(get_invalid_files(files), None) is None
+  assert next(get_invalid_files(files), False) is False
   return files
 
 
diff --git a/tools/lib/route.py b/tools/lib/route.py
index aba95718d59de0..47ebdc7a514109 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -264,7 +264,7 @@ def timestamp(self) -> str:
     return self.m.group("timestamp")
 
   @property
-  def _slice(self) -> str:
+  def slice(self) -> str:
     return self.m.group("slice") or ""
 
   @property
@@ -273,12 +273,12 @@ def selector(self) -> str | None:
 
   @property
   def seg_idxs(self) -> list[int]:
-    m = re.fullmatch(RE.SLICE, self._slice)
-    assert m is not None, f"Invalid slice: {self._slice}"
+    m = re.fullmatch(RE.SLICE, self.slice)
+    assert m is not None, f"Invalid slice: {self.slice}"
     start, end, step = (None if s is None else int(s) for s in m.groups())
 
     # one segment specified
-    if start is not None and end is None and ':' not in self._slice:
+    if start is not None and end is None and ':' not in self.slice:
       if start < 0:
         start += get_max_seg_number_cached(self) + 1
       return [start]
@@ -291,7 +291,7 @@ def seg_idxs(self) -> list[int]:
       return list(range(end + 1))[s]
 
   def __str__(self) -> str:
-    return f"{self.dongle_id}/{self.timestamp}" + (f"/{self._slice}" if self._slice else "") + (f"/{self.selector}" if self.selector else "")
+    return f"{self.dongle_id}/{self.timestamp}" + (f"/{self.slice}" if self.slice else "") + (f"/{self.selector}" if self.selector else "")
 
   def __repr__(self) -> str:
     return self.__str__()
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
index 4b73e0a301d9b0..bc92b013576891 100755
--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@@ -2,11 +2,13 @@
 from functools import partial
 import http.server
 import os
+import shutil
+import socket
 import unittest
 
 from parameterized import parameterized
 from openpilot.selfdrive.athena.tests.helpers import with_http_server
-
+from openpilot.system.hardware.hw import Paths
 from openpilot.tools.lib.url_file import URLFile
 
 
@@ -15,7 +17,7 @@ class CachingTestRequestHandler(http.server.BaseHTTPRequestHandler):
 
   def do_GET(self):
     if self.FILE_EXISTS:
-      self.send_response(200, b'1234')
+      self.send_response(206 if "Range" in self.headers else 200, b'1234')
     else:
       self.send_response(404)
     self.end_headers()
@@ -34,6 +36,34 @@ def do_HEAD(self):
 
 class TestFileDownload(unittest.TestCase):
 
+  @with_caching_server
+  def test_pipeline_defaults(self, host):
+    # TODO: parameterize the defaults so we don't rely on hard-coded values in xx
+
+    self.assertEqual(URLFile.pool_manager().pools._maxsize, 10) # PoolManager num_pools param
+    pool_manager_defaults = {
+      "maxsize": 100,
+      "socket_options": [(socket.SOL_SOCKET, socket.SO_KEEPALIVE, 1),],
+    }
+    for k, v in pool_manager_defaults.items():
+      self.assertEqual(URLFile.pool_manager().connection_pool_kw.get(k), v)
+
+    retry_defaults = {
+      "total": 5,
+      "backoff_factor": 0.5,
+      "status_forcelist": [409, 429, 503, 504],
+    }
+    for k, v in retry_defaults.items():
+      self.assertEqual(getattr(URLFile.pool_manager().connection_pool_kw["retries"], k), v)
+
+    # ensure caching off by default and cache dir doesn't get created
+    os.environ.pop("FILEREADER_CACHE", None)
+    if os.path.exists(Paths.download_cache_root()):
+      shutil.rmtree(Paths.download_cache_root())
+    URLFile(f"{host}/test.txt").get_length()
+    URLFile(f"{host}/test.txt").read()
+    self.assertEqual(os.path.exists(Paths.download_cache_root()), False)
+
   def compare_loads(self, url, start=0, length=None):
     """Compares range between cached and non cached version"""
     file_cached = URLFile(url, cache=True)
diff --git a/tools/lib/tests/test_comma_car_segments.py b/tools/lib/tests/test_comma_car_segments.py
index 484a4aae0839fc..b355b0fe60dfe6 100644
--- a/tools/lib/tests/test_comma_car_segments.py
+++ b/tools/lib/tests/test_comma_car_segments.py
@@ -25,7 +25,7 @@ def test_download_segment(self):
 
     sr = SegmentRange(segment)
 
-    url = get_url(sr.route_name, sr._slice)
+    url = get_url(sr.route_name, sr.slice)
 
     resp = requests.get(url)
     self.assertEqual(resp.status_code, 200)
diff --git a/tools/lib/tests/test_logreader.py b/tools/lib/tests/test_logreader.py
index 53b78064ab316a..2141915b877231 100755
--- a/tools/lib/tests/test_logreader.py
+++ b/tools/lib/tests/test_logreader.py
@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+import contextlib
+import io
 import shutil
 import tempfile
 import os
@@ -9,7 +11,7 @@
 from parameterized import parameterized
 from unittest import mock
 
-from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode
+from openpilot.tools.lib.logreader import LogIterable, LogReader, comma_api_source, parse_indirect, ReadMode, InternalUnavailableException
 from openpilot.tools.lib.route import SegmentRange
 from openpilot.tools.lib.url_file import URLFileException
 
@@ -23,6 +25,24 @@ def noop(segment: LogIterable):
   return segment
 
 
+@contextlib.contextmanager
+def setup_source_scenario(is_internal=False):
+  with (
+    mock.patch("openpilot.tools.lib.logreader.internal_source") as internal_source_mock,
+    mock.patch("openpilot.tools.lib.logreader.openpilotci_source") as openpilotci_source_mock,
+    mock.patch("openpilot.tools.lib.logreader.comma_api_source") as comma_api_source_mock,
+  ):
+    if is_internal:
+      internal_source_mock.return_value = [QLOG_FILE]
+    else:
+      internal_source_mock.side_effect = InternalUnavailableException
+
+    openpilotci_source_mock.return_value = [None]
+    comma_api_source_mock.return_value = [QLOG_FILE]
+
+    yield
+
+
 class TestLogReader(unittest.TestCase):
   @parameterized.expand([
     (f"{TEST_ROUTE}", ALL_SEGS),
@@ -168,10 +188,33 @@ def test_auto_mode(self):
     with mock.patch("openpilot.tools.lib.route.Route.log_paths") as log_paths_mock:
       log_paths_mock.return_value = [None] * NUM_SEGS
       # Should fall back to qlogs since rlogs are not available
-      lr = LogReader(f"{TEST_ROUTE}/0/a", default_source=comma_api_source)
-      log_len = len(list(lr))
 
-    self.assertEqual(qlog_len, log_len)
+      with self.subTest("interactive_yes"):
+        with mock.patch("sys.stdin", new=io.StringIO("y\n")):
+          lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source)
+          log_len = len(list(lr))
+        self.assertEqual(qlog_len, log_len)
+
+      with self.subTest("interactive_no"):
+        with mock.patch("sys.stdin", new=io.StringIO("n\n")):
+          with self.assertRaises(AssertionError):
+            lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO_INTERACTIVE, default_source=comma_api_source)
+
+      with self.subTest("non_interactive"):
+        lr = LogReader(f"{TEST_ROUTE}/0", default_mode=ReadMode.AUTO, default_source=comma_api_source)
+        log_len = len(list(lr))
+        self.assertEqual(qlog_len, log_len)
+
+  @parameterized.expand([(True,), (False,)])
+  @pytest.mark.slow
+  def test_auto_source_scenarios(self, is_internal):
+    lr = LogReader(QLOG_FILE)
+    qlog_len = len(list(lr))
+
+    with setup_source_scenario(is_internal=is_internal):
+      lr = LogReader(f"{TEST_ROUTE}/0/q")
+      log_len = len(list(lr))
+      self.assertEqual(qlog_len, log_len)
 
 
 if __name__ == "__main__":
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index cc2109541474b2..dc940628016c6e 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -73,7 +73,7 @@ def process(can, lr):
   return [d for d in lr if can or d.which() not in ['can', 'sendcan']]
 
 def juggle_route(route_or_segment_name, can, layout, dbc=None):
-  sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACIVE)
+  sr = LogReader(route_or_segment_name, default_mode=ReadMode.AUTO_INTERACTIVE)
 
   all_data = sr.run_across_segments(24, partial(process, can))
 
diff --git a/tools/plotjuggler/layouts/system_lag_debug.xml b/tools/plotjuggler/layouts/system_lag_debug.xml
index b1699348cce46e..a90bba0e279627 100644
--- a/tools/plotjuggler/layouts/system_lag_debug.xml
+++ b/tools/plotjuggler/layouts/system_lag_debug.xml
@@ -16,7 +16,6 @@
        <curve name="/deviceState/cpuUsagePercent/5" color="#9467bd"/>
        <curve name="/deviceState/cpuUsagePercent/6" color="#17becf"/>
        <curve name="/deviceState/cpuUsagePercent/7" color="#bcbd22"/>
-       <curve name="/deviceState/gpuUsagePercent" color="#1f77b4"/>
       </plot>
      </DockArea>
      <DockArea name="...">
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index ef6864f110edbb..c597df1f662c8a 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -10,45 +10,49 @@
 from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
 from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list
 from openpilot.tools.lib.logreader import LogReader
-from panda import Panda, PandaJungle
+from panda import PandaJungle
+
+# set both to cycle power or ignition
+PWR_ON = int(os.getenv("PWR_ON", "0"))
+PWR_OFF = int(os.getenv("PWR_OFF", "0"))
+IGN_ON = int(os.getenv("ON", "0"))
+IGN_OFF = int(os.getenv("OFF", "0"))
+ENABLE_IGN = IGN_ON > 0 and IGN_OFF > 0
+ENABLE_PWR = PWR_ON > 0 and PWR_OFF > 0
+
 
 def send_thread(s, flock):
-  if "Jungle" in str(type(s)):
-    if "FLASH" in os.environ:
-      with flock:
-        s.flash()
-
-    for i in [0, 1, 2, 3, 0xFFFF]:
-      s.can_clear(i)
-      s.set_can_speed_kbps(i, 500)
-      s.set_can_data_speed_kbps(i, 500)
-    s.set_ignition(False)
-    time.sleep(5)
-    s.set_ignition(True)
-    s.set_panda_power(True)
-  else:
-    s.set_safety_mode(Panda.SAFETY_ALLOUTPUT)
+  if "FLASH" in os.environ:
+    with flock:
+      s.flash()
+
+  for i in [0, 1, 2, 3, 0xFFFF]:
+    s.can_clear(i)
+    s.set_can_speed_kbps(i, 500)
+    s.set_can_data_speed_kbps(i, 500)
+  s.set_ignition(False)
+  time.sleep(5)
+  s.set_ignition(True)
+  s.set_panda_power(True)
   s.set_can_loopback(False)
 
-  idx = 0
-  ign = True
   rk = Ratekeeper(1 / DT_CTRL, print_delay_threshold=None)
   while True:
-    # handle ignition cycling
+    # handle cycling
+    if ENABLE_PWR:
+      i = (rk.frame*DT_CTRL) % (PWR_ON + PWR_OFF) < PWR_ON
+      s.set_panda_power(i)
     if ENABLE_IGN:
       i = (rk.frame*DT_CTRL) % (IGN_ON + IGN_OFF) < IGN_ON
-      if i != ign:
-        ign = i
-        s.set_ignition(ign)
+      s.set_ignition(i)
 
-    snd = CAN_MSGS[idx]
+    snd = CAN_MSGS[rk.frame % len(CAN_MSGS)]
     snd = list(filter(lambda x: x[-1] <= 2, snd))
     try:
       s.can_send_many(snd)
     except usb1.USBErrorTimeout:
       # timeout is fine, just means the CAN TX buffer is full
       pass
-    idx = (idx + 1) % len(CAN_MSGS)
 
     # Drain panda message buffer
     s.can_recv()
@@ -98,10 +102,8 @@ def process(lr):
 
   print("Finished loading...")
 
-  # set both to cycle ignition
-  IGN_ON = int(os.getenv("ON", "0"))
-  IGN_OFF = int(os.getenv("OFF", "0"))
-  ENABLE_IGN = IGN_ON > 0 and IGN_OFF > 0
+  if ENABLE_PWR:
+    print(f"Cycling power: on for {PWR_ON}s, off for {PWR_OFF}s")
   if ENABLE_IGN:
     print(f"Cycling ignition: on for {IGN_ON}s, off for {IGN_OFF}s")
 
diff --git a/tools/sim/lib/simulated_car.py b/tools/sim/lib/simulated_car.py
index 85b4ac23875604..f6319dd8190440 100644
--- a/tools/sim/lib/simulated_car.py
+++ b/tools/sim/lib/simulated_car.py
@@ -2,6 +2,7 @@
 
 from opendbc.can.packer import CANPacker
 from opendbc.can.parser import CANParser
+from openpilot.common.params import Params
 from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
 from openpilot.selfdrive.car import crc8_pedal
 from openpilot.tools.sim.lib.common import SimulatorState
@@ -18,6 +19,8 @@ def __init__(self):
     self.sm = messaging.SubMaster(['carControl', 'controlsState', 'carParams'])
     self.cp = self.get_car_can_parser()
     self.idx = 0
+    self.params = Params()
+    self.obd_multiplexing = False
 
   @staticmethod
   def get_car_can_parser():
@@ -100,6 +103,11 @@ def send_can_messages(self, simulator_state: SimulatorState):
 
   def send_panda_state(self, simulator_state):
     self.sm.update(0)
+
+    if self.params.get_bool("ObdMultiplexingEnabled") != self.obd_multiplexing:
+      self.obd_multiplexing = not self.obd_multiplexing
+      self.params.put_bool("ObdMultiplexingChanged", True)
+
     dat = messaging.new_message('pandaStates', 1)
     dat.valid = True
     dat.pandaStates[0] = {
diff --git a/tools/sim/lib/simulated_sensors.py b/tools/sim/lib/simulated_sensors.py
index ebbcc6c9e802ee..df6a0aeeff532f 100644
--- a/tools/sim/lib/simulated_sensors.py
+++ b/tools/sim/lib/simulated_sensors.py
@@ -3,7 +3,6 @@
 from cereal import log
 import cereal.messaging as messaging
 
-from openpilot.common.params import Params
 from openpilot.common.realtime import DT_DMON
 from openpilot.tools.sim.lib.camerad import Camerad
 
@@ -80,7 +79,6 @@ def send_peripheral_state(self):
       'current': 5678,
       'fanSpeedRpm': 1000
     }
-    Params().put_bool("ObdMultiplexingEnabled", False)
     self.pm.send('peripheralState', dat)
 
   def send_fake_driver_monitoring(self):