diff --git a/.github/workflows/ci_weekly_report.yaml b/.github/workflows/ci_weekly_report.yaml
index b96a5a56a8..1d3563fb18 100644
--- a/.github/workflows/ci_weekly_report.yaml
+++ b/.github/workflows/ci_weekly_report.yaml
@@ -38,7 +38,7 @@ jobs:
   report:
     needs: [ci_matrix_run]
     runs-on: ubuntu-latest
-    if: always()
+    if: always() && github.repository == 'commaai/openpilot'
     steps:
       - name: Get job results
         uses: actions/github-script@v7
diff --git a/.github/workflows/mici_raylib_ui_preview.yaml b/.github/workflows/mici_raylib_ui_preview.yaml
new file mode 100644
index 0000000000..707825b1ac
--- /dev/null
+++ b/.github/workflows/mici_raylib_ui_preview.yaml
@@ -0,0 +1,151 @@
+name: "mici raylib ui preview"
+on:
+  push:
+    branches:
+      - master
+  pull_request_target:
+    types: [assigned, opened, synchronize, reopened, edited]
+    branches:
+      - 'master'
+    paths:
+      - 'selfdrive/assets/**'
+      - 'selfdrive/ui/**'
+      - 'system/ui/**'
+  workflow_dispatch:
+
+env:
+  UI_JOB_NAME: "Create mici raylib UI Report"
+  REPORT_NAME: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+  SHA: ${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.sha || github.event.pull_request.head.sha }}
+  BRANCH_NAME: "openpilot/pr-${{ github.event.number }}-mici-raylib-ui"
+  MASTER_BRANCH_NAME: "openpilot_master_ui_mici_raylib"
+  # All report files are pushed here
+  REPORT_FILES_BRANCH_NAME: "mici-raylib-ui-reports"
+
+jobs:
+  preview:
+    if: github.repository == 'commaai/openpilot'
+    name: preview
+    runs-on: ubuntu-latest
+    timeout-minutes: 20
+    permissions:
+      contents: read
+      pull-requests: write
+      actions: read
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+
+      - name: Waiting for ui generation to end
+        uses: lewagon/wait-on-check-action@v1.3.4
+        with:
+          ref: ${{ env.SHA }}
+          check-name: ${{ env.UI_JOB_NAME }}
+          repo-token: ${{ secrets.GITHUB_TOKEN }}
+          allowed-conclusions: success
+          wait-interval: 20
+
+      - name: Getting workflow run ID
+        id: get_run_id
+        run: |
+          echo "run_id=$(curl https://api.github.com/repos/${{ github.repository }}/commits/${{ env.SHA }}/check-runs | jq -r '.check_runs[] | select(.name == "${{ env.UI_JOB_NAME }}") | .html_url | capture("(?<number>[0-9]+)") | .number')" >> $GITHUB_OUTPUT
+
+      - name: Getting proposed ui  # filename: pr_ui/mici_ui_replay.mp4
+        id: download-artifact
+        uses: dawidd6/action-download-artifact@v6
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          run_id: ${{ steps.get_run_id.outputs.run_id }}
+          search_artifacts: true
+          name: mici-raylib-report-1-${{ env.REPORT_NAME }}
+          path: ${{ github.workspace }}/pr_ui
+
+      - name: Getting master ui  # filename: master_ui_raylib/mici_ui_replay.mp4
+        uses: actions/checkout@v4
+        with:
+          repository: commaai/ci-artifacts
+          ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
+          path: ${{ github.workspace }}/master_ui_raylib
+          ref: ${{ env.MASTER_BRANCH_NAME }}
+
+      - name: Saving new master ui
+        if: github.ref == 'refs/heads/master' && github.event_name == 'push'
+        working-directory: ${{ github.workspace }}/master_ui_raylib
+        run: |
+          git checkout --orphan=new_master_ui_mici_raylib
+          git rm -rf *
+          git branch -D ${{ env.MASTER_BRANCH_NAME }}
+          git branch -m ${{ env.MASTER_BRANCH_NAME }}
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          mv ${{ github.workspace }}/pr_ui/* .
+          git add .
+          git commit -m "mici raylib video for commit ${{ env.SHA }}"
+          git push origin ${{ env.MASTER_BRANCH_NAME }} --force
+
+      - name: Setup FFmpeg
+        uses: AnimMouse/setup-ffmpeg@ae28d57dabbb148eff63170b6bf7f2b60062cbae
+
+      - name: Finding diff
+        if: github.event_name == 'pull_request_target'
+        id: find_diff
+        run: |
+          # Find the video file from PR
+          pr_video="${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4"
+          mv "${{ github.workspace }}/pr_ui/mici_ui_replay.mp4" "$pr_video"
+
+          master_video="${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4"
+          mv "${{ github.workspace }}/master_ui_raylib/mici_ui_replay.mp4" "$master_video"
+
+          # Run report
+          export PYTHONPATH=${{ github.workspace }}
+          baseurl="https://github.com/commaai/ci-artifacts/raw/refs/heads/${{ env.BRANCH_NAME }}"
+          diff_exit_code=0
+          python3 ${{ github.workspace }}/selfdrive/ui/tests/diff/diff.py "${{ github.workspace }}/pr_ui/mici_ui_replay_master.mp4" "${{ github.workspace }}/pr_ui/mici_ui_replay_proposed.mp4" "diff.html" --basedir "$baseurl" --no-open || diff_exit_code=$?
+
+          # Copy diff report files
+          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html ${{ github.workspace }}/pr_ui/
+          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.mp4 ${{ github.workspace }}/pr_ui/
+
+          REPORT_URL="https://commaai.github.io/ci-artifacts/diff_pr_${{ github.event.number }}.html"
+          if [ $diff_exit_code -eq 0 ]; then
+            DIFF="✅ Videos are identical! [View Diff Report]($REPORT_URL)"
+          else
+            DIFF="❌ <strong>Videos differ!</strong> [View Diff Report]($REPORT_URL)"
+          fi
+          echo "DIFF=$DIFF" >> "$GITHUB_OUTPUT"
+
+      - name: Saving proposed ui
+        if: github.event_name == 'pull_request_target'
+        working-directory: ${{ github.workspace }}/master_ui_raylib
+        run: |
+          # Overwrite PR branch w/ proposed ui, and master ui at this point in time for future reference
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          git checkout --orphan=${{ env.BRANCH_NAME }}
+          git rm -rf *
+          mv ${{ github.workspace }}/pr_ui/* .
+          git add .
+          git commit -m "mici raylib video for PR #${{ github.event.number }}"
+          git push origin ${{ env.BRANCH_NAME }} --force
+
+          # Append diff report to report files branch
+          git fetch origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+          git checkout ${{ env.REPORT_FILES_BRANCH_NAME }}
+          cp ${{ github.workspace }}/selfdrive/ui/tests/diff/report/diff.html diff_pr_${{ github.event.number }}.html
+          git add diff_pr_${{ github.event.number }}.html
+          git commit -m "mici raylib ui diff report for PR #${{ github.event.number }}" || echo "No changes to commit"
+          git push origin ${{ env.REPORT_FILES_BRANCH_NAME }}
+
+      - name: Comment Video on PR
+        if: github.event_name == 'pull_request_target'
+        uses: thollander/actions-comment-pull-request@v2
+        with:
+          message: |
+            <!-- _(run_id_video_mici_raylib **${{ github.run_id }}**)_ -->
+            ## mici raylib UI Preview
+            ${{ steps.find_diff.outputs.DIFF }}
+          comment_tag: run_id_video_mici_raylib
+          pr_number: ${{ github.event.number }}
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
diff --git a/.github/workflows/tests.yaml b/.github/workflows/tests.yaml
index aab16ffbbe..38bb7435e2 100644
--- a/.github/workflows/tests.yaml
+++ b/.github/workflows/tests.yaml
@@ -297,3 +297,29 @@ jobs:
         with:
           name: raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
           path: selfdrive/ui/tests/test_ui/raylib_report/screenshots
+
+  create_mici_raylib_ui_report:
+    name: Create mici raylib UI Report
+    runs-on: ${{
+      (github.repository == 'commaai/openpilot') &&
+      ((github.event_name != 'pull_request') ||
+      (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))
+      && fromJSON('["namespace-profile-amd64-8x16", "namespace-experiments:docker.builds.local-cache=separate"]')
+      || fromJSON('["ubuntu-24.04"]') }}
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: true
+      - uses: ./.github/workflows/setup-with-retry
+      - name: Build openpilot
+        run: ${{ env.RUN }} "scons -j$(nproc)"
+      - name: Create mici raylib UI Report
+        run: >
+          ${{ env.RUN }} "PYTHONWARNINGS=ignore &&
+                          source selfdrive/test/setup_xvfb.sh &&
+                          WINDOWED=1 python3 selfdrive/ui/tests/diff/replay.py"
+      - name: Upload Raylib UI Report
+        uses: actions/upload-artifact@v4
+        with:
+          name: mici-raylib-report-${{ inputs.run_number || '1' }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && 'master' || github.event.number }}
+          path: selfdrive/ui/tests/diff/report
diff --git a/RELEASES.md b/RELEASES.md
index 58044dc694..fabe635c71 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,3 +1,6 @@
+Version 0.10.3 (2025-12-10)
+========================
+
 Version 0.10.2 (2025-11-19)
 ========================
 * comma four support
diff --git a/common/api/__init__.py b/common/api/__init__.py
index 8b261486ba..d0b3dbc9e9 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -22,5 +22,5 @@ def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
   return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
 
 
-def get_key_pair():
+def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
   return CommaConnectApi(None).get_key_pair()
diff --git a/common/api/base.py b/common/api/base.py
index 682b266056..c37652b455 100644
--- a/common/api/base.py
+++ b/common/api/base.py
@@ -6,9 +6,9 @@ from datetime import datetime, timedelta, UTC
 from openpilot.system.hardware.hw import Paths
 from openpilot.system.version import get_version
 
-       # name : jwt signature algorithm
-KEYS = {"id_rsa" : "RS256",
-        "id_ecdsa" : "ES256"}
+# name: jwt signature algorithm
+KEYS = {"id_rsa": "RS256",
+        "id_ecdsa": "ES256"}
 
 
 class BaseApi:
@@ -62,7 +62,7 @@ class BaseApi:
     return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
 
   @staticmethod
-  def get_key_pair():
+  def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
     for key in KEYS:
       if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
         with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
diff --git a/common/model.h b/common/model.h
index 03773b633a..f01460cdb6 100644
--- a/common/model.h
+++ b/common/model.h
@@ -1 +1 @@
-#define DEFAULT_MODEL "The Cool People (Default)"
+#define DEFAULT_MODEL "Dark Souls 2 (Default)"
diff --git a/common/params_keys.h b/common/params_keys.h
index 38578d7ddc..a5f0ae29f2 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -71,6 +71,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastGPSPosition", {PERSISTENT, STRING}},
     {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastOffroadStatusPacket", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON}},
+    {"LastAgnosPowerMonitorShutdown", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastPowerDropDetected", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastUpdateException", {CLEAR_ON_MANAGER_START, STRING}},
     {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py
index c7fe1984c5..c2b880f873 100644
--- a/common/tests/test_file_helpers.py
+++ b/common/tests/test_file_helpers.py
@@ -1,7 +1,7 @@
 import os
 from uuid import uuid4
 
-from openpilot.common.utils import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 
 
 class TestFileHelpers:
@@ -15,5 +15,5 @@ class TestFileHelpers:
       assert f.read() == "test"
     os.remove(path)
 
-  def test_atomic_write_in_dir(self):
-    self.run_atomic_write_func(atomic_write_in_dir)
+  def test_atomic_write(self):
+    self.run_atomic_write_func(atomic_write)
diff --git a/common/utils.py b/common/utils.py
index 89c0601f06..71b29a0c4e 100644
--- a/common/utils.py
+++ b/common/utils.py
@@ -32,8 +32,8 @@ class CallbackReader:
 
 
 @contextlib.contextmanager
-def atomic_write_in_dir(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
-                        overwrite: bool = False):
+def atomic_write(path: str, mode: str = 'w', buffering: int = -1, encoding: str | None = None, newline: str | None = None,
+                 overwrite: bool = False):
   """Write to a file atomically using a temporary file in the same directory as the destination file."""
   dir_name = os.path.dirname(path)
 
diff --git a/common/version.h b/common/version.h
index ef20670781..c489ecc578 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.10.2"
+#define COMMA_VERSION "0.10.3"
diff --git a/docs/CARS.md b/docs/CARS.md
index 4c1e90e18d..b36c11aef2 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -20,7 +20,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
@@ -384,7 +384,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
diff --git a/docs/how-to/turn-the-speed-blue.md b/docs/how-to/turn-the-speed-blue.md
index eb6e75afa2..644c35e0ab 100644
--- a/docs/how-to/turn-the-speed-blue.md
+++ b/docs/how-to/turn-the-speed-blue.md
@@ -31,7 +31,7 @@ We'll run the `replay` tool with the demo route to get data streaming for testin
 tools/replay/replay --demo
 
 # in terminal 2
-selfdrive/ui/ui
+./selfdrive/ui/ui.py
 ```
 
 The openpilot UI should launch and show a replay of the demo route.
@@ -43,39 +43,36 @@ If you have your own comma device, you can replace `--demo` with one of your own
 
 Now let’s update the speed display color in the UI.
 
-Search for the function responsible for rendering UI text:
+Search for the function responsible for rendering the current speed:
 ```bash
-git grep "drawText" selfdrive/ui/qt/onroad/hud.cc
+git grep "_draw_current_speed" selfdrive/ui/onroad/hud_renderer.py
 ```
 
-You’ll find the relevant code inside `selfdrive/ui/qt/onroad/hud.cc`, in this function:
+You'll find the relevant code inside `selfdrive/ui/onroad/hud_renderer.py`, in this function:
 
-```cpp
-void HudRenderer::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
-  QRect real_rect = p.fontMetrics().boundingRect(text);
-  real_rect.moveCenter({x, y - real_rect.height() / 2});
-
-  p.setPen(QColor(0xff, 0xff, 0xff, alpha));  // <- this sets the speed text color
-  p.drawText(real_rect.x(), real_rect.bottom(), text);
-}
+```python
+def _draw_current_speed(self, rect: rl.Rectangle) -> None:
+  """Draw the current vehicle speed and unit."""
+  speed_text = str(round(self.speed))
+  speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
+  speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
+  rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)  # <- this sets the speed text color
 ```
 
-Change the `QColor(...)` line to make it **blue** instead of white. A nice soft blue is `#8080FF`, which translates to:
+Change `COLORS.white` to make it **blue** instead of white. A nice soft blue is `#8080FF`, which you can change inline:
 
 ```diff
-- p.setPen(QColor(0xff, 0xff, 0xff, alpha));
-+ p.setPen(QColor(0x80, 0x80, 0xFF, alpha));
+- rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
++ rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, rl.Color(0x80, 0x80, 0xFF, 255))
 ```
 
-This change will tint all speed-related UI text to blue with the same transparency (`alpha`).
-
 ---
 
-## 4. Rebuild the UI
+## 4. Re-run the UI
 
-After making changes, rebuild Openpilot so your new UI is compiled:
+After making changes, re-run the UI to see your new UI:
 ```bash
-scons -j$(nproc) && selfdrive/ui/ui
+./selfdrive/ui/ui.py
 ```
 ![](https://blog.comma.ai/img/blue_speed_ui.png)
 
diff --git a/opendbc_repo b/opendbc_repo
index 61bf5a90c5..f746884333 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 61bf5a90c5c1917b657b8dd50c4d95e437413170
+Subproject commit f746884333eab1aa493e59bf83132e0617260a5f
diff --git a/panda b/panda
index dee9061b2a..5f3c09c910 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit dee9061b2ab83845b8620e8722620fcf50a316dd
+Subproject commit 5f3c09c9105f26c6c5c858d5c7f4e375a367fcc1
diff --git a/pyproject.toml b/pyproject.toml
index c58d950496..90feace27d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -85,6 +85,7 @@ docs = [
 ]
 
 testing = [
+  "coverage",
   "hypothesis ==6.47.*",
   "mypy",
   "pytest",
@@ -115,7 +116,7 @@ dev = [
   "pyautogui",
   "pygame",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
-  "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
+  "pytools>=2025.1.6; platform_machine != 'aarch64'",
   "pywinctl",
   "pyprof2calltree",
   "tabulate",
@@ -125,7 +126,7 @@ dev = [
 
 tools = [
   "metadrive-simulator @ https://github.com/commaai/metadrive/releases/download/MetaDrive-minimal-0.4.2.4/metadrive_simulator-0.4.2.4-py3-none-any.whl ; (platform_machine != 'aarch64')",
-  "dearpygui>=2.1.0",
+  "dearpygui>=2.1.0; (sys_platform != 'linux' or platform_machine != 'aarch64')", # not vended for linux aarch64
 ]
 
 [project.urls]
@@ -226,7 +227,7 @@ lint.select = [
   "TRY203", "TRY400", "TRY401", # try/excepts
   "RUF008", "RUF100",
   "TID251",
-  "PLR1704",
+  "PLE", "PLR1704",
 ]
 lint.ignore = [
   "E741",
diff --git a/scripts/usbgpu/benchmark.sh b/scripts/usbgpu/benchmark.sh
new file mode 100755
index 0000000000..04a76d054e
--- /dev/null
+++ b/scripts/usbgpu/benchmark.sh
@@ -0,0 +1,26 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR/../../tinygrad_repo
+
+GREEN='\033[0;32m'
+NC='\033[0m'
+
+
+#export DEBUG=2
+export PYTHONPATH=.
+export AM_RESET=1
+export AMD=1
+export AMD_IFACE=USB
+export AMD_LLVM=1
+
+python3 -m unittest -q --buffer test.test_tiny.TestTiny.test_plus \
+  > /tmp/test_tiny.log 2>&1 || (cat /tmp/test_tiny.log; exit 1)
+printf "${GREEN}Booted in ${SECONDS}s${NC}\n"
+printf "${GREEN}=============${NC}\n"
+
+printf "\n\n"
+printf "${GREEN}Transfer speeds:${NC}\n"
+printf "${GREEN}================${NC}\n"
+python3 test/external/external_test_usb_asm24.py TestDevCopySpeeds
diff --git a/selfdrive/assets/sounds/disengage.wav b/selfdrive/assets/sounds/disengage.wav
index 8983884b25..7bfd97ad71 100644
--- a/selfdrive/assets/sounds/disengage.wav
+++ b/selfdrive/assets/sounds/disengage.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c94582be9d921146b3c356e08a7352700c309cb407877c1180542811b2d637fa
-size 48078
+oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013
+size 48044
diff --git a/selfdrive/assets/sounds/engage.wav b/selfdrive/assets/sounds/engage.wav
index 39d4c749c8..8633b5ac2d 100644
--- a/selfdrive/assets/sounds/engage.wav
+++ b/selfdrive/assets/sounds/engage.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bc2b12bfe816a79307660b6b3d2de87a7643c6ccbfc9d1b33804645ad717682a
-size 48078
+oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a
+size 48044
diff --git a/selfdrive/assets/sounds/make_beeps.py b/selfdrive/assets/sounds/make_beeps.py
new file mode 100644
index 0000000000..6161e80e74
--- /dev/null
+++ b/selfdrive/assets/sounds/make_beeps.py
@@ -0,0 +1,19 @@
+import numpy as np
+from scipy.io import wavfile
+
+
+sr = 48000
+max_int16 = 2**15 - 1
+
+def harmonic_beep(freq, duration_seconds):
+    n_total = int(sr * duration_seconds)
+
+    signal = np.sin(2 * np.pi * freq * np.arange(n_total) / sr)
+    x = np.arange(n_total)
+    exp_scale = np.exp(-x/5.5e3)
+    return max_int16 * signal * exp_scale
+
+engage_beep = harmonic_beep(1661.219, 0.5)
+wavfile.write("engage.wav", sr, engage_beep.astype(np.int16))
+disengage_beep = harmonic_beep(1318.51, 0.5)
+wavfile.write("disengage.wav", sr, disengage_beep.astype(np.int16))
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 463683fd3c..cd352b2ede 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -42,7 +42,7 @@ If your car has the following packages or features, then it's a good candidate f
 
 | Make | Required Package/Features |
 | ---- | ------------------------- |
-| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Acura | Any car with AcuraWatch will work. AcuraWatch comes standard on many newer models. |
 | Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
diff --git a/selfdrive/car/car_specific.py b/selfdrive/car/car_specific.py
index 270111524e..71d057694f 100644
--- a/selfdrive/car/car_specific.py
+++ b/selfdrive/car/car_specific.py
@@ -26,6 +26,18 @@ class MockCarState:
     return CS, CS_SP
 
 
+BRAND_EXTRA_GEARS = {
+  'ford': [GearShifter.low, GearShifter.manumatic],
+  'nissan': [GearShifter.brake],
+  'chrysler': [GearShifter.low],
+  'honda': [GearShifter.sport],
+  'toyota': [GearShifter.sport],
+  'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
+  'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
+  'hyundai': [GearShifter.sport, GearShifter.manumatic]
+}
+
+
 class CarSpecificEvents:
   def __init__(self, CP: structs.CarParams):
     self.CP = CP
@@ -36,17 +48,13 @@ class CarSpecificEvents:
     self.silent_steer_warning = True
 
   def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
+    extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
+
     if self.CP.brand in ('body', 'mock'):
       events = Events()
 
-    elif self.CP.brand == 'ford':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low, GearShifter.manumatic])
-
-    elif self.CP.brand == 'nissan':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
-
     elif self.CP.brand == 'chrysler':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
 
       # Low speed steer alert hysteresis logic
       if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
@@ -57,7 +65,7 @@ class CarSpecificEvents:
         events.add(EventName.belowSteerSpeed)
 
     elif self.CP.brand == 'honda':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
 
       if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.belowEngageSpeed)
@@ -79,7 +87,7 @@ class CarSpecificEvents:
 
     elif self.CP.brand == 'toyota':
       # TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport])
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
 
       if self.CP.openpilotLongitudinalControl:
         if CS.cruiseState.standstill and not CS.brakePressed:
@@ -94,9 +102,7 @@ class CarSpecificEvents:
             events.add(EventName.manualRestart)
 
     elif self.CP.brand == 'gm':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
-                                                                   GearShifter.eco, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
 
       # Enabling at a standstill with brake is allowed
       # TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
@@ -107,8 +113,7 @@ class CarSpecificEvents:
         events.add(EventName.resumeRequired)
 
     elif self.CP.brand == 'volkswagen':
-      events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
-                                         pcm_enable=self.CP.pcmCruise)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
 
       if self.CP.openpilotLongitudinalControl:
         if CS.vEgo < self.CP.minEnableSpeed + 0.5:
@@ -121,15 +126,14 @@ class CarSpecificEvents:
       #   events.add(EventName.steerTimeLimit)
 
     elif self.CP.brand == 'hyundai':
-      events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
-                                         pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
 
     else:
-      events = self.create_common_events(CS, CS_prev)
+      events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
 
     return events
 
-  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
+  def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
                            allow_button_cancel=True):
     events = Events()
 
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 47d105f993..48d174bfa0 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -22,15 +22,17 @@ from openpilot.sunnypilot.selfdrive.controls.lib.latcontrol_torque_ext import La
 # Additionally, there is friction in the steering wheel that needs
 # to be overcome to move it at all, this is compensated for too.
 
-KP = 1.0
-KI = 0.3
-KD = 0.0
+KP = 0.8
+KI = 0.15
+
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
 LP_FILTER_CUTOFF_HZ = 1.2
+JERK_LOOKAHEAD_SECONDS = 0.19
+JERK_GAIN = 0.3
 LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
-VERSION = 0
+VERSION = 1
 
 class LatControlTorque(LatControl):
   def __init__(self, CP, CP_SP, CI, dt):
@@ -38,13 +40,13 @@ class LatControlTorque(LatControl):
     self.torque_params = CP.lateralTuning.torque.as_builder()
     self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
     self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
-    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
+    self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, rate=1/self.dt)
     self.update_limits()
     self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
     self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
     self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
-    self.previous_measurement = 0.0
-    self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
+    self.lookahead_frames = int(JERK_LOOKAHEAD_SECONDS / self.dt)
+    self.jerk_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
 
     self.extension = LatControlTorqueExt(self, CP, CP_SP, CI)
 
@@ -76,17 +78,15 @@ class LatControlTorque(LatControl):
 
       delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
       expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
-      # TODO factor out lateral jerk from error to later replace it with delay independent alternative
+      lookahead_idx = int(np.clip(-delay_frames + self.lookahead_frames, -self.lat_accel_request_buffer_len+1, -2))
+      raw_lateral_jerk = (self.lat_accel_request_buffer[lookahead_idx+1] - self.lat_accel_request_buffer[lookahead_idx-1]) / (2 * self.dt)
+      desired_lateral_jerk = self.jerk_filter.update(raw_lateral_jerk)
       future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
       self.lat_accel_request_buffer.append(future_desired_lateral_accel)
       gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
-      desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
+      setpoint = expected_lateral_accel
 
       measurement = measured_curvature * CS.vEgo ** 2
-      measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
-      self.previous_measurement = measurement
-
-      setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
       error = setpoint - measurement
 
       # do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
@@ -94,15 +94,10 @@ class LatControlTorque(LatControl):
       ff = gravity_adjusted_future_lateral_accel
       # latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
       ff -= self.torque_params.latAccelOffset
-      # TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
-      ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
+      ff += get_friction(error + JERK_GAIN * desired_lateral_jerk, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
 
       freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
-      output_lataccel = self.pid.update(pid_log.error,
-                                       -measurement_rate,
-                                        feedforward=ff,
-                                        speed=CS.vEgo,
-                                        freeze_integrator=freeze_integrator)
+      output_lataccel = self.pid.update(pid_log.error, speed=CS.vEgo, feedforward=ff, freeze_integrator=freeze_integrator)
       output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
 
       # Lateral acceleration torque controller extension updates
diff --git a/selfdrive/locationd/helpers.py b/selfdrive/locationd/helpers.py
index bf4588a40c..2a3ac8b861 100644
--- a/selfdrive/locationd/helpers.py
+++ b/selfdrive/locationd/helpers.py
@@ -172,7 +172,7 @@ class PoseCalibrator:
     ned_from_calib_euler = self._ned_from_calib(pose.orientation)
     angular_velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
     acceleration_calib = self._transform_calib_from_device(pose.acceleration)
-    velocity_calib = self._transform_calib_from_device(pose.angular_velocity)
+    velocity_calib = self._transform_calib_from_device(pose.velocity)
 
     return Pose(ned_from_calib_euler, velocity_calib, acceleration_calib, angular_velocity_calib)
 
diff --git a/selfdrive/modeld/models/driving_policy.onnx b/selfdrive/modeld/models/driving_policy.onnx
index 1e764af9ba..e0eb918125 100644
--- a/selfdrive/modeld/models/driving_policy.onnx
+++ b/selfdrive/modeld/models/driving_policy.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c5a1f0655ddf266ed42ad1980389d96f47cc5e756da1fa3ca1477a920bb9b157
+oid sha256:f8fe9a71b0fd428a045a82ed50790179f77aa664391198f078e11e7b2cb2c2d7
 size 13926324
diff --git a/selfdrive/modeld/models/driving_vision.onnx b/selfdrive/modeld/models/driving_vision.onnx
index 441c4a16af..76c96670a9 100644
--- a/selfdrive/modeld/models/driving_vision.onnx
+++ b/selfdrive/modeld/models/driving_vision.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:8f16d548ea4eb5d01518a9e90d4527cd97c31a84bcaf6f695dead8f0015fecc4
+oid sha256:1dc66bc06f250b577653ccbeaa2c6521b3d46749f601d0a1a366419e929ca438
 size 46271942
diff --git a/selfdrive/modeld/tests/__init__.py b/selfdrive/modeld/tests/__init__.py
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
deleted file mode 100644
index 6927c9e473..0000000000
--- a/selfdrive/modeld/tests/test_modeld.py
+++ /dev/null
@@ -1,102 +0,0 @@
-import numpy as np
-import random
-
-import cereal.messaging as messaging
-from msgq.visionipc import VisionIpcServer, VisionStreamType
-from opendbc.car.car_helpers import get_demo_car_params
-from openpilot.common.params import Params
-from openpilot.common.transformations.camera import DEVICE_CAMERAS
-from openpilot.common.realtime import DT_MDL
-from openpilot.system.manager.process_config import managed_processes
-from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
-
-CAM = DEVICE_CAMERAS[("tici", "ar0231")].fcam
-IMG = np.zeros(int(CAM.width*CAM.height*(3/2)), dtype=np.uint8)
-IMG_BYTES = IMG.flatten().tobytes()
-
-
-class TestModeld:
-
-  def setup_method(self):
-    self.vipc_server = VisionIpcServer("camerad")
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, CAM.width, CAM.height)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, CAM.width, CAM.height)
-    self.vipc_server.start_listener()
-    Params().put("CarParams", get_demo_car_params().to_bytes())
-
-    self.sm = messaging.SubMaster(['modelV2', 'cameraOdometry'])
-    self.pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'liveCalibration'])
-
-    managed_processes['modeld'].start()
-    self.pm.wait_for_readers_to_update("roadCameraState", 10)
-
-  def teardown_method(self):
-    managed_processes['modeld'].stop()
-    del self.vipc_server
-
-  def _send_frames(self, frame_id, cams=None):
-    if cams is None:
-      cams = ('roadCameraState', 'wideRoadCameraState')
-
-    cs = None
-    for cam in cams:
-      msg = messaging.new_message(cam)
-      cs = getattr(msg, cam)
-      cs.frameId = frame_id
-      cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
-      cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
-      cam_meta = meta_from_camera_state(cam)
-
-      self.pm.send(msg.which(), msg)
-      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
-                            cs.timestampSof, cs.timestampEof)
-    return cs
-
-  def _wait(self):
-    self.sm.update(5000)
-    if self.sm['modelV2'].frameId != self.sm['cameraOdometry'].frameId:
-      self.sm.update(1000)
-
-  def test_modeld(self):
-    for n in range(1, 500):
-      cs = self._send_frames(n)
-      self._wait()
-
-      mdl = self.sm['modelV2']
-      assert mdl.frameId == n
-      assert mdl.frameIdExtra == n
-      assert mdl.timestampEof == cs.timestampEof
-      assert mdl.frameAge == 0
-      assert mdl.frameDropPerc == 0
-
-      odo = self.sm['cameraOdometry']
-      assert odo.frameId == n
-      assert odo.timestampEof == cs.timestampEof
-
-  def test_dropped_frames(self):
-    """
-      modeld should only run on consecutive road frames
-    """
-    frame_id = -1
-    road_frames = list()
-    for n in range(1, 50):
-      if (random.random() < 0.1) and n > 3:
-        cams = random.choice([(), ('wideRoadCameraState', )])
-        self._send_frames(n, cams)
-      else:
-        self._send_frames(n)
-        road_frames.append(n)
-      self._wait()
-
-      if len(road_frames) < 3 or road_frames[-1] - road_frames[-2] == 1:
-        frame_id = road_frames[-1]
-
-      mdl = self.sm['modelV2']
-      odo = self.sm['cameraOdometry']
-      assert mdl.frameId == frame_id
-      assert mdl.frameIdExtra == frame_id
-      assert odo.frameId == frame_id
-      if n != frame_id:
-        assert not self.sm.updated['modelV2']
-        assert not self.sm.updated['cameraOdometry']
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 02e5aafa68..022415af6d 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -40,8 +40,8 @@ def dmonitoringd_thread():
 
     # save rhd virtual toggle every 5 mins
     if (sm['driverStateV2'].frameId % 6000 == 0 and not demo_mode and
-     DM.wheelpos_learner.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
-     DM.wheel_on_right == (DM.wheelpos_learner.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
+     DM.wheelpos.prob_offseter.filtered_stat.n > DM.settings._WHEELPOS_FILTER_MIN_COUNT and
+     DM.wheel_on_right == (DM.wheelpos.prob_offseter.filtered_stat.M > DM.settings._WHEELPOS_THRESHOLD)):
       params.put_bool_nonblocking("IsRhdDetected", DM.wheel_on_right)
 
 def main():
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index 7697e68b98..3377ce6c68 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -40,6 +40,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._PHONE_THRESH2 = 15.0
     self._PHONE_MAX_OFFSET = 0.06
     self._PHONE_MIN_OFFSET = 0.025
+    self._PHONE_DATA_AVG = 0.05
+    self._PHONE_DATA_VAR = 3*0.005
+    self._PHONE_MAX_COUNT = int(360 / self._DT_DMON)
 
     self._POSE_PITCH_THRESHOLD = 0.3133
     self._POSE_PITCH_THRESHOLD_SLACK = 0.3237
@@ -47,9 +50,11 @@ class DRIVER_MONITOR_SETTINGS:
     self._POSE_YAW_THRESHOLD = 0.4020
     self._POSE_YAW_THRESHOLD_SLACK = 0.5042
     self._POSE_YAW_THRESHOLD_STRICT = self._POSE_YAW_THRESHOLD
-    self._PITCH_NATURAL_OFFSET = 0.029 # initial value before offset is learned
+    self._PITCH_NATURAL_OFFSET = 0.011 # initial value before offset is learned
     self._PITCH_NATURAL_THRESHOLD = 0.449
-    self._YAW_NATURAL_OFFSET = 0.097 # initial value before offset is learned
+    self._YAW_NATURAL_OFFSET = 0.075 # initial value before offset is learned
+    self._PITCH_NATURAL_VAR = 3*0.01
+    self._YAW_NATURAL_VAR = 3*0.05
     self._PITCH_MAX_OFFSET = 0.124
     self._PITCH_MIN_OFFSET = -0.0881
     self._YAW_MAX_OFFSET = 0.289
@@ -70,6 +75,9 @@ class DRIVER_MONITOR_SETTINGS:
     self._WHEELPOS_CALIB_MIN_SPEED = 11
     self._WHEELPOS_THRESHOLD = 0.5
     self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
+    self._WHEELPOS_DATA_AVG = 0.03
+    self._WHEELPOS_DATA_VAR = 3*5.5e-5
+    self._WHEELPOS_MAX_COUNT = -1
 
     self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
     self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
@@ -78,30 +86,33 @@ class DRIVER_MONITOR_SETTINGS:
     self._MAX_TERMINAL_DURATION = int(30 / self._DT_DMON)  # not allowed to engage after 30s of terminal alerts
 
 class DistractedType:
+
   NOT_DISTRACTED = 0
   DISTRACTED_POSE = 1 << 0
   DISTRACTED_BLINK = 1 << 1
   DISTRACTED_PHONE = 1 << 2
 
 class DriverPose:
-  def __init__(self, max_trackable):
+  def __init__(self, settings):
+    pitch_filter_raw_priors = (settings._PITCH_NATURAL_OFFSET, settings._PITCH_NATURAL_VAR, 2)
+    yaw_filter_raw_priors = (settings._YAW_NATURAL_OFFSET, settings._YAW_NATURAL_VAR, 2)
     self.yaw = 0.
     self.pitch = 0.
     self.roll = 0.
     self.yaw_std = 0.
     self.pitch_std = 0.
     self.roll_std = 0.
-    self.pitch_offseter = RunningStatFilter(max_trackable=max_trackable)
-    self.yaw_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.pitch_offseter = RunningStatFilter(raw_priors=pitch_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
+    self.yaw_offseter = RunningStatFilter(raw_priors=yaw_filter_raw_priors, max_trackable=settings._POSE_OFFSET_MAX_COUNT)
     self.calibrated = False
     self.low_std = True
     self.cfactor_pitch = 1.
     self.cfactor_yaw = 1.
 
-class DriverPhone:
-  def __init__(self, max_trackable):
+class DriverProb:
+  def __init__(self, raw_priors, max_trackable):
     self.prob = 0.
-    self.prob_offseter = RunningStatFilter(max_trackable=max_trackable)
+    self.prob_offseter = RunningStatFilter(raw_priors=raw_priors, max_trackable=max_trackable)
     self.prob_calibrated = False
 
 class DriverBlink:
@@ -140,9 +151,11 @@ class DriverMonitoring:
     self.settings = settings if settings is not None else DRIVER_MONITOR_SETTINGS(device_type=HARDWARE.get_device_type())
 
     # init driver status
-    self.wheelpos_learner = RunningStatFilter()
-    self.pose = DriverPose(self.settings._POSE_OFFSET_MAX_COUNT)
-    self.phone = DriverPhone(self.settings._POSE_OFFSET_MAX_COUNT)
+    wheelpos_filter_raw_priors = (self.settings._WHEELPOS_DATA_AVG, self.settings._WHEELPOS_DATA_VAR, 2)
+    phone_filter_raw_priors = (self.settings._PHONE_DATA_AVG, self.settings._PHONE_DATA_VAR, 2)
+    self.wheelpos = DriverProb(raw_priors=wheelpos_filter_raw_priors, max_trackable=self.settings._WHEELPOS_MAX_COUNT)
+    self.phone = DriverProb(raw_priors=phone_filter_raw_priors, max_trackable=self.settings._PHONE_MAX_COUNT)
+    self.pose = DriverPose(settings=self.settings)
     self.blink = DriverBlink()
 
     self.always_on = always_on
@@ -234,8 +247,11 @@ class DriverMonitoring:
                                                     self.settings._YAW_MIN_OFFSET), self.settings._YAW_MAX_OFFSET)
     pitch_error = 0 if pitch_error > 0 else abs(pitch_error) # no positive pitch limit
     yaw_error = abs(yaw_error)
-    if pitch_error > (self.settings._POSE_PITCH_THRESHOLD*self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD) or \
-       yaw_error > self.settings._POSE_YAW_THRESHOLD*self.pose.cfactor_yaw:
+
+    pitch_threshold = self.settings._POSE_PITCH_THRESHOLD * self.pose.cfactor_pitch if self.pose.calibrated else self.settings._PITCH_NATURAL_THRESHOLD
+    yaw_threshold = self.settings._POSE_YAW_THRESHOLD * self.pose.cfactor_yaw
+
+    if pitch_error > pitch_threshold or yaw_error > yaw_threshold:
       distracted_types.append(DistractedType.DISTRACTED_POSE)
 
     if (self.blink.left + self.blink.right)*0.5 > self.settings._BLINK_THRESHOLD:
@@ -256,9 +272,12 @@ class DriverMonitoring:
     # calibrates only when there's movement and either face detected
     if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
                                           driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
-      self.wheelpos_learner.push_and_update(rhd_pred)
-    if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT or demo_mode:
-      self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
+      self.wheelpos.prob_offseter.push_and_update(rhd_pred)
+
+    self.wheelpos.prob_calibrated = self.wheelpos.prob_offseter.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT
+
+    if self.wheelpos.prob_calibrated or demo_mode:
+      self.wheel_on_right = self.wheelpos.prob_offseter.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
       self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
     # make sure no switching when engaged
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index cdd4301fcf..4a58e321fc 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-b508f43fb0481bce0859c9b6ab4f45ee690b8dab
\ No newline at end of file
+e0ad86508edb61b3eaa1b84662c515d2c3368295
\ No newline at end of file
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 27cc17624e..b9506d0806 100644
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -206,8 +206,9 @@ class TestOnroad:
     result += "-------------- UI Draw Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    # skip first few frames -- connecting to vipc
-    ts = self.ts['uiDebug']['drawTimeMillis'][15:]
+    # other processes preempt ui while starting up
+    offset = int(20 * LOG_OFFSET)
+    ts = self.ts['uiDebug']['drawTimeMillis'][offset:]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"
diff --git a/selfdrive/ui/layouts/settings/firehose.py b/selfdrive/ui/layouts/settings/firehose.py
index 5ab82fd8f5..18514feeb9 100644
--- a/selfdrive/ui/layouts/settings/firehose.py
+++ b/selfdrive/ui/layouts/settings/firehose.py
@@ -1,19 +1,11 @@
 import pyray as rl
-import time
-import threading
 
-from openpilot.common.api import api_get
-from openpilot.common.params import Params
-from openpilot.common.swaglog import cloudlog
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.lib.scroll_panel import GuiScrollPanel
 from openpilot.system.ui.lib.wrap_text import wrap_text
-from openpilot.system.ui.widgets import Widget
-from openpilot.selfdrive.ui.lib.api_helpers import get_token
+from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutBase
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
@@ -32,50 +24,17 @@ INSTRUCTIONS = tr_noop(
 )
 
 
-class FirehoseLayout(Widget):
-  PARAM_KEY = "ApiCache_FirehoseStats"
-  GREEN = rl.Color(46, 204, 113, 255)
-  RED = rl.Color(231, 76, 60, 255)
-  GRAY = rl.Color(68, 68, 68, 255)
-  LIGHT_GRAY = rl.Color(228, 228, 228, 255)
-  UPDATE_INTERVAL = 30  # seconds
-
+class FirehoseLayout(FirehoseLayoutBase):
   def __init__(self):
     super().__init__()
-    self.params = Params()
-    self.segment_count = self._get_segment_count()
-    self.scroll_panel = GuiScrollPanel()
-    self._content_height = 0
-
-    self.running = True
-    self.update_thread = threading.Thread(target=self._update_loop, daemon=True)
-    self.update_thread.start()
-    self.last_update_time = 0
-
-  def show_event(self):
-    self.scroll_panel.set_offset(0)
-
-  def _get_segment_count(self) -> int:
-    stats = self.params.get(self.PARAM_KEY)
-    if not stats:
-      return 0
-    try:
-      return int(stats.get("firehose", 0))
-    except Exception:
-      cloudlog.exception(f"Failed to decode firehose stats: {stats}")
-      return 0
-
-  def __del__(self):
-    self.running = False
-    if self.update_thread and self.update_thread.is_alive():
-      self.update_thread.join(timeout=1.0)
+    self._scroll_panel = GuiScrollPanel()
 
   def _render(self, rect: rl.Rectangle):
     # Calculate content dimensions
     content_rect = rl.Rectangle(rect.x, rect.y, rect.width, self._content_height)
 
     # Handle scrolling and render with clipping
-    scroll_offset = self.scroll_panel.update(rect, content_rect)
+    scroll_offset = self._scroll_panel.update(rect, content_rect)
     rl.begin_scissor_mode(int(rect.x), int(rect.y), int(rect.width), int(rect.height))
     self._content_height = self._render_content(rect, scroll_offset)
     rl.end_scissor_mode()
@@ -107,9 +66,9 @@ class FirehoseLayout(Widget):
     y += 20 + 20
 
     # Contribution count (if available)
-    if self.segment_count > 0:
+    if self._segment_count > 0:
       contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
       y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 52, rl.WHITE)
       y += 20 + 20
 
@@ -121,7 +80,7 @@ class FirehoseLayout(Widget):
     y = self._draw_wrapped_text(x, y, w, tr(INSTRUCTIONS), gui_app.font(FontWeight.NORMAL), 40, self.LIGHT_GRAY)
 
     # bottom margin + remove effect of scroll offset
-    return int(round(y - self.scroll_panel.offset + 40))
+    return int(round(y - self._scroll_panel.offset + 40))
 
   def _draw_wrapped_text(self, x, y, width, text, font, font_size, color):
     wrapped = wrap_text(font, text, font_size, width)
@@ -129,32 +88,3 @@ class FirehoseLayout(Widget):
       rl.draw_text_ex(font, line, rl.Vector2(x, y), font_size, 0, color)
       y += font_size * FONT_SCALE
     return round(y)
-
-  def _get_status(self) -> tuple[str, rl.Color]:
-    network_type = ui_state.sm["deviceState"].networkType
-    network_metered = ui_state.sm["deviceState"].networkMetered
-
-    if not network_metered and network_type != 0:  # Not metered and connected
-      return tr("ACTIVE"), self.GREEN
-    else:
-      return tr("INACTIVE: connect to an unmetered network"), self.RED
-
-  def _fetch_firehose_stats(self):
-    try:
-      dongle_id = self.params.get("DongleId")
-      if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
-        return
-      identity_token = get_token(dongle_id)
-      response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
-      if response.status_code == 200:
-        data = response.json()
-        self.segment_count = data.get("firehose", 0)
-        self.params.put(self.PARAM_KEY, data)
-    except Exception as e:
-      cloudlog.error(f"Failed to fetch firehose stats: {e}")
-
-  def _update_loop(self):
-    while self.running:
-      if not ui_state.started:
-        self._fetch_firehose_stats()
-      time.sleep(self.UPDATE_INTERVAL)
diff --git a/selfdrive/ui/layouts/settings/software.py b/selfdrive/ui/layouts/settings/software.py
index c4f899d798..e4c3098c2e 100644
--- a/selfdrive/ui/layouts/settings/software.py
+++ b/selfdrive/ui/layouts/settings/software.py
@@ -17,6 +17,13 @@ if gui_app.sunnypilot_ui():
 # TODO: remove this. updater fails to respond on startup if time is not correct
 UPDATED_TIMEOUT = 10  # seconds to wait for updated to respond
 
+# Mapping updater internal states to translated display strings
+STATE_TO_DISPLAY_TEXT = {
+  "checking...": tr("checking..."),
+  "downloading...": tr("downloading..."),
+  "finalizing update...": tr("finalizing update..."),
+}
+
 
 def time_ago(date: datetime.datetime | None) -> str:
   if not date:
@@ -103,7 +110,9 @@ class SoftwareLayout(Widget):
       # Updater responded
       self._waiting_for_updater = False
       self._download_btn.action_item.set_enabled(False)
-      self._download_btn.action_item.set_value(updater_state)
+      # Use the mapping, with a fallback to the original state string
+      display_text = STATE_TO_DISPLAY_TEXT.get(updater_state, updater_state)
+      self._download_btn.action_item.set_value(display_text)
     else:
       if failed_count > 0:
         self._download_btn.action_item.set_value(tr("failed to check for update"))
diff --git a/selfdrive/ui/lib/prime_state.py b/selfdrive/ui/lib/prime_state.py
index fc72b4f9c6..e1ef387bf7 100644
--- a/selfdrive/ui/lib/prime_state.py
+++ b/selfdrive/ui/lib/prime_state.py
@@ -67,8 +67,10 @@ class PrimeState:
         cloudlog.info(f"Prime type updated to {prime_type}")
 
   def _worker_thread(self) -> None:
+    from openpilot.selfdrive.ui.ui_state import ui_state, device
     while self._running:
-      self._fetch_prime_status()
+      if not ui_state.started and device._awake:
+        self._fetch_prime_status()
 
       for _ in range(int(self.FETCH_INTERVAL / self.SLEEP_INTERVAL)):
         if not self._running:
diff --git a/selfdrive/ui/mici/layouts/home.py b/selfdrive/ui/mici/layouts/home.py
index fd4de9a717..750a30b73a 100644
--- a/selfdrive/ui/mici/layouts/home.py
+++ b/selfdrive/ui/mici/layouts/home.py
@@ -3,18 +3,16 @@ import time
 from cereal import log
 import pyray as rl
 from collections.abc import Callable
-from openpilot.system.ui.widgets.label import gui_label, MiciLabel
+from openpilot.system.ui.widgets.label import gui_label, MiciLabel, UnifiedLabel
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.lib.application import gui_app, FontWeight, DEFAULT_TEXT_COLOR, MousePos
 from openpilot.selfdrive.ui.ui_state import ui_state
 from openpilot.system.ui.text import wrap_text
-from openpilot.system.version import training_version
+from openpilot.system.version import training_version, RELEASE_BRANCHES
 
 HEAD_BUTTON_FONT_SIZE = 40
 HOME_PADDING = 8
 
-RELEASE_BRANCH = "release3"
-
 NetworkType = log.DeviceState.NetworkType
 
 NETWORK_TYPES = {
@@ -115,7 +113,7 @@ class MiciHomeLayout(Widget):
     self._version_label = MiciLabel("", font_size=36, font_weight=FontWeight.ROMAN)
     self._large_version_label = MiciLabel("", font_size=64, color=rl.GRAY, font_weight=FontWeight.ROMAN)
     self._date_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
-    self._branch_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN, elide_right=False, scroll=True)
+    self._branch_label = UnifiedLabel("", font_size=36, text_color=rl.GRAY, font_weight=FontWeight.ROMAN, scroll=True)
     self._version_commit_label = MiciLabel("", font_size=36, color=rl.GRAY, font_weight=FontWeight.ROMAN)
 
   def show_event(self):
@@ -187,27 +185,22 @@ class MiciHomeLayout(Widget):
 
     if self._version_text is not None:
       # release branch
-      if self._version_text[0] == RELEASE_BRANCH:
-        version_pos = rl.Vector2(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16)
-        self._large_version_label.set_text(self._version_text[0])
-        self._large_version_label.set_position(version_pos.x, version_pos.y)
-        self._large_version_label.render()
+      release_branch = self._version_text[1] in RELEASE_BRANCHES
+      version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
+      self._version_label.set_text(self._version_text[0])
+      self._version_label.set_position(version_pos.x, version_pos.y)
+      self._version_label.render()
 
-      else:
-        version_pos = rl.Rectangle(text_pos.x, text_pos.y + self._openpilot_label.font_size + 16, 100, 44)
-        self._version_label.set_text(self._version_text[0])
-        self._version_label.set_position(version_pos.x, version_pos.y)
-        self._version_label.render()
+      self._date_label.set_text(" " + self._version_text[3])
+      self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
+      self._date_label.render()
 
-        self._date_label.set_text(" " + self._version_text[3])
-        self._date_label.set_position(version_pos.x + self._version_label.rect.width + 10, version_pos.y)
-        self._date_label.render()
-
-        self._branch_label.set_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
-        self._branch_label.set_text(" " + self._version_text[1])
-        self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
-        self._branch_label.render()
+      self._branch_label.set_max_width(gui_app.width - self._version_label.rect.width - self._date_label.rect.width - 32)
+      self._branch_label.set_text(" " + ("release" if release_branch else self._version_text[1]))
+      self._branch_label.set_position(version_pos.x + self._version_label.rect.width + self._date_label.rect.width + 20, version_pos.y)
+      self._branch_label.render()
 
+      if not release_branch:
         # 2nd line
         self._version_commit_label.set_text(self._version_text[2])
         self._version_commit_label.set_position(version_pos.x, version_pos.y + self._date_label.font_size + 7)
diff --git a/selfdrive/ui/mici/layouts/offroad_alerts.py b/selfdrive/ui/mici/layouts/offroad_alerts.py
index cdde40d4a6..b01dae6aeb 100644
--- a/selfdrive/ui/mici/layouts/offroad_alerts.py
+++ b/selfdrive/ui/mici/layouts/offroad_alerts.py
@@ -5,6 +5,7 @@ from dataclasses import dataclass
 from enum import IntEnum
 from openpilot.common.params import Params
 from openpilot.selfdrive.selfdrived.alertmanager import OFFROAD_ALERTS
+from openpilot.system.hardware import HARDWARE
 from openpilot.system.ui.widgets import Widget
 from openpilot.system.ui.widgets.label import UnifiedLabel
 from openpilot.system.ui.widgets.scroller import Scroller
@@ -220,6 +221,7 @@ class MiciOffroadAlerts(Widget):
     update_alert_data = AlertData(key="UpdateAvailable", text="", severity=-1)
     self.sorted_alerts.append(update_alert_data)
     update_alert_item = AlertItem(update_alert_data)
+    update_alert_item.set_click_callback(lambda: HARDWARE.reboot())
     self.alert_items.append(update_alert_item)
     self._scroller.add_widget(update_alert_item)
 
@@ -244,18 +246,18 @@ class MiciOffroadAlerts(Widget):
 
     if update_alert_data:
       if update_available:
-        # Default text
-        update_alert_data.text = "update available. go to comma.ai/blog to read the release notes."
+        version_string = ""
 
         # Get new version description and parse version and date
         new_desc = self.params.get("UpdaterNewDescription") or ""
         if new_desc:
-          # Parse description (format: "version / branch / commit / date")
+          # format: "version / branch / commit / date"
           parts = new_desc.split(" / ")
           if len(parts) > 3:
             version, date = parts[0], parts[3]
-            update_alert_data.text = f"update available\n sunnypilot {version}, {date}. go to comma.ai/blog to read the release notes."
+            version_string = f"\nsunnypilot {version}, {date}\n"
 
+        update_alert_data.text = f"Update available {version_string}. Click to update. Read the release notes at blog.comma.ai."
         update_alert_data.visible = True
         active_count += 1
       else:
diff --git a/selfdrive/ui/mici/layouts/onboarding.py b/selfdrive/ui/mici/layouts/onboarding.py
index 5f20cf7c78..38dd70cea2 100644
--- a/selfdrive/ui/mici/layouts/onboarding.py
+++ b/selfdrive/ui/mici/layouts/onboarding.py
@@ -1,6 +1,7 @@
 from enum import IntEnum
 from collections.abc import Callable
 
+import weakref
 import pyray as rl
 from openpilot.system.ui.lib.application import FontWeight, gui_app
 from openpilot.system.ui.widgets import Widget
@@ -92,11 +93,10 @@ class TrainingGuideDMTutorial(Widget):
     super().__init__()
     self._title_header = TermsHeader("fill the circle to continue", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
 
-    self._original_continue_callback = continue_callback
-
     # Wrap the continue callback to restore settings
     def wrapped_continue_callback():
-      self._restore_settings()
+      device.set_offroad_brightness(None)
+      device.reset_interactive_timeout()
       continue_callback()
 
     self._dialog = DriverCameraSetupDialog(wrapped_continue_callback)
@@ -114,10 +114,6 @@ class TrainingGuideDMTutorial(Widget):
     device.set_offroad_brightness(100)
     device.reset_interactive_timeout(300)  # 5 minutes
 
-  def _restore_settings(self):
-    device.set_offroad_brightness(None)
-    device.reset_interactive_timeout()
-
   def _update_state(self):
     super()._update_state()
     if device.awake:
@@ -150,7 +146,7 @@ class TrainingGuideRecordFront(SetupTermsPage):
     super().__init__(on_continue, back_callback=on_back, back_text="no", continue_text="yes")
     self._title_header = TermsHeader("improve driver monitoring", gui_app.texture("icons_mici/setup/green_dm.png", 60, 60))
 
-    self._dm_label = UnifiedLabel("Do you want to upload driver camera data to improve driver monitoring?", 42,
+    self._dm_label = UnifiedLabel("Do you want to upload driver camera data?", 42,
                                   FontWeight.ROMAN)
 
   def show_event(self):
@@ -214,11 +210,17 @@ class TrainingGuide(Widget):
     self._completed_callback = completed_callback
     self._step = 0
 
+    self_ref = weakref.ref(self)
+
+    def on_continue():
+      if obj := self_ref():
+        obj._advance_step()
+
     self._steps = [
-      TrainingGuideAttentionNotice(continue_callback=self._advance_step),
-      TrainingGuidePreDMTutorial(continue_callback=self._advance_step),
-      TrainingGuideDMTutorial(continue_callback=self._advance_step),
-      TrainingGuideRecordFront(continue_callback=self._advance_step),
+      TrainingGuideAttentionNotice(continue_callback=on_continue),
+      TrainingGuidePreDMTutorial(continue_callback=on_continue),
+      TrainingGuideDMTutorial(continue_callback=on_continue),
+      TrainingGuideRecordFront(continue_callback=on_continue),
     ]
 
   def _advance_step(self):
diff --git a/selfdrive/ui/mici/layouts/settings/device.py b/selfdrive/ui/mici/layouts/settings/device.py
index 1d5e4989ec..81f0e870ef 100644
--- a/selfdrive/ui/mici/layouts/settings/device.py
+++ b/selfdrive/ui/mici/layouts/settings/device.py
@@ -39,7 +39,7 @@ class MiciFccModal(NavWidget):
     content_height += self._fcc_logo.height + 20
 
     scroll_content_rect = rl.Rectangle(rect.x, rect.y, rect.width, content_height)
-    scroll_offset = self._scroll_panel.update(rect, scroll_content_rect.height)
+    scroll_offset = round(self._scroll_panel.update(rect, scroll_content_rect.height))
 
     fcc_pos = rl.Vector2(rect.x + 20, rect.y + 20 + scroll_offset)
 
diff --git a/selfdrive/ui/mici/layouts/settings/firehose.py b/selfdrive/ui/mici/layouts/settings/firehose.py
index 18731d675e..462b1fc813 100644
--- a/selfdrive/ui/mici/layouts/settings/firehose.py
+++ b/selfdrive/ui/mici/layouts/settings/firehose.py
@@ -6,14 +6,13 @@ from openpilot.common.api import api_get
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.selfdrive.ui.lib.api_helpers import get_token
-from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.ui_state import ui_state, device
 from openpilot.system.athena.registration import UNREGISTERED_DONGLE_ID
 from openpilot.system.ui.lib.application import gui_app, FontWeight, FONT_SCALE
 from openpilot.system.ui.lib.wrap_text import wrap_text
 from openpilot.system.ui.lib.scroll_panel2 import GuiScrollPanel2
 from openpilot.system.ui.lib.multilang import tr, trn, tr_noop
-from openpilot.system.ui.widgets import NavWidget
-
+from openpilot.system.ui.widgets import Widget, NavWidget
 
 TITLE = tr_noop("Firehose Mode")
 DESCRIPTION = tr_noop(
@@ -34,9 +33,7 @@ FAQ_ITEMS = [
 ]
 
 
-class FirehoseLayoutMici(NavWidget):
-  BACK_TOUCH_AREA_PERCENTAGE = 0.1
-
+class FirehoseLayoutBase(Widget):
   PARAM_KEY = "ApiCache_FirehoseStats"
   GREEN = rl.Color(46, 204, 113, 255)
   RED = rl.Color(231, 76, 60, 255)
@@ -44,12 +41,10 @@ class FirehoseLayoutMici(NavWidget):
   LIGHT_GRAY = rl.Color(228, 228, 228, 255)
   UPDATE_INTERVAL = 30  # seconds
 
-  def __init__(self, back_callback):
+  def __init__(self):
     super().__init__()
-    self.set_back_callback(back_callback)
-
-    self.params = Params()
-    self.segment_count = self._get_segment_count()
+    self._params = Params()
+    self._segment_count = self._get_segment_count()
 
     self._scroll_panel = GuiScrollPanel2(horizontal=False)
     self._content_height = 0
@@ -71,7 +66,7 @@ class FirehoseLayoutMici(NavWidget):
     self._scroll_panel.set_offset(0)
 
   def _get_segment_count(self) -> int:
-    stats = self.params.get(self.PARAM_KEY)
+    stats = self._params.get(self.PARAM_KEY)
     if not stats:
       return 0
     try:
@@ -83,7 +78,7 @@ class FirehoseLayoutMici(NavWidget):
   def _render(self, rect: rl.Rectangle):
     # compute total content height for scrolling
     content_height = self._measure_content_height(rect)
-    scroll_offset = self._scroll_panel.update(rect, content_height)
+    scroll_offset = round(self._scroll_panel.update(rect, content_height))
 
     # start drawing with offset
     x = int(rect.x + 40)
@@ -111,9 +106,9 @@ class FirehoseLayoutMici(NavWidget):
     y += 20
 
     # Contribution count (if available)
-    if self.segment_count > 0:
+    if self._segment_count > 0:
       contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
       y = self._draw_wrapped_text(x, y, w, contrib_text, gui_app.font(FontWeight.BOLD), 42, rl.WHITE)
       y += 20
 
@@ -165,9 +160,9 @@ class FirehoseLayoutMici(NavWidget):
     y += int(len(status_lines) * 48 * FONT_SCALE) + 20
 
     # Contribution count
-    if self.segment_count > 0:
+    if self._segment_count > 0:
       contrib_text = trn("{} segment of your driving is in the training dataset so far.",
-                         "{} segments of your driving is in the training dataset so far.", self.segment_count).format(self.segment_count)
+                         "{} segments of your driving is in the training dataset so far.", self._segment_count).format(self._segment_count)
       contrib_lines = wrap_text(gui_app.font(FontWeight.BOLD), contrib_text, 42, w)
       y += int(len(contrib_lines) * 42 * FONT_SCALE) + 20
 
@@ -204,20 +199,28 @@ class FirehoseLayoutMici(NavWidget):
 
   def _fetch_firehose_stats(self):
     try:
-      dongle_id = self.params.get("DongleId")
+      dongle_id = self._params.get("DongleId")
       if not dongle_id or dongle_id == UNREGISTERED_DONGLE_ID:
         return
       identity_token = get_token(dongle_id)
       response = api_get(f"v1/devices/{dongle_id}/firehose_stats", access_token=identity_token)
       if response.status_code == 200:
         data = response.json()
-        self.segment_count = data.get("firehose", 0)
-        self.params.put(self.PARAM_KEY, data)
+        self._segment_count = data.get("firehose", 0)
+        self._params.put(self.PARAM_KEY, data)
     except Exception as e:
       cloudlog.error(f"Failed to fetch firehose stats: {e}")
 
   def _update_loop(self):
     while self._running:
-      if not ui_state.started:
+      if not ui_state.started and device._awake:
         self._fetch_firehose_stats()
       time.sleep(self.UPDATE_INTERVAL)
+
+
+class FirehoseLayout(FirehoseLayoutBase, NavWidget):
+  BACK_TOUCH_AREA_PERCENTAGE = 0.1
+
+  def __init__(self, back_callback):
+    super().__init__()
+    self.set_back_callback(back_callback)
diff --git a/selfdrive/ui/mici/layouts/settings/network/__init__.py b/selfdrive/ui/mici/layouts/settings/network/__init__.py
new file mode 100644
index 0000000000..d085fdf55f
--- /dev/null
+++ b/selfdrive/ui/mici/layouts/settings/network/__init__.py
@@ -0,0 +1,182 @@
+import pyray as rl
+from enum import IntEnum
+from collections.abc import Callable
+
+from openpilot.system.ui.widgets.scroller import Scroller
+from openpilot.selfdrive.ui.mici.layouts.settings.network.wifi_ui import WifiUIMici
+from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle, BigParamControl
+from openpilot.selfdrive.ui.mici.widgets.dialog import BigInputDialog
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.lib.prime_state import PrimeType
+from openpilot.system.ui.lib.application import gui_app
+from openpilot.system.ui.widgets import NavWidget
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, MeteredType
+
+
+class NetworkPanelType(IntEnum):
+  NONE = 0
+  WIFI = 1
+
+
+class NetworkLayoutMici(NavWidget):
+  def __init__(self, back_callback: Callable):
+    super().__init__()
+
+    self._current_panel = NetworkPanelType.WIFI
+    self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
+
+    self._wifi_manager = WifiManager()
+    self._wifi_manager.set_active(False)
+    self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
+
+    self._wifi_manager.add_callbacks(
+      networks_updated=self._on_network_updated,
+    )
+
+    _tethering_icon = "icons_mici/settings/network/tethering.png"
+
+    # ******** Tethering ********
+    def tethering_toggle_callback(checked: bool):
+      self._tethering_toggle_btn.set_enabled(False)
+      self._network_metered_btn.set_enabled(False)
+      self._wifi_manager.set_tethering_active(checked)
+
+    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
+
+    def tethering_password_callback(password: str):
+      if password:
+        self._wifi_manager.set_tethering_password(password)
+
+    def tethering_password_clicked():
+      tethering_password = self._wifi_manager.tethering_password
+      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
+                           confirm_callback=tethering_password_callback)
+      gui_app.set_modal_overlay(dlg)
+
+    txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
+    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
+    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
+
+    # ******** IP Address ********
+    self._ip_address_btn = BigButton("IP Address", "Not connected")
+
+    # ******** Network Metered ********
+    def network_metered_callback(value: str):
+      self._network_metered_btn.set_enabled(False)
+      metered = {
+        'default': MeteredType.UNKNOWN,
+        'metered': MeteredType.YES,
+        'unmetered': MeteredType.NO
+      }.get(value, MeteredType.UNKNOWN)
+      self._wifi_manager.set_current_network_metered(metered)
+
+    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
+    # TODO: disable when not connected
+    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
+    self._network_metered_btn.set_enabled(False)
+
+    wifi_button = BigButton("wi-fi")
+    wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
+
+    # ******** Advanced settings ********
+    # ******** Roaming toggle ********
+    self._roaming_btn = BigParamControl("enable roaming", "GsmRoaming", toggle_callback=self._toggle_roaming)
+
+    # ******** APN settings ********
+    self._apn_btn = BigButton("apn settings", "edit")
+    self._apn_btn.set_click_callback(self._edit_apn)
+
+    # ******** Cellular metered toggle ********
+    self._cellular_metered_btn = BigParamControl("cellular metered", "GsmMetered", toggle_callback=self._toggle_cellular_metered)
+
+    # Main scroller ----------------------------------
+    self._scroller = Scroller([
+      wifi_button,
+      self._network_metered_btn,
+      self._tethering_toggle_btn,
+      self._tethering_password_btn,
+      # /* Advanced settings
+      self._roaming_btn,
+      self._apn_btn,
+      self._cellular_metered_btn,
+      # */
+      self._ip_address_btn,
+    ], snap_items=False)
+
+    # Set initial config
+    roaming_enabled = ui_state.params.get_bool("GsmRoaming")
+    metered = ui_state.params.get_bool("GsmMetered")
+    self._wifi_manager.update_gsm_settings(roaming_enabled, ui_state.params.get("GsmApn") or "", metered)
+
+    # Set up back navigation
+    self.set_back_callback(back_callback)
+
+  def _update_state(self):
+    super()._update_state()
+
+    # If not using prime SIM, show GSM settings and enable IPv4 forwarding
+    show_cell_settings = ui_state.prime_state.get_type() in (PrimeType.NONE, PrimeType.LITE)
+    self._wifi_manager.set_ipv4_forward(show_cell_settings)
+    self._roaming_btn.set_visible(show_cell_settings)
+    self._apn_btn.set_visible(show_cell_settings)
+    self._cellular_metered_btn.set_visible(show_cell_settings)
+
+  def show_event(self):
+    super().show_event()
+    self._current_panel = NetworkPanelType.NONE
+    self._wifi_ui.show_event()
+    self._scroller.show_event()
+
+  def hide_event(self):
+    super().hide_event()
+    self._wifi_ui.hide_event()
+
+  def _toggle_roaming(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(checked, ui_state.params.get("GsmApn") or "", ui_state.params.get_bool("GsmMetered"))
+
+  def _edit_apn(self):
+    def update_apn(apn: str):
+      apn = apn.strip()
+      if apn == "":
+        ui_state.params.remove("GsmApn")
+      else:
+        ui_state.params.put("GsmApn", apn)
+
+      self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), apn, ui_state.params.get_bool("GsmMetered"))
+
+    current_apn = ui_state.params.get("GsmApn") or ""
+    dlg = BigInputDialog("enter APN", current_apn, minimum_length=0, confirm_callback=update_apn)
+    gui_app.set_modal_overlay(dlg)
+
+  def _toggle_cellular_metered(self, checked: bool):
+    self._wifi_manager.update_gsm_settings(ui_state.params.get_bool("GsmRoaming"), ui_state.params.get("GsmApn") or "", checked)
+
+  def _on_network_updated(self, networks: list[Network]):
+    # Update tethering state
+    tethering_active = self._wifi_manager.is_tethering_active()
+    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
+    self._tethering_toggle_btn.set_enabled(True)
+    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
+    self._tethering_toggle_btn.set_checked(tethering_active)
+
+    # Update IP address
+    self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
+
+    # Update network metered
+    self._network_metered_btn.set_value(
+      {
+        MeteredType.UNKNOWN: 'default',
+        MeteredType.YES: 'metered',
+        MeteredType.NO: 'unmetered'
+      }.get(self._wifi_manager.current_network_metered, 'default'))
+
+  def _switch_to_panel(self, panel_type: NetworkPanelType):
+    self._current_panel = panel_type
+
+  def _render(self, rect: rl.Rectangle):
+    self._wifi_manager.process_callbacks()
+
+    if self._current_panel == NetworkPanelType.WIFI:
+      self._wifi_ui.render(rect)
+    else:
+      self._scroller.render(rect)
diff --git a/selfdrive/ui/mici/layouts/settings/network.py b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
similarity index 77%
rename from selfdrive/ui/mici/layouts/settings/network.py
rename to selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
index a62c1d153a..18c4dd5d6d 100644
--- a/selfdrive/ui/mici/layouts/settings/network.py
+++ b/selfdrive/ui/mici/layouts/settings/network/wifi_ui.py
@@ -1,28 +1,20 @@
 import math
 import numpy as np
 import pyray as rl
-from enum import IntEnum
 from collections.abc import Callable
 
 from openpilot.common.swaglog import cloudlog
-from openpilot.system.ui.widgets.scroller import Scroller
 from openpilot.system.ui.widgets.label import UnifiedLabel
-from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigMultiToggle, BigToggle
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigMultiOptionDialog, BigInputDialog, BigDialogOptionButton, BigConfirmationDialogV2
 from openpilot.system.ui.lib.application import gui_app, MousePos, FontWeight
 from openpilot.system.ui.widgets import Widget, NavWidget
-from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType, MeteredType
+from openpilot.system.ui.lib.wifi_manager import WifiManager, Network, SecurityType
 
 
 def normalize_ssid(ssid: str) -> str:
   return ssid.replace("’", "'")  # for iPhone hotspots
 
 
-class NetworkPanelType(IntEnum):
-  NONE = 0
-  WIFI = 1
-
-
 class LoadingAnimation(Widget):
   def _render(self, _):
     cx = int(self._rect.x + 70)
@@ -91,11 +83,13 @@ class WifiIcon(Widget):
 
 class WifiItem(BigDialogOptionButton):
   LEFT_MARGIN = 20
+  HEIGHT = 54
+  SELECTED_HEIGHT = 74
 
   def __init__(self, network: Network):
     super().__init__(network.ssid)
 
-    self.set_rect(rl.Rectangle(0, 0, gui_app.width, 64))
+    self.set_rect(rl.Rectangle(0, 0, gui_app.width, self.HEIGHT))
 
     self._selected_txt = gui_app.texture("icons_mici/settings/network/new/wifi_selected.png", 48, 96)
 
@@ -103,6 +97,10 @@ class WifiItem(BigDialogOptionButton):
     self._wifi_icon = WifiIcon()
     self._wifi_icon.set_current_network(network)
 
+  def set_selected(self, selected: bool):
+    super().set_selected(selected)
+    self._rect.height = self.SELECTED_HEIGHT if selected else self.HEIGHT
+
   def set_current_network(self, network: Network):
     self._network = network
     self._wifi_icon.set_current_network(network)
@@ -117,7 +115,7 @@ class WifiItem(BigDialogOptionButton):
     self._wifi_icon.render(rl.Rectangle(
       self._rect.x + self.LEFT_MARGIN,
       self._rect.y,
-      self._rect.height,
+      self.SELECTED_HEIGHT,
       self._rect.height
     ))
 
@@ -126,7 +124,7 @@ class WifiItem(BigDialogOptionButton):
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.9)))
       self._label.set_font_weight(FontWeight.DISPLAY)
     else:
-      self._label.set_font_size(70)
+      self._label.set_font_size(54)
       self._label.set_color(rl.Color(255, 255, 255, int(255 * 0.58)))
       self._label.set_font_weight(FontWeight.DISPLAY_REGULAR)
 
@@ -215,7 +213,7 @@ class NetworkInfoPage(NavWidget):
     self._connect_btn.set_click_callback(lambda: connect_callback(self._network.ssid) if self._network is not None else None)
 
     self._title = UnifiedLabel("", 64, FontWeight.DISPLAY, rl.Color(255, 255, 255, int(255 * 0.9)),
-                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
+                               alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE, scroll=True)
     self._subtitle = UnifiedLabel("", 36, FontWeight.ROMAN, rl.Color(255, 255, 255, int(255 * 0.9 * 0.65)),
                                   alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE)
 
@@ -225,6 +223,10 @@ class NetworkInfoPage(NavWidget):
     self._network: Network | None = None
     self._connecting: Callable[[], str | None] | None = None
 
+  def show_event(self):
+    super().show_event()
+    self._title.reset_scroll()
+
   def update_networks(self, networks: dict[str, Network]):
     # update current network from latest scan results
     for ssid, network in networks.items():
@@ -392,7 +394,7 @@ class WifiUIMici(BigMultiOptionDialog):
           self._network_info_page.set_current_network(_network)
           self._should_open_network_info_page = True
 
-        network_button.set_click_callback(lambda _net=network,_button=network_button: _button._selected and show_network_info_page(_net))
+        network_button.set_click_callback(lambda _net=network, _button=network_button: _button._selected and show_network_info_page(_net))
 
       self.add_button(network_button)
 
@@ -443,116 +445,3 @@ class WifiUIMici(BigMultiOptionDialog):
 
     if not self._networks:
       self._loading_animation.render(self._rect)
-
-
-class NetworkLayoutMici(NavWidget):
-  def __init__(self, back_callback: Callable):
-    super().__init__()
-
-    self._current_panel = NetworkPanelType.WIFI
-    self.set_back_enabled(lambda: self._current_panel == NetworkPanelType.NONE)
-
-    self._wifi_manager = WifiManager()
-    self._wifi_manager.set_active(False)
-    self._wifi_ui = WifiUIMici(self._wifi_manager, back_callback=lambda: self._switch_to_panel(NetworkPanelType.NONE))
-
-    self._wifi_manager.add_callbacks(
-      networks_updated=self._on_network_updated,
-    )
-
-    _tethering_icon = "icons_mici/settings/network/tethering.png"
-
-    # ******** Tethering ********
-    def tethering_toggle_callback(checked: bool):
-      self._tethering_toggle_btn.set_enabled(False)
-      self._network_metered_btn.set_enabled(False)
-      self._wifi_manager.set_tethering_active(checked)
-
-    self._tethering_toggle_btn = BigToggle("enable tethering", "", toggle_callback=tethering_toggle_callback)
-
-    def tethering_password_callback(password: str):
-      if password:
-        self._wifi_manager.set_tethering_password(password)
-
-    def tethering_password_clicked():
-      tethering_password = self._wifi_manager.tethering_password
-      dlg = BigInputDialog("enter password...", tethering_password, minimum_length=8,
-                           confirm_callback=tethering_password_callback)
-      gui_app.set_modal_overlay(dlg)
-
-    txt_tethering = gui_app.texture(_tethering_icon, 64, 53)
-    self._tethering_password_btn = BigButton("tethering password", "", txt_tethering)
-    self._tethering_password_btn.set_click_callback(tethering_password_clicked)
-
-    # ******** IP Address ********
-    self._ip_address_btn = BigButton("IP Address", "Not connected")
-
-    # ******** Network Metered ********
-    def network_metered_callback(value: str):
-      self._network_metered_btn.set_enabled(False)
-      metered = {
-        'default': MeteredType.UNKNOWN,
-        'metered': MeteredType.YES,
-        'unmetered': MeteredType.NO
-      }.get(value, MeteredType.UNKNOWN)
-      self._wifi_manager.set_current_network_metered(metered)
-
-    # TODO: signal for current network metered type when changing networks, this is wrong until you press it once
-    # TODO: disable when not connected
-    self._network_metered_btn = BigMultiToggle("network usage", ["default", "metered", "unmetered"], select_callback=network_metered_callback)
-    self._network_metered_btn.set_enabled(False)
-
-    wifi_button = BigButton("wi-fi")
-    wifi_button.set_click_callback(lambda: self._switch_to_panel(NetworkPanelType.WIFI))
-
-    # Main scroller ----------------------------------
-    self._scroller = Scroller([
-      wifi_button,
-      self._network_metered_btn,
-      self._tethering_toggle_btn,
-      self._tethering_password_btn,
-      self._ip_address_btn,
-    ], snap_items=False)
-
-    # Set up back navigation
-    self.set_back_callback(back_callback)
-
-  def show_event(self):
-    super().show_event()
-    self._current_panel = NetworkPanelType.NONE
-    self._wifi_ui.show_event()
-    self._scroller.show_event()
-
-  def hide_event(self):
-    super().hide_event()
-    self._wifi_ui.hide_event()
-
-  def _on_network_updated(self, networks: list[Network]):
-    # Update tethering state
-    tethering_active = self._wifi_manager.is_tethering_active()
-    # TODO: use real signals (like activated/settings changed, etc.) to speed up re-enabling buttons
-    self._tethering_toggle_btn.set_enabled(True)
-    self._network_metered_btn.set_enabled(lambda: not tethering_active and bool(self._wifi_manager.ipv4_address))
-    self._tethering_toggle_btn.set_checked(tethering_active)
-
-    # Update IP address
-    self._ip_address_btn.set_value(self._wifi_manager.ipv4_address or "Not connected")
-
-    # Update network metered
-    self._network_metered_btn.set_value(
-      {
-        MeteredType.UNKNOWN: 'default',
-        MeteredType.YES: 'metered',
-        MeteredType.NO: 'unmetered'
-      }.get(self._wifi_manager.current_network_metered, 'default'))
-
-  def _switch_to_panel(self, panel_type: NetworkPanelType):
-    self._current_panel = panel_type
-
-  def _render(self, rect: rl.Rectangle):
-    self._wifi_manager.process_callbacks()
-
-    if self._current_panel == NetworkPanelType.WIFI:
-      self._wifi_ui.render(rect)
-    else:
-      self._scroller.render(rect)
diff --git a/selfdrive/ui/mici/layouts/settings/settings.py b/selfdrive/ui/mici/layouts/settings/settings.py
index 75238d581a..a452777748 100644
--- a/selfdrive/ui/mici/layouts/settings/settings.py
+++ b/selfdrive/ui/mici/layouts/settings/settings.py
@@ -10,7 +10,7 @@ from openpilot.selfdrive.ui.mici.layouts.settings.toggles import TogglesLayoutMi
 from openpilot.selfdrive.ui.mici.layouts.settings.network import NetworkLayoutMici
 from openpilot.selfdrive.ui.mici.layouts.settings.device import DeviceLayoutMici, PairBigButton
 from openpilot.selfdrive.ui.mici.layouts.settings.developer import DeveloperLayoutMici
-from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayoutMici
+from openpilot.selfdrive.ui.mici.layouts.settings.firehose import FirehoseLayout
 from openpilot.system.ui.lib.application import gui_app, FontWeight
 from openpilot.system.ui.widgets import Widget, NavWidget
 
@@ -67,7 +67,7 @@ class SettingsLayout(NavWidget):
       PanelType.NETWORK: PanelInfo("Network", NetworkLayoutMici(back_callback=lambda: self._set_current_panel(None))),
       PanelType.DEVICE: PanelInfo("Device", DeviceLayoutMici(back_callback=lambda: self._set_current_panel(None))),
       PanelType.DEVELOPER: PanelInfo("Developer", DeveloperLayoutMici(back_callback=lambda: self._set_current_panel(None))),
-      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayoutMici(back_callback=lambda: self._set_current_panel(None))),
+      PanelType.FIREHOSE: PanelInfo("Firehose", FirehoseLayout(back_callback=lambda: self._set_current_panel(None))),
     }
 
     self._font_medium = gui_app.font(FontWeight.MEDIUM)
diff --git a/selfdrive/ui/mici/onroad/alert_renderer.py b/selfdrive/ui/mici/onroad/alert_renderer.py
index b7f0098073..b5f796bb03 100644
--- a/selfdrive/ui/mici/onroad/alert_renderer.py
+++ b/selfdrive/ui/mici/onroad/alert_renderer.py
@@ -89,10 +89,6 @@ ALERT_CRITICAL_REBOOT = Alert(
 class AlertRenderer(Widget):
   def __init__(self):
     super().__init__()
-    self.font_regular: rl.Font = gui_app.font(FontWeight.MEDIUM)
-    self.font_roman: rl.Font = gui_app.font(FontWeight.ROMAN)
-    self.font_bold: rl.Font = gui_app.font(FontWeight.BOLD)
-    self.font_display: rl.Font = gui_app.font(FontWeight.DISPLAY)
 
     self._alert_text1_label = UnifiedLabel(text="", font_size=ALERT_FONT_BIG, font_weight=FontWeight.DISPLAY, line_height=0.86,
                                            letter_spacing=-0.02)
@@ -204,11 +200,11 @@ class AlertRenderer(Widget):
     text_x = self._rect.x + ALERT_MARGIN
     text_width = self._rect.width - ALERT_MARGIN
     if icon_side == 'left':
-      text_x = self._rect.x + self._txt_turn_signal_right.width + 20 * 2
-      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
+      text_x = self._rect.x + self._txt_turn_signal_right.width
+      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
     elif icon_side == 'right':
       text_x = self._rect.x + ALERT_MARGIN
-      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width - 20 * 2
+      text_width = self._rect.width - ALERT_MARGIN - self._txt_turn_signal_right.width
 
     text_rect = rl.Rectangle(
       text_x,
diff --git a/selfdrive/ui/mici/onroad/augmented_road_view.py b/selfdrive/ui/mici/onroad/augmented_road_view.py
index 64d57e8958..5fe33a7e48 100644
--- a/selfdrive/ui/mici/onroad/augmented_road_view.py
+++ b/selfdrive/ui/mici/onroad/augmented_road_view.py
@@ -1,6 +1,7 @@
+import time
 import numpy as np
 import pyray as rl
-from cereal import car, log
+from cereal import messaging, car, log
 from msgq.visionipc import VisionStreamType
 from openpilot.selfdrive.ui.ui_state import ui_state, UIStatus
 from openpilot.selfdrive.ui.mici.onroad import SIDE_PANEL_WIDTH
@@ -160,6 +161,9 @@ class AugmentedRoadView(CameraView):
 
     self._fade_texture = gui_app.texture("icons_mici/onroad/onroad_fade.png")
 
+    # debug
+    self._pm = messaging.PubMaster(['uiDebug'])
+
   def is_swiping_left(self) -> bool:
     """Check if currently swiping left (for scroller to disable)."""
     return self._bookmark_icon.is_swiping_left()
@@ -179,6 +183,7 @@ class AugmentedRoadView(CameraView):
       super()._handle_mouse_release(mouse_pos)
 
   def _render(self, _):
+    start_draw = time.monotonic()
     self._switch_stream_if_needed(ui_state.sm)
 
     # Update calibration before rendering
@@ -244,6 +249,11 @@ class AugmentedRoadView(CameraView):
       rl.draw_rectangle(int(self.rect.x), int(self.rect.y), int(self.rect.width), int(self.rect.height), rl.Color(0, 0, 0, 175))
       self._offroad_label.render(self._content_rect)
 
+    # publish uiDebug
+    msg = messaging.new_message('uiDebug')
+    msg.uiDebug.drawTimeMillis = (time.monotonic() - start_draw) * 1000
+    self._pm.send('uiDebug', msg)
+
   def _switch_stream_if_needed(self, sm):
     if sm['selfdriveState'].experimentalMode and WIDE_CAM in self.available_streams:
       v_ego = sm['carState'].vEgo
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py
index 0f425b10da..89a4926ce9 100644
--- a/selfdrive/ui/mici/onroad/cameraview.py
+++ b/selfdrive/ui/mici/onroad/cameraview.py
@@ -107,7 +107,6 @@ else:
 class CameraView(Widget):
   def __init__(self, name: str, stream_type: VisionStreamType):
     super().__init__()
-    # TODO: implement a receiver and connect thread
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -197,7 +196,10 @@ class CameraView(Widget):
     # Clean up shader
     if self.shader and self.shader.id:
       rl.unload_shader(self.shader)
+      self.shader.id = 0
 
+    self.frame = None
+    self.available_streams.clear()
     self.client = None
 
   def __del__(self):
@@ -234,6 +236,9 @@ class CameraView(Widget):
     if buffer:
       self._texture_needs_update = True
       self.frame = buffer
+    elif not self.client.is_connected():
+      # ensure we clear the displayed frame when the connection is lost
+      self.frame = None
 
     if not self.frame:
       self._draw_placeholder(rect)
diff --git a/selfdrive/ui/mici/onroad/driver_camera_dialog.py b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
index f2fa5e8fe8..9adb660d8b 100644
--- a/selfdrive/ui/mici/onroad/driver_camera_dialog.py
+++ b/selfdrive/ui/mici/onroad/driver_camera_dialog.py
@@ -15,20 +15,27 @@ EventName = log.OnroadEvent.EventName
 EVENT_TO_INT = EventName.schema.enumerants
 
 
+class DriverCameraView(CameraView):
+  def _calc_frame_matrix(self, rect: rl.Rectangle):
+    base = super()._calc_frame_matrix(rect)
+    driver_view_ratio = 1.5
+    base[0, 0] *= driver_view_ratio
+    base[1, 1] *= driver_view_ratio
+    return base
+
+
 class DriverCameraDialog(NavWidget):
   def __init__(self, no_escape=False):
     super().__init__()
-    self._camera_view = CameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
-    self._original_calc_frame_matrix = self._camera_view._calc_frame_matrix
-    self._camera_view._calc_frame_matrix = self._calc_driver_frame_matrix
+    self._camera_view = DriverCameraView("camerad", VisionStreamType.VISION_STREAM_DRIVER)
     self.driver_state_renderer = DriverStateRenderer(lines=True)
     self.driver_state_renderer.set_rect(rl.Rectangle(0, 0, 200, 200))
     self.driver_state_renderer.load_icons()
-    self._pm = messaging.PubMaster(['selfdriveState'])
+    self._pm: messaging.PubMaster | None = None
     if not no_escape:
       # TODO: this can grow unbounded, should be given some thought
-      device.add_interactive_timeout_callback(self.stop_dmonitoringmodeld)
-    self.set_back_callback(self._dismiss)
+      device.add_interactive_timeout_callback(lambda: gui_app.set_modal_overlay(None))
+    self.set_back_callback(lambda: gui_app.set_modal_overlay(None))
     self.set_back_enabled(not no_escape)
 
     # Load eye icons
@@ -40,26 +47,24 @@ class DriverCameraDialog(NavWidget):
 
     self._load_eye_textures()
 
-  def stop_dmonitoringmodeld(self):
-    ui_state.params.put_bool("IsDriverViewEnabled", False)
-    gui_app.set_modal_overlay(None)
-
   def show_event(self):
     super().show_event()
     ui_state.params.put_bool("IsDriverViewEnabled", True)
     self._publish_alert_sound(None)
     device.reset_interactive_timeout(300)
     ui_state.params.remove("DriverTooDistracted")
+    self._pm = messaging.PubMaster(['selfdriveState'])
 
   def hide_event(self):
     super().hide_event()
+    ui_state.params.put_bool("IsDriverViewEnabled", False)
     device.reset_interactive_timeout()
 
   def _handle_mouse_release(self, _):
     ui_state.params.remove("DriverTooDistracted")
 
-  def _dismiss(self):
-    self.stop_dmonitoringmodeld()
+  def __del__(self):
+    self.close()
 
   def close(self):
     if self._camera_view:
@@ -103,6 +108,9 @@ class DriverCameraDialog(NavWidget):
 
   def _publish_alert_sound(self, dm_state):
     """Publish selfdriveState with only alertSound field set"""
+    if self._pm is None:
+      return
+
     msg = messaging.new_message('selfdriveState')
     if dm_state is not None and len(dm_state.events):
       event_name = EVENT_TO_INT[dm_state.events[0].name]
@@ -221,13 +229,6 @@ class DriverCameraDialog(NavWidget):
     glasses_prob = driver_data.sunglassesProb
     rl.draw_texture_v(self._glasses_texture, glasses_pos, rl.Color(70, 80, 161, int(255 * glasses_prob)))
 
-  def _calc_driver_frame_matrix(self, rect: rl.Rectangle):
-    base = self._original_calc_frame_matrix(rect)
-    driver_view_ratio = 1.5
-    base[0, 0] *= driver_view_ratio
-    base[1, 1] *= driver_view_ratio
-    return base
-
 
 if __name__ == "__main__":
   gui_app.init_window("Driver Camera View (mici)")
diff --git a/selfdrive/ui/mici/onroad/driver_state.py b/selfdrive/ui/mici/onroad/driver_state.py
index 369055846e..080083c3e2 100644
--- a/selfdrive/ui/mici/onroad/driver_state.py
+++ b/selfdrive/ui/mici/onroad/driver_state.py
@@ -3,6 +3,7 @@ from collections.abc import Callable
 import numpy as np
 import math
 from cereal import log
+from openpilot.system.hardware import PC
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.system.ui.lib.application import gui_app
 from openpilot.system.ui.widgets import Widget
@@ -217,7 +218,10 @@ class DriverStateRenderer(Widget):
     rotation = math.degrees(math.atan2(pitch, yaw))
     angle_diff = rotation - self._rotation_filter.x
     angle_diff = ((angle_diff + 180) % 360) - 180
-    self._rotation_filter.update(self._rotation_filter.x + angle_diff)
+    if PC and self._confirm_mode:
+      self._rotation_filter.x += 2
+    else:
+      self._rotation_filter.update(self._rotation_filter.x + angle_diff)
 
     if not self.should_draw:
       self._fade_filter.update(0.0)
diff --git a/selfdrive/ui/mici/onroad/hud_renderer.py b/selfdrive/ui/mici/onroad/hud_renderer.py
index bb5171d6e3..7f489ccf98 100644
--- a/selfdrive/ui/mici/onroad/hud_renderer.py
+++ b/selfdrive/ui/mici/onroad/hud_renderer.py
@@ -30,20 +30,8 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.WHITE
-  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
-  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
-  engaged: rl.Color = rl.Color(128, 216, 166, 255)
-  disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
-  override_bg: rl.Color = rl.Color(145, 155, 149, 204)
-  engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
-  grey: rl.Color = rl.Color(166, 166, 166, 255)
-  dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
-  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
-  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
-  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
-  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.BLANK
+  WHITE = rl.WHITE
+  WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
 
 
 FONT_SIZES = FontSizes()
@@ -236,16 +224,18 @@ class HudRenderer(Widget):
 
   def _draw_set_speed(self, rect: rl.Rectangle) -> None:
     """Draw the MAX speed indicator box."""
-    x = rect.x
-    y = rect.y
-
     alpha = self._set_speed_alpha_filter.update(0 < rl.get_time() - self._set_speed_changed_time < SET_SPEED_PERSISTENCE and
                                                 self._can_draw_top_icons and self._engaged)
+    if alpha < 1e-2:
+      return
+
+    x = rect.x
+    y = rect.y
 
     # draw drop shadow
     circle_radius = 162 // 2
     rl.draw_circle_gradient(int(x + circle_radius), int(y + circle_radius), circle_radius,
-                            rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.Color(0, 0, 0, 0))
+                            rl.Color(0, 0, 0, int(255 / 2 * alpha)), rl.BLANK)
 
     set_speed_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
     max_color = rl.Color(255, 255, 255, int(255 * 0.9 * alpha))
@@ -279,9 +269,9 @@ class HudRenderer(Widget):
     speed_text = str(round(self.speed))
     speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
     speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
 
     unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
     unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
     unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
-    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
diff --git a/selfdrive/ui/mici/onroad/torque_bar.py b/selfdrive/ui/mici/onroad/torque_bar.py
index 1f6dffe879..d7c9f27a92 100644
--- a/selfdrive/ui/mici/onroad/torque_bar.py
+++ b/selfdrive/ui/mici/onroad/torque_bar.py
@@ -130,6 +130,9 @@ def arc_bar_pts(cx: float, cy: float,
 
   pts = np.vstack((outer, cap_end, inner, cap_start, outer[:1])).astype(np.float32)
 
+  # Rotate to start from middle of cap for proper triangulation
+  pts = np.roll(pts, cap_segs, axis=0)
+
   if DEBUG:
     n = len(pts)
     idx = int(time.monotonic() * 12) % max(1, n)  # speed: 12 pts/sec
diff --git a/selfdrive/ui/mici/widgets/dialog.py b/selfdrive/ui/mici/widgets/dialog.py
index d64ab65ef2..b11056f993 100644
--- a/selfdrive/ui/mici/widgets/dialog.py
+++ b/selfdrive/ui/mici/widgets/dialog.py
@@ -282,7 +282,8 @@ class BigDialogOptionButton(Widget):
     self._selected = False
 
     self._label = UnifiedLabel(option, font_size=70, text_color=rl.Color(255, 255, 255, int(255 * 0.58)),
-                               font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP)
+                               font_weight=FontWeight.DISPLAY_REGULAR, alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
+                               scroll=True)
 
   def set_selected(self, selected: bool):
     self._selected = selected
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
index 87db7cc636..5443948465 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -68,7 +68,6 @@ else:
 class CameraView(Widget):
   def __init__(self, name: str, stream_type: VisionStreamType):
     super().__init__()
-    # TODO: implement a receiver and connect thread
     self._name = name
     # Primary stream
     self.client = VisionIpcClient(name, stream_type, conflate=True)
@@ -337,12 +336,12 @@ class CameraView(Widget):
     self._initialize_textures()
 
   def _initialize_textures(self):
-      self._clear_textures()
-      if not TICI:
-        self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
-          int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
-        self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
-          int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
+    self._clear_textures()
+    if not TICI:
+      self.texture_y = rl.load_texture_from_image(rl.Image(None, int(self.client.stride),
+        int(self.client.height), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAYSCALE))
+      self.texture_uv = rl.load_texture_from_image(rl.Image(None, int(self.client.stride // 2),
+        int(self.client.height // 2), 1, rl.PixelFormat.PIXELFORMAT_UNCOMPRESSED_GRAY_ALPHA))
 
   def _clear_textures(self):
     if self.texture_y and self.texture_y.id:
diff --git a/selfdrive/ui/onroad/hud_renderer.py b/selfdrive/ui/onroad/hud_renderer.py
index a2459c27e2..79f150deea 100644
--- a/selfdrive/ui/onroad/hud_renderer.py
+++ b/selfdrive/ui/onroad/hud_renderer.py
@@ -35,20 +35,20 @@ class FontSizes:
 
 @dataclass(frozen=True)
 class Colors:
-  white: rl.Color = rl.WHITE
-  disengaged: rl.Color = rl.Color(145, 155, 149, 255)
-  override: rl.Color = rl.Color(145, 155, 149, 255)  # Added
-  engaged: rl.Color = rl.Color(128, 216, 166, 255)
-  disengaged_bg: rl.Color = rl.Color(0, 0, 0, 153)
-  override_bg: rl.Color = rl.Color(145, 155, 149, 204)
-  engaged_bg: rl.Color = rl.Color(128, 216, 166, 204)
-  grey: rl.Color = rl.Color(166, 166, 166, 255)
-  dark_grey: rl.Color = rl.Color(114, 114, 114, 255)
-  black_translucent: rl.Color = rl.Color(0, 0, 0, 166)
-  white_translucent: rl.Color = rl.Color(255, 255, 255, 200)
-  border_translucent: rl.Color = rl.Color(255, 255, 255, 75)
-  header_gradient_start: rl.Color = rl.Color(0, 0, 0, 114)
-  header_gradient_end: rl.Color = rl.BLANK
+  WHITE = rl.WHITE
+  DISENGAGED = rl.Color(145, 155, 149, 255)
+  OVERRIDE = rl.Color(145, 155, 149, 255)  # Added
+  ENGAGED = rl.Color(128, 216, 166, 255)
+  DISENGAGED_BG = rl.Color(0, 0, 0, 153)
+  OVERRIDE_BG = rl.Color(145, 155, 149, 204)
+  ENGAGED_BG = rl.Color(128, 216, 166, 204)
+  GREY = rl.Color(166, 166, 166, 255)
+  DARK_GREY = rl.Color(114, 114, 114, 255)
+  BLACK_TRANSLUCENT = rl.Color(0, 0, 0, 166)
+  WHITE_TRANSLUCENT = rl.Color(255, 255, 255, 200)
+  BORDER_TRANSLUCENT = rl.Color(255, 255, 255, 75)
+  HEADER_GRADIENT_START = rl.Color(0, 0, 0, 114)
+  HEADER_GRADIENT_END = rl.BLANK
 
 
 UI_CONFIG = UIConfig()
@@ -108,8 +108,8 @@ class HudRenderer(Widget):
       int(rect.y),
       int(rect.width),
       UI_CONFIG.header_height,
-      COLORS.header_gradient_start,
-      COLORS.header_gradient_end,
+      COLORS.HEADER_GRADIENT_START,
+      COLORS.HEADER_GRADIENT_END,
     )
 
     if self.is_cruise_available:
@@ -131,19 +131,19 @@ class HudRenderer(Widget):
     y = rect.y + 45
 
     set_speed_rect = rl.Rectangle(x, y, set_speed_width, UI_CONFIG.set_speed_height)
-    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.black_translucent)
-    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.border_translucent)
+    rl.draw_rectangle_rounded(set_speed_rect, 0.35, 10, COLORS.BLACK_TRANSLUCENT)
+    rl.draw_rectangle_rounded_lines_ex(set_speed_rect, 0.35, 10, 6, COLORS.BORDER_TRANSLUCENT)
 
-    max_color = COLORS.grey
-    set_speed_color = COLORS.dark_grey
+    max_color = COLORS.GREY
+    set_speed_color = COLORS.DARK_GREY
     if self.is_cruise_set:
-      set_speed_color = COLORS.white
+      set_speed_color = COLORS.WHITE
       if ui_state.status == UIStatus.ENGAGED:
-        max_color = COLORS.engaged
+        max_color = COLORS.ENGAGED
       elif ui_state.status == UIStatus.DISENGAGED:
-        max_color = COLORS.disengaged
+        max_color = COLORS.DISENGAGED
       elif ui_state.status == UIStatus.OVERRIDE:
-        max_color = COLORS.override
+        max_color = COLORS.OVERRIDE
 
     max_text = tr("MAX")
     max_text_width = measure_text_cached(self._font_semi_bold, max_text, FONT_SIZES.max_speed).x
@@ -172,9 +172,9 @@ class HudRenderer(Widget):
     speed_text = str(round(self.speed))
     speed_text_size = measure_text_cached(self._font_bold, speed_text, FONT_SIZES.current_speed)
     speed_pos = rl.Vector2(rect.x + rect.width / 2 - speed_text_size.x / 2, 180 - speed_text_size.y / 2)
-    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.white)
+    rl.draw_text_ex(self._font_bold, speed_text, speed_pos, FONT_SIZES.current_speed, 0, COLORS.WHITE)
 
     unit_text = tr("km/h") if ui_state.is_metric else tr("mph")
     unit_text_size = measure_text_cached(self._font_medium, unit_text, FONT_SIZES.speed_unit)
     unit_pos = rl.Vector2(rect.x + rect.width / 2 - unit_text_size.x / 2, 290 - unit_text_size.y / 2)
-    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.white_translucent)
+    rl.draw_text_ex(self._font_medium, unit_text, unit_pos, FONT_SIZES.speed_unit, 0, COLORS.WHITE_TRANSLUCENT)
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index d926a7ae86..98f2a5e8ce 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -2,3 +2,8 @@ test
 test_translations
 test_ui/report_1
 test_ui/raylib_report
+
+diff/*.mp4
+diff/*.html
+diff/.coverage
+diff/htmlcov/
diff --git a/selfdrive/ui/tests/diff/diff.py b/selfdrive/ui/tests/diff/diff.py
new file mode 100755
index 0000000000..be7af5438a
--- /dev/null
+++ b/selfdrive/ui/tests/diff/diff.py
@@ -0,0 +1,201 @@
+#!/usr/bin/env python3
+import os
+import sys
+import subprocess
+import tempfile
+import base64
+import webbrowser
+import argparse
+from pathlib import Path
+from openpilot.common.basedir import BASEDIR
+
+DIFF_OUT_DIR = Path(BASEDIR) / "selfdrive" / "ui" / "tests" / "diff" / "report"
+
+
+def extract_frames(video_path, output_dir):
+  output_pattern = str(output_dir / "frame_%04d.png")
+  cmd = ['ffmpeg', '-i', video_path, '-vsync', '0', output_pattern, '-y']
+  subprocess.run(cmd, capture_output=True, check=True)
+  frames = sorted(output_dir.glob("frame_*.png"))
+  return frames
+
+
+def compare_frames(frame1_path, frame2_path):
+  result = subprocess.run(['cmp', '-s', frame1_path, frame2_path])
+  return result.returncode == 0
+
+
+def frame_to_data_url(frame_path):
+  with open(frame_path, 'rb') as f:
+    data = f.read()
+  return f"data:image/png;base64,{base64.b64encode(data).decode()}"
+
+
+def create_diff_video(video1, video2, output_path):
+  """Create a diff video using ffmpeg blend filter with difference mode."""
+  print("Creating diff video...")
+  cmd = ['ffmpeg', '-i', video1, '-i', video2, '-filter_complex', '[0:v]blend=all_mode=difference', '-vsync', '0', '-y', output_path]
+  subprocess.run(cmd, capture_output=True, check=True)
+
+
+def find_differences(video1, video2):
+  with tempfile.TemporaryDirectory() as tmpdir:
+    tmpdir = Path(tmpdir)
+
+    print(f"Extracting frames from {video1}...")
+    frames1_dir = tmpdir / "frames1"
+    frames1_dir.mkdir()
+    frames1 = extract_frames(video1, frames1_dir)
+
+    print(f"Extracting frames from {video2}...")
+    frames2_dir = tmpdir / "frames2"
+    frames2_dir.mkdir()
+    frames2 = extract_frames(video2, frames2_dir)
+
+    if len(frames1) != len(frames2):
+      print(f"WARNING: Frame count mismatch: {len(frames1)} vs {len(frames2)}")
+      min_frames = min(len(frames1), len(frames2))
+      frames1 = frames1[:min_frames]
+      frames2 = frames2[:min_frames]
+
+    print(f"Comparing {len(frames1)} frames...")
+    different_frames = []
+    frame_data = []
+
+    for i, (f1, f2) in enumerate(zip(frames1, frames2, strict=False)):
+      is_different = not compare_frames(f1, f2)
+      if is_different:
+        different_frames.append(i)
+
+      if i < 10 or i >= len(frames1) - 10 or is_different:
+        frame_data.append({'index': i, 'different': is_different, 'frame1_url': frame_to_data_url(f1), 'frame2_url': frame_to_data_url(f2)})
+
+    return different_frames, frame_data, len(frames1)
+
+
+def generate_html_report(video1, video2, basedir, different_frames, frame_data, total_frames):
+  chunks = []
+  if different_frames:
+    current_chunk = [different_frames[0]]
+    for i in range(1, len(different_frames)):
+      if different_frames[i] == different_frames[i - 1] + 1:
+        current_chunk.append(different_frames[i])
+      else:
+        chunks.append(current_chunk)
+        current_chunk = [different_frames[i]]
+    chunks.append(current_chunk)
+
+  result_text = (
+    f"✅ Videos are identical! ({total_frames} frames)"
+    if len(different_frames) == 0
+    else f"❌ Found {len(different_frames)} different frames out of {total_frames} total ({(len(different_frames) / total_frames * 100):.1f}%)"
+  )
+
+  html = f"""<h2>UI Diff</h2>
+<table>
+<tr>
+<td width='33%'>
+  <p><strong>Video 1</strong></p>
+  <video id='video1' width='100%' autoplay muted loop onplay='syncVideos()'>
+    <source src='{os.path.join(basedir, os.path.basename(video1))}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+<td width='33%'>
+  <p><strong>Video 2</strong></p>
+  <video id='video2' width='100%' autoplay muted loop onplay='syncVideos()'>
+    <source src='{os.path.join(basedir, os.path.basename(video2))}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+<td width='33%'>
+  <p><strong>Pixel Diff</strong></p>
+  <video id='diffVideo' width='100%' autoplay muted loop>
+    <source src='{os.path.join(basedir, 'diff.mp4')}' type='video/mp4'>
+    Your browser does not support the video tag.
+  </video>
+</td>
+</tr>
+</table>
+<script>
+function syncVideos() {{
+  const video1 = document.getElementById('video1');
+  const video2 = document.getElementById('video2');
+  const diffVideo = document.getElementById('diffVideo');
+  video1.currentTime = video2.currentTime = diffVideo.currentTime;
+}}
+video1.addEventListener('timeupdate', () => {{
+  if (Math.abs(video1.currentTime - video2.currentTime) > 0.1) {{
+    video2.currentTime = video1.currentTime;
+  }}
+  if (Math.abs(video1.currentTime - diffVideo.currentTime) > 0.1) {{
+    diffVideo.currentTime = video1.currentTime;
+  }}
+}});
+video2.addEventListener('timeupdate', () => {{
+  if (Math.abs(video2.currentTime - video1.currentTime) > 0.1) {{
+    video1.currentTime = video2.currentTime;
+  }}
+  if (Math.abs(video2.currentTime - diffVideo.currentTime) > 0.1) {{
+    diffVideo.currentTime = video2.currentTime;
+  }}
+}});
+diffVideo.addEventListener('timeupdate', () => {{
+  if (Math.abs(diffVideo.currentTime - video1.currentTime) > 0.1) {{
+    video1.currentTime = diffVideo.currentTime;
+    video2.currentTime = diffVideo.currentTime;
+  }}
+}});
+</script>
+<hr>
+<p><strong>Results:</strong> {result_text}</p>
+"""
+  return html
+
+
+def main():
+  parser = argparse.ArgumentParser(description='Compare two videos and generate HTML diff report')
+  parser.add_argument('video1', help='First video file')
+  parser.add_argument('video2', help='Second video file')
+  parser.add_argument('output', nargs='?', default='diff.html', help='Output HTML file (default: diff.html)')
+  parser.add_argument("--basedir", type=str, help="Base directory for output", default="")
+  parser.add_argument('--no-open', action='store_true', help='Do not open HTML report in browser')
+
+  args = parser.parse_args()
+
+  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
+
+  print("=" * 60)
+  print("VIDEO DIFF - HTML REPORT")
+  print("=" * 60)
+  print(f"Video 1: {args.video1}")
+  print(f"Video 2: {args.video2}")
+  print(f"Output: {args.output}")
+  print()
+
+  # Create diff video
+  diff_video_path = os.path.join(os.path.dirname(args.output), DIFF_OUT_DIR / "diff.mp4")
+  create_diff_video(args.video1, args.video2, diff_video_path)
+
+  different_frames, frame_data, total_frames = find_differences(args.video1, args.video2)
+
+  if different_frames is None:
+    sys.exit(1)
+
+  print()
+  print("Generating HTML report...")
+  html = generate_html_report(args.video1, args.video2, args.basedir, different_frames, frame_data, total_frames)
+
+  with open(DIFF_OUT_DIR / args.output, 'w') as f:
+    f.write(html)
+
+  # Open in browser by default
+  if not args.no_open:
+    print(f"Opening {args.output} in browser...")
+    webbrowser.open(f'file://{os.path.abspath(DIFF_OUT_DIR / args.output)}')
+
+  return 0 if len(different_frames) == 0 else 1
+
+
+if __name__ == "__main__":
+  sys.exit(main())
diff --git a/selfdrive/ui/tests/diff/replay.py b/selfdrive/ui/tests/diff/replay.py
new file mode 100755
index 0000000000..9da157660e
--- /dev/null
+++ b/selfdrive/ui/tests/diff/replay.py
@@ -0,0 +1,128 @@
+#!/usr/bin/env python3
+import os
+import time
+import coverage
+import pyray as rl
+from dataclasses import dataclass
+from openpilot.selfdrive.ui.tests.diff.diff import DIFF_OUT_DIR
+
+os.environ["RECORD"] = "1"
+if "RECORD_OUTPUT" not in os.environ:
+  os.environ["RECORD_OUTPUT"] = "mici_ui_replay.mp4"
+
+os.environ["RECORD_OUTPUT"] = os.path.join(DIFF_OUT_DIR, os.environ["RECORD_OUTPUT"])
+
+from openpilot.common.params import Params
+from openpilot.system.version import terms_version, training_version
+from openpilot.system.ui.lib.application import gui_app, MousePos, MouseEvent
+from openpilot.selfdrive.ui.ui_state import ui_state
+from openpilot.selfdrive.ui.mici.layouts.main import MiciMainLayout
+
+FPS = 60
+HEADLESS = os.getenv("WINDOWED", "0") == "1"
+
+
+@dataclass
+class DummyEvent:
+  click: bool = False
+  # TODO: add some kind of intensity
+  swipe_left: bool = False
+  swipe_right: bool = False
+  swipe_down: bool = False
+
+
+SCRIPT = [
+  (0, DummyEvent()),
+  (FPS * 1, DummyEvent(click=True)),
+  (FPS * 2, DummyEvent(click=True)),
+  (FPS * 3, DummyEvent()),
+]
+
+
+def setup_state():
+  params = Params()
+  params.put("HasAcceptedTerms", terms_version)
+  params.put("CompletedTrainingVersion", training_version)
+  params.put("DongleId", "test123456789")
+  params.put("UpdaterCurrentDescription", "0.10.1 / test-branch / abc1234 / Nov 30")
+  return None
+
+
+def inject_click(coords):
+  events = []
+  x, y = coords[0]
+  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=True, left_released=False, left_down=False, t=time.monotonic()))
+  for x, y in coords[1:]:
+    events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=False, left_down=True, t=time.monotonic()))
+  x, y = coords[-1]
+  events.append(MouseEvent(pos=MousePos(x, y), slot=0, left_pressed=False, left_released=True, left_down=False, t=time.monotonic()))
+
+  with gui_app._mouse._lock:
+    gui_app._mouse._events.extend(events)
+
+
+def handle_event(event: DummyEvent):
+  if event.click:
+    inject_click([(gui_app.width // 2, gui_app.height // 2)])
+  if event.swipe_left:
+    inject_click([(gui_app.width * 3 // 4, gui_app.height // 2),
+                  (gui_app.width // 4, gui_app.height // 2),
+                  (0, gui_app.height // 2)])
+  if event.swipe_right:
+    inject_click([(gui_app.width // 4, gui_app.height // 2),
+                  (gui_app.width * 3 // 4, gui_app.height // 2),
+                  (gui_app.width, gui_app.height // 2)])
+  if event.swipe_down:
+    inject_click([(gui_app.width // 2, gui_app.height // 4),
+                  (gui_app.width // 2, gui_app.height * 3 // 4),
+                  (gui_app.width // 2, gui_app.height)])
+
+
+def run_replay():
+  setup_state()
+  os.makedirs(DIFF_OUT_DIR, exist_ok=True)
+
+  if not HEADLESS:
+    rl.set_config_flags(rl.FLAG_WINDOW_HIDDEN)
+  gui_app.init_window("ui diff test", fps=FPS)
+  main_layout = MiciMainLayout()
+  main_layout.set_rect(rl.Rectangle(0, 0, gui_app.width, gui_app.height))
+
+  frame = 0
+  script_index = 0
+
+  for should_render in gui_app.render():
+    while script_index < len(SCRIPT) and SCRIPT[script_index][0] == frame:
+      _, event = SCRIPT[script_index]
+      handle_event(event)
+      script_index += 1
+
+    ui_state.update()
+
+    if should_render:
+      main_layout.render()
+
+    frame += 1
+
+    if script_index >= len(SCRIPT):
+      break
+
+  gui_app.close()
+
+  print(f"Total frames: {frame}")
+  print(f"Video saved to: {os.environ['RECORD_OUTPUT']}")
+
+
+def main():
+  cov = coverage.coverage(source=['openpilot.selfdrive.ui.mici'])
+  with cov.collect():
+    run_replay()
+  cov.stop()
+  cov.save()
+  cov.report()
+  cov.html_report(directory=os.path.join(DIFF_OUT_DIR, 'htmlcov'))
+  print("HTML report: htmlcov/index.html")
+
+
+if __name__ == "__main__":
+  main()
diff --git a/selfdrive/ui/tests/profile_onroad.py b/selfdrive/ui/tests/profile_onroad.py
index b1fa4acc48..fde4f25ffe 100755
--- a/selfdrive/ui/tests/profile_onroad.py
+++ b/selfdrive/ui/tests/profile_onroad.py
@@ -88,9 +88,9 @@ if __name__ == "__main__":
   print("Running...")
   patch_submaster(message_chunks)
 
-  W, H = 1928, 1208
+  W, H = 2048, 1216
   vipc = VisionIpcServer("camerad")
-  vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, 1928, 1208)
+  vipc.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, W, H)
   vipc.start_listener()
   yuv_buffer_size = W * H + (W // 2) * (H // 2) * 2
   yuv_data = np.random.randint(0, 256, yuv_buffer_size, dtype=np.uint8).tobytes()
diff --git a/selfdrive/ui/translations/app_ko.po b/selfdrive/ui/translations/app_ko.po
index 5a3e891b87..f12aebaeb3 100644
--- a/selfdrive/ui/translations/app_ko.po
+++ b/selfdrive/ui/translations/app_ko.po
@@ -68,10 +68,10 @@ msgid ""
 "control alpha. Changing this setting will restart openpilot if the car is "
 "powered on."
 msgstr ""
-"<b>경고: 이 차량에서 openpilot의 종방향 제어는 알파 버전이며 자동 긴급 제동"
-"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 종방향 제어 대신 "
-"차량 내장 ACC가 기본으로 사용됩니다. openpilot 종방향 제어로 전환하려면 이 설"
-"정을 켜세요. 종방향 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
+"<b>경고: 이 차량에서 openpilot의 롱컨 제어는 알파 버전이며 자동 긴급 제동"
+"(AEB)을 비활성화합니다.</b><br><br>이 차량에서는 openpilot 롱컨 제어 대신 "
+"차량 내장 ACC가 기본으로 사용됩니다. openpilot 롱컨 제어로 전환하려면 이 설"
+"정을 켜세요. 롱컨 제어 알파를 켤 때는 실험 모드 사용을 권장합니다. 차량 전"
 "원이 켜져 있는 경우 이 설정을 변경하면 openpilot이 재시작됩니다."
 
 #: selfdrive/ui/layouts/settings/device.py:148
@@ -130,7 +130,7 @@ msgstr "동의"
 #: selfdrive/ui/layouts/settings/toggles.py:70
 #, python-format
 msgid "Always-On Driver Monitoring"
-msgstr "항상 켜짐 운전자 모니터링"
+msgstr "운전자 모니터링 항상 켜짐"
 
 #: selfdrive/ui/layouts/settings/toggles.py:186
 #, python-format
@@ -138,7 +138,7 @@ msgid ""
 "An alpha version of openpilot longitudinal control can be tested, along with "
 "Experimental mode, on non-release branches."
 msgstr ""
-"openpilot 종방향 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
+"openpilot 롱컨 제어 알파 버전은 실험 모드와 함께 비릴리스 브랜치에서 테스트"
 "할 수 있습니다."
 
 #: selfdrive/ui/layouts/settings/device.py:187
@@ -192,7 +192,7 @@ msgstr "확인"
 #: selfdrive/ui/widgets/exp_mode_button.py:50
 #, python-format
 msgid "CHILL MODE ON"
-msgstr "칠 모드 켜짐"
+msgstr "안정적 모드 켜짐"
 
 #: system/ui/widgets/network.py:155 selfdrive/ui/layouts/sidebar.py:73
 #: selfdrive/ui/layouts/sidebar.py:134 selfdrive/ui/layouts/sidebar.py:136
@@ -283,7 +283,7 @@ msgstr "해제 후 재시작"
 #: selfdrive/ui/layouts/settings/device.py:103
 #, python-format
 msgid "Disengage to Reset Calibration"
-msgstr "해제 후 보정 재설정"
+msgstr "해제 후 캘리브레이션 재설정"
 
 #: selfdrive/ui/layouts/settings/toggles.py:32
 msgid "Display speed in km/h instead of mph."
@@ -372,7 +372,7 @@ msgstr "openpilot 사용"
 msgid ""
 "Enable the openpilot longitudinal control (alpha) toggle to allow "
 "Experimental mode."
-msgstr "실험 모드를 사용하려면 openpilot 종방향 제어(알파) 토글을 켜세요."
+msgstr "실험 모드를 사용하려면 openpilot 롱컨 제어(알파) 토글을 켜세요."
 
 #: system/ui/widgets/network.py:204
 #, python-format
@@ -415,7 +415,7 @@ msgid ""
 "Experimental mode is currently unavailable on this car since the car's stock "
 "ACC is used for longitudinal control."
 msgstr ""
-"이 차량은 종방향 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
+"이 차량은 롱컨 제어에 순정 ACC를 사용하므로 현재 실험 모드를 사용할 수 없습"
 "니다."
 
 #: system/ui/widgets/network.py:373
@@ -430,11 +430,11 @@ msgstr "설정 완료"
 
 #: selfdrive/ui/layouts/settings/settings.py:66
 msgid "Firehose"
-msgstr "Firehose"
+msgstr "파이어호스"
 
 #: selfdrive/ui/layouts/settings/firehose.py:18
 msgid "Firehose Mode"
-msgstr "Firehose 모드"
+msgstr "파이어호스 모드"
 
 #: selfdrive/ui/layouts/settings/firehose.py:25
 msgid ""
@@ -462,7 +462,7 @@ msgstr ""
 "최대의 효과를 위해 주 1회는 장치를 실내로 가져와 품질 좋은 USB‑C 어댑터와 "
 "Wi‑Fi에 연결하세요.\n"
 "\n"
-"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 Firehose 모드가 동작합니"
+"핫스팟이나 무제한 SIM에 연결되어 있다면 주행 중에도 파이어호스 모드가 동작합니"
 "다.\n"
 "\n"
 "\n"
@@ -470,7 +470,7 @@ msgstr ""
 "\n"
 "어떻게, 어디서 운전하는지가 중요한가요? 아니요. 평소처럼 운전하세요.\n"
 "\n"
-"Firehose 모드에서 모든 세그먼트가 가져가지나요? 아니요. 일부 세그먼트만 선택"
+"파이어호스 모드에서 모든 구간을 가져가지나요? 아니요. 일부 구간만 선택"
 "적으로 가져갑니다.\n"
 "\n"
 "좋은 USB‑C 어댑터는 무엇인가요? 빠른 휴대폰 또는 노트북 충전기면 충분합니"
@@ -544,7 +544,7 @@ msgstr "LTE"
 #: selfdrive/ui/layouts/settings/developer.py:64
 #, python-format
 msgid "Longitudinal Maneuver Mode"
-msgstr "종방향 매뉴버 모드"
+msgstr "롱컨 기동 모드"
 
 #: selfdrive/ui/onroad/hud_renderer.py:148
 #, python-format
@@ -623,7 +623,7 @@ msgstr "미리보기"
 #: selfdrive/ui/widgets/prime.py:44
 #, python-format
 msgid "PRIME FEATURES:"
-msgstr "prime 기능:"
+msgstr "프라임 기능:"
 
 #: selfdrive/ui/layouts/settings/device.py:48
 #, python-format
@@ -646,7 +646,7 @@ msgid ""
 "Pair your device with comma connect (connect.comma.ai) and claim your comma "
 "prime offer."
 msgstr ""
-"장치를 comma connect(connect.comma.ai)와 페어링하고 comma prime 혜택을 받으세"
+"장치를 comma connect(connect.comma.ai)와 페어링하고 comma 프라임 혜택을 받으세"
 "요."
 
 #: selfdrive/ui/widgets/setup.py:91
@@ -748,7 +748,7 @@ msgstr "규제 정보"
 #: selfdrive/ui/layouts/settings/toggles.py:98
 #, python-format
 msgid "Relaxed"
-msgstr "편안함"
+msgstr "편안한"
 
 #: selfdrive/ui/widgets/prime.py:47
 #, python-format
@@ -773,7 +773,7 @@ msgstr "재설정"
 #: selfdrive/ui/layouts/settings/device.py:51
 #, python-format
 msgid "Reset Calibration"
-msgstr "보정 재설정"
+msgstr "캘리브레이션 재설정"
 
 #: selfdrive/ui/layouts/settings/device.py:65
 #, python-format
@@ -841,7 +841,7 @@ msgid ""
 "cycle through these personalities with your steering wheel distance button."
 msgstr ""
 "표준을 권장합니다. 공격적 모드에서는 앞차를 더 가깝게 따라가고 가감속이 더 적"
-"극적입니다. 편안함 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
+"극적입니다. 편안한 모드에서는 앞차와 거리를 더 둡니다. 지원 차량에서는 스티어"
 "링의 차간 버튼으로 이 성향들을 전환할 수 있습니다."
 
 #: selfdrive/ui/onroad/alert_renderer.py:59
@@ -892,7 +892,7 @@ msgstr "제거"
 
 #: selfdrive/ui/layouts/sidebar.py:117
 msgid "Unknown"
-msgstr "알 수 없음"
+msgstr "알수없음"
 
 #: selfdrive/ui/layouts/settings/software.py:48
 #, python-format
@@ -994,7 +994,7 @@ msgstr "카메라 시작 중"
 #: selfdrive/ui/widgets/prime.py:63
 #, python-format
 msgid "comma prime"
-msgstr "comma prime"
+msgstr "comma 프라임"
 
 #: system/ui/widgets/network.py:142
 #, python-format
@@ -1054,7 +1054,7 @@ msgstr "지금"
 #: selfdrive/ui/layouts/settings/developer.py:71
 #, python-format
 msgid "openpilot Longitudinal Control (Alpha)"
-msgstr "openpilot 종방향 제어(알파)"
+msgstr "openpilot 롱컨 제어(알파)"
 
 #: selfdrive/ui/onroad/alert_renderer.py:51
 #, python-format
@@ -1076,9 +1076,9 @@ msgid ""
 "some turns. The Experimental mode logo will also be shown in the top right "
 "corner."
 msgstr ""
-"openpilot은 기본적으로 칠 모드로 주행합니다. 실험 모드를 사용하면 칠 모드에 "
+"openpilot은 기본적으로 안정적 모드로 주행합니다. 실험 모드를 사용하면 안정적 모드에 "
 "아직 준비되지 않은 알파 수준의 기능이 활성화됩니다. 실험 기능은 아래와 같습니"
-"다:<br><h4>엔드투엔드 종방향 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
+"다:<br><h4>엔드투엔드 롱컨 제어</h4><br>주행 모델이 가속과 제동을 제어합니"
 "다. openpilot은 빨간 신호 및 정지 표지에서의 정지를 포함해 사람이 운전한다고 "
 "판단하는 방식으로 주행합니다. 주행 속도는 모델이 결정하므로 설정 속도는 상한"
 "으로만 동작합니다. 알파 품질 기능이므로 오작동이 발생할 수 있습니다.<br><h4>"
@@ -1111,7 +1111,7 @@ msgstr ""
 #: selfdrive/ui/layouts/settings/toggles.py:183
 #, python-format
 msgid "openpilot longitudinal control may come in a future update."
-msgstr "openpilot 종방향 제어는 향후 업데이트에서 제공될 수 있습니다."
+msgstr "openpilot 롱컨 제어는 향후 업데이트에서 제공될 수 있습니다."
 
 #: selfdrive/ui/layouts/settings/device.py:26
 msgid ""
@@ -1177,7 +1177,7 @@ msgstr[0] "{}분 전"
 #, python-format
 msgid "{} segment of your driving is in the training dataset so far."
 msgid_plural "{} segments of your driving is in the training dataset so far."
-msgstr[0] "현재까지 귀하의 주행 {}세그먼트가 학습 데이터셋에 포함되었습니다."
+msgstr[0] "현재까지 귀하의 주행 {}구간이 학습 데이터셋에 포함되었습니다."
 
 #: selfdrive/ui/widgets/prime.py:62
 #, python-format
@@ -1187,4 +1187,4 @@ msgstr "✓ 구독됨"
 #: selfdrive/ui/widgets/setup.py:22
 #, python-format
 msgid "🔥 Firehose Mode 🔥"
-msgstr "🔥 Firehose 모드 🔥"
+msgstr "🔥 파이어호스 모드 🔥"
diff --git a/selfdrive/ui/translations/app_uk.po b/selfdrive/ui/translations/app_uk.po
new file mode 100644
index 0000000000..cf78fb5a33
--- /dev/null
+++ b/selfdrive/ui/translations/app_uk.po
@@ -0,0 +1,1258 @@
+# Ukrainian translations for PACKAGE package.
+# Copyright (C) 2025 THE PACKAGE'S COPYRIGHT HOLDER
+# This file is distributed under the same license as the PACKAGE package.
+# Automatically generated, 2025.
+#
+msgid ""
+msgstr ""
+"Project-Id-Version: \n"
+"Report-Msgid-Bugs-To: \n"
+"POT-Creation-Date: 2025-11-19 12:21+0200\n"
+"PO-Revision-Date: 2025-11-19 13:27+0200\n"
+"Last-Translator: KeeFeeRe <me@keefeere.me>\n"
+"Language-Team: none\n"
+"Language: uk\n"
+"MIME-Version: 1.0\n"
+"Content-Type: text/plain; charset=UTF-8\n"
+"Content-Transfer-Encoding: 8bit\n"
+"Plural-Forms: nplurals=3; plural=(n%10==1 && n%100!=11 ? 0 : n%10>=2 && "
+"n%10<=4 && (n%100<10 || n%100>=20) ? 1 : 2);\n"
+"X-Generator: Poedit 3.8\n"
+
+#: selfdrive/ui/layouts/settings/device.py:160
+#, python-format
+msgid " Steering torque response calibration is complete."
+msgstr " Калібрування реакції крутного моменту керма завершено."
+
+#: selfdrive/ui/layouts/settings/device.py:158
+#, python-format
+msgid " Steering torque response calibration is {}% complete."
+msgstr "Калібрування реакції крутного моменту керма завершено на {}%."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid " Your device is pointed {:.1f}° {} and {:.1f}° {}."
+msgstr " Ваш пристрій нахилено на {:.1f}° {} та {:.1f}° {}."
+
+#: selfdrive/ui/layouts/sidebar.py:43
+msgid "--"
+msgstr "--"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "1 year of drive storage"
+msgstr "1 рік зберігання поїздок"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "24/7 LTE connectivity"
+msgstr "Підключення LTE 24/7"
+
+#: selfdrive/ui/layouts/sidebar.py:46
+msgid "2G"
+msgstr "2G"
+
+#: selfdrive/ui/layouts/sidebar.py:47
+msgid "3G"
+msgstr "3G"
+
+#: selfdrive/ui/layouts/sidebar.py:49
+msgid "5G"
+msgstr "5G"
+
+#: selfdrive/ui/layouts/settings/developer.py:23
+msgid ""
+"<b>WARNING: openpilot longitudinal control is in alpha for this car and will "
+"disable Automatic Emergency Braking (AEB).</b><br><br>On this car, openpilot "
+"defaults to the car's built-in ACC instead of openpilot's longitudinal "
+"control. Enable this to switch to openpilot longitudinal control. Enabling "
+"Experimental mode is recommended when enabling openpilot longitudinal "
+"control alpha. Changing this setting will restart openpilot if the car is "
+"powered on."
+msgstr ""
+"ПОПЕРЕДЖЕННЯ: поздовжнє керування openpilot для цього автомобіля знаходиться "
+"в стадії альфа-тестування і вимкне автоматичне екстрене гальмування (AEB)."
+
+#: selfdrive/ui/layouts/settings/device.py:148
+#, python-format
+msgid "<br><br>Steering lag calibration is complete."
+msgstr "<br><br>Калібрування затримки кермування завершено."
+
+#: selfdrive/ui/layouts/settings/device.py:146
+#, python-format
+msgid "<br><br>Steering lag calibration is {}% complete."
+msgstr "<br><br>Калібрування затримки кермування завершено на {}%."
+
+#: selfdrive/ui/layouts/settings/firehose.py:138
+#, python-format
+msgid "ACTIVE"
+msgstr "АКТИВНИЙ"
+
+#: selfdrive/ui/layouts/settings/developer.py:15
+msgid ""
+"ADB (Android Debug Bridge) allows connecting to your device over USB or over "
+"the network. See https://docs.comma.ai/how-to/connect-to-comma for more info."
+msgstr ""
+"ADB (Android Debug Bridge) дозволяє підключатися до вашого пристрою через "
+"USB або мережу. Дивіться https://docs.comma.ai/how-to/connect-to-comma для "
+"отримання додаткової інформації."
+
+#: selfdrive/ui/widgets/ssh_key.py:30
+msgid "ADD"
+msgstr "ДОДАТИ"
+
+#: system/ui/widgets/network.py:139
+#, python-format
+msgid "APN Setting"
+msgstr "Налаштування APN"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:109
+#, python-format
+msgid "Acknowledge Excessive Actuation"
+msgstr "Визнайте надмірне спрацьовування"
+
+#: system/ui/widgets/network.py:74 system/ui/widgets/network.py:95
+#, python-format
+msgid "Advanced"
+msgstr "Розширені"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Aggressive"
+msgstr "Агресивн."
+
+#: selfdrive/ui/layouts/onboarding.py:116
+#, python-format
+msgid "Agree"
+msgstr "Погодитися"
+
+#: selfdrive/ui/layouts/settings/toggles.py:70
+#, python-format
+msgid "Always-On Driver Monitoring"
+msgstr "Постійний моніторинг водія"
+
+#: selfdrive/ui/layouts/settings/toggles.py:186
+#, python-format
+msgid ""
+"An alpha version of openpilot longitudinal control can be tested, along with "
+"Experimental mode, on non-release branches."
+msgstr ""
+"Альфа-версію поздовжнього керування openpilot можна протестувати разом з "
+"експериментальним режимом на нерелізних гілках."
+
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Are you sure you want to power off?"
+msgstr "Ви впевнені, що хочете вимкнути?"
+
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Are you sure you want to reboot?"
+msgstr "Ви впевнені, що хочете перезавантажити?"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Are you sure you want to reset calibration?"
+msgstr "Ви впевнені, що хочете скинути калібрування?"
+
+#: selfdrive/ui/layouts/settings/software.py:171
+#, python-format
+msgid "Are you sure you want to uninstall?"
+msgstr "Ви впевнені, що хочете видалити?"
+
+#: system/ui/widgets/network.py:99
+#: selfdrive/ui/layouts/onboarding.py:147
+#, python-format
+msgid "Back"
+msgstr "Назад"
+
+#: selfdrive/ui/widgets/prime.py:38
+#, python-format
+msgid "Become a comma prime member at connect.comma.ai"
+msgstr "Станьте членом comma prime на connect.comma.ai"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:119
+#, python-format
+msgid "Bookmark connect.comma.ai to your home screen to use it like an app"
+msgstr ""
+"Додайте connect.comma.ai до головного екрану, щоб використовувати його як "
+"додаток."
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "CHANGE"
+msgstr "ЗМІНИТИ"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#: selfdrive/ui/layouts/settings/software.py:115
+#: selfdrive/ui/layouts/settings/software.py:126
+#: selfdrive/ui/layouts/settings/software.py:155
+#, python-format
+msgid "CHECK"
+msgstr "ПЕРЕВІРИТИ"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "CHILL MODE ON"
+msgstr "СПОКІЙНИЙ РЕЖИМ"
+
+#: system/ui/widgets/network.py:155
+#: selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134
+#: selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:138
+#, python-format
+msgid "CONNECT"
+msgstr "CONNECT"
+
+#: system/ui/widgets/network.py:369
+#, python-format
+msgid "CONNECTING..."
+msgstr "ПІДКЛЮЧА..."
+
+#: system/ui/widgets/confirm_dialog.py:23 system/ui/widgets/option_dialog.py:35
+#: system/ui/widgets/network.py:318 system/ui/widgets/keyboard.py:81
+#, python-format
+msgid "Cancel"
+msgstr "Скасувати"
+
+#: system/ui/widgets/network.py:134
+#, python-format
+msgid "Cellular Metered"
+msgstr "Лімітне стільникове з'єднання"
+
+#: selfdrive/ui/layouts/settings/device.py:68
+#, python-format
+msgid "Change Language"
+msgstr "Змінити мову"
+
+#: selfdrive/ui/layouts/settings/toggles.py:125
+#, python-format
+msgid "Changing this setting will restart openpilot if the car is powered on."
+msgstr ""
+"Зміна цього параметра призведе до перезапуску openpilot, якщо автомобіль "
+"увімкнено."
+
+#: selfdrive/ui/widgets/pairing_dialog.py:118
+#, python-format
+msgid "Click \"add new device\" and scan the QR code on the right"
+msgstr "Натисніть «додати новий пристрій» і відскануйте QR-код праворуч."
+
+#: selfdrive/ui/widgets/offroad_alerts.py:104
+#, python-format
+msgid "Close"
+msgstr "Закрити"
+
+#: selfdrive/ui/layouts/settings/software.py:49
+#, python-format
+msgid "Current Version"
+msgstr "Поточна версія"
+
+#: selfdrive/ui/layouts/settings/software.py:118
+#, python-format
+msgid "DOWNLOAD"
+msgstr "ВАНТАЖ"
+
+#: selfdrive/ui/layouts/onboarding.py:115
+#, python-format
+msgid "Decline"
+msgstr "Відхилити"
+
+#: selfdrive/ui/layouts/onboarding.py:148
+#, python-format
+msgid "Decline, uninstall openpilot"
+msgstr "Відхилити, видалити openpilot"
+
+#: selfdrive/ui/layouts/settings/settings.py:64
+msgid "Developer"
+msgstr "Розробник"
+
+#: selfdrive/ui/layouts/settings/settings.py:59
+msgid "Device"
+msgstr "Пристрій"
+
+#: selfdrive/ui/layouts/settings/toggles.py:58
+#, python-format
+msgid "Disengage on Accelerator Pedal"
+msgstr "Вимкнення при натисканні на педаль газу"
+
+#: selfdrive/ui/layouts/settings/device.py:184
+#, python-format
+msgid "Disengage to Power Off"
+msgstr "Вимкніть openpilot, щоб вимкнути пристрій"
+
+#: selfdrive/ui/layouts/settings/device.py:172
+#, python-format
+msgid "Disengage to Reboot"
+msgstr "Вимкніть openpilot, щоб перезавантажити"
+
+#: selfdrive/ui/layouts/settings/device.py:103
+#, python-format
+msgid "Disengage to Reset Calibration"
+msgstr "Деактивуйте для скидання калібрування"
+
+#: selfdrive/ui/layouts/settings/toggles.py:32
+msgid "Display speed in km/h instead of mph."
+msgstr "Відображати швидкість у км/год замість миль/год."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#, python-format
+msgid "Dongle ID"
+msgstr "ID ключа"
+
+#: selfdrive/ui/layouts/settings/software.py:50
+#, python-format
+msgid "Download"
+msgstr "Завантажити"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "Driver Camera"
+msgstr "Камера водія"
+
+#: selfdrive/ui/layouts/settings/toggles.py:96
+#, python-format
+msgid "Driving Personality"
+msgstr "Стиль водіння"
+
+#: system/ui/widgets/network.py:123 system/ui/widgets/network.py:139
+#, python-format
+msgid "EDIT"
+msgstr "РЕДАГ."
+
+#: selfdrive/ui/layouts/sidebar.py:138
+msgid "ERROR"
+msgstr "ПОМИЛКА"
+
+#: selfdrive/ui/layouts/sidebar.py:45
+msgid "ETH"
+msgstr "ETH"
+
+#: selfdrive/ui/widgets/exp_mode_button.py:50
+#, python-format
+msgid "EXPERIMENTAL MODE ON"
+msgstr "ЕКСПЕРИМЕНТ. РЕЖИМ"
+
+#: selfdrive/ui/layouts/settings/toggles.py:228
+#: selfdrive/ui/layouts/settings/developer.py:166
+#, python-format
+msgid "Enable"
+msgstr "Увімкнути"
+
+#: selfdrive/ui/layouts/settings/developer.py:39
+#, python-format
+msgid "Enable ADB"
+msgstr "Увімкнути ADB"
+
+#: selfdrive/ui/layouts/settings/toggles.py:64
+#, python-format
+msgid "Enable Lane Departure Warnings"
+msgstr "Увімкнути попередження про виїзд зі смуги"
+
+#: system/ui/widgets/network.py:129
+#, python-format
+msgid "Enable Roaming"
+msgstr "Увімкнути роумінг"
+
+#: selfdrive/ui/layouts/settings/developer.py:48
+#, python-format
+msgid "Enable SSH"
+msgstr "Увімкнути SSH"
+
+#: system/ui/widgets/network.py:120
+#, python-format
+msgid "Enable Tethering"
+msgstr "Увімкнути точку доступу"
+
+#: selfdrive/ui/layouts/settings/toggles.py:30
+msgid "Enable driver monitoring even when openpilot is not engaged."
+msgstr "Увімкнути моніторинг водія, навіть коли openpilot не ввімкнено."
+
+#: selfdrive/ui/layouts/settings/toggles.py:46
+#, python-format
+msgid "Enable openpilot"
+msgstr "Увімкнути openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:189
+#, python-format
+msgid ""
+"Enable the openpilot longitudinal control (alpha) toggle to allow "
+"Experimental mode."
+msgstr ""
+"Увімкніть перемикач поздовжнього керування openpilot (альфа), щоб увімкнути "
+"експериментальний режим."
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "Enter APN"
+msgstr "Введіть APN"
+
+#: system/ui/widgets/network.py:241
+#, python-format
+msgid "Enter SSID"
+msgstr "Введіть SSID"
+
+#: system/ui/widgets/network.py:254
+#, python-format
+msgid "Enter new tethering password"
+msgstr "Введіть новий пароль для модему"
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "Enter password"
+msgstr "Введіть пароль"
+
+#: selfdrive/ui/widgets/ssh_key.py:89
+#, python-format
+msgid "Enter your GitHub username"
+msgstr "Введіть ваш логін GitHub"
+
+#: system/ui/widgets/list_view.py:123 system/ui/widgets/list_view.py:160
+#, python-format
+msgid "Error"
+msgstr "Помилка"
+
+#: selfdrive/ui/layouts/settings/toggles.py:52
+#, python-format
+msgid "Experimental Mode"
+msgstr "Експериментальний режим"
+
+#: selfdrive/ui/layouts/settings/toggles.py:181
+#, python-format
+msgid ""
+"Experimental mode is currently unavailable on this car since the car's stock "
+"ACC is used for longitudinal control."
+msgstr ""
+"Експериментальний режим наразі недоступний для цього автомобіля, оскільки "
+"для поздовжнього керування використовується штатний адаптивний круїз-"
+"контроль (ACC)."
+
+#: system/ui/widgets/network.py:373
+#, python-format
+msgid "FORGETTING..."
+msgstr "ЗАБУВАЮ..."
+
+#: selfdrive/ui/widgets/setup.py:44
+#, python-format
+msgid "Finish Setup"
+msgstr "Завершити налаштування"
+
+#: selfdrive/ui/layouts/settings/settings.py:63
+msgid "Firehose"
+msgstr "Злива"
+
+#: selfdrive/ui/layouts/settings/firehose.py:18
+msgid "Firehose Mode"
+msgstr "Режим зливи"
+
+#: selfdrive/ui/layouts/settings/firehose.py:25
+msgid ""
+"For maximum effectiveness, bring your device inside and connect to a good "
+"USB-C adapter and Wi-Fi weekly.\n"
+"\n"
+"Firehose Mode can also work while you're driving if connected to a hotspot "
+"or unlimited SIM card.\n"
+"\n"
+"\n"
+"Frequently Asked Questions\n"
+"\n"
+"Does it matter how or where I drive? Nope, just drive as you normally "
+"would.\n"
+"\n"
+"Do all of my segments get pulled in Firehose Mode? No, we selectively pull a "
+"subset of your segments.\n"
+"\n"
+"What's a good USB-C adapter? Any fast phone or laptop charger should be "
+"fine.\n"
+"\n"
+"Does it matter which software I run? Yes, only upstream openpilot (and "
+"particular forks) are able to be used for training."
+msgstr ""
+"Для максимальної ефективності щотижня заносьте пристрій у приміщення та "
+"підключайте його до якісного адаптера USB-C і Wi-Fi.\n"
+"\n"
+"Режим Зливи також може працювати під час руху, якщо пристрій підключено до "
+"точки доступу або SIM-картки з необмеженим трафіком.\n"
+"\n"
+"\n"
+"Поширені запитання\n"
+"\n"
+"Чи має значення, як і де я їду? Ні, просто їдьте, як зазвичай.\n"
+"\n"
+"Чи всі мої сегменти потрапляють у режим Зливи? Ні, ми вибірково вибираємо "
+"підмножину ваших сегментів.\n"
+"\n"
+"Що таке хороший адаптер USB-C? Будь-який швидкий зарядний пристрій для "
+"телефону або ноутбука підійде.\n"
+"\n"
+"Чи має значення, яке програмне забезпечення я використовую? Так, для "
+"навчання можна використовувати тільки upstream openpilot (і певні його "
+"форки)."
+
+#: system/ui/widgets/network.py:318 system/ui/widgets/network.py:451
+#, python-format
+msgid "Forget"
+msgstr "Заб-и"
+
+#: system/ui/widgets/network.py:319
+#, python-format
+msgid "Forget Wi-Fi Network \"{}\"?"
+msgstr "Забути мережу Wi-Fi \"{}\"?"
+
+#: selfdrive/ui/layouts/sidebar.py:71
+#: selfdrive/ui/layouts/sidebar.py:125
+msgid "GOOD"
+msgstr "ДОБРА"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:117
+#, python-format
+msgid "Go to https://connect.comma.ai on your phone"
+msgstr "Перейдіть на сайт https://connect.comma.ai на своєму телефоні."
+
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "HIGH"
+msgstr "ВИСОКА"
+
+#: system/ui/widgets/network.py:155
+#, python-format
+msgid "Hidden Network"
+msgstr "Прихована мережа"
+
+#: selfdrive/ui/layouts/settings/firehose.py:140
+#, python-format
+msgid "INACTIVE: connect to an unmetered network"
+msgstr "НЕАКТИВНО: підключення до мережі без ліміту трафіку"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#: selfdrive/ui/layouts/settings/software.py:144
+#, python-format
+msgid "INSTALL"
+msgstr "ВСТАНОВ."
+
+#: system/ui/widgets/network.py:150
+#, python-format
+msgid "IP Address"
+msgstr "IP-адреса"
+
+#: selfdrive/ui/layouts/settings/software.py:53
+#, python-format
+msgid "Install Update"
+msgstr "Встановити оновлення"
+
+#: selfdrive/ui/layouts/settings/developer.py:56
+#, python-format
+msgid "Joystick Debug Mode"
+msgstr "Режим зневадження джойстика"
+
+#: selfdrive/ui/widgets/ssh_key.py:29
+msgid "LOADING"
+msgstr "ЗАВАНТАЖЕННЯ"
+
+#: selfdrive/ui/layouts/sidebar.py:48
+msgid "LTE"
+msgstr "LTE"
+
+#: selfdrive/ui/layouts/settings/developer.py:64
+#, python-format
+msgid "Longitudinal Maneuver Mode"
+msgstr "Режим поздовжнього маневрування"
+
+#: selfdrive/ui/onroad/hud_renderer.py:148
+#, python-format
+msgid "MAX"
+msgstr "МАКС"
+
+#: selfdrive/ui/widgets/setup.py:75
+#, python-format
+msgid ""
+"Maximize your training data uploads to improve openpilot's driving models."
+msgstr ""
+"Максимізуйте завантаження навчальних даних, щоб поліпшити моделі openpilot."
+
+#: selfdrive/ui/layouts/settings/device.py:59
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "N/A"
+msgstr "Н/Д"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "NO"
+msgstr "НЕМАЄ"
+
+#: selfdrive/ui/layouts/settings/settings.py:60
+msgid "Network"
+msgstr "Мережа"
+
+#: selfdrive/ui/widgets/ssh_key.py:114
+#, python-format
+msgid "No SSH keys found"
+msgstr "Не знайдено ключів SSH"
+
+#: selfdrive/ui/widgets/ssh_key.py:126
+#, python-format
+msgid "No SSH keys found for user '{}'"
+msgstr "Користувач '{}' не має ключів на GitHub"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:320
+#, python-format
+msgid "No release notes available."
+msgstr "Інформація про випуск відсутня."
+
+#: selfdrive/ui/layouts/sidebar.py:73
+#: selfdrive/ui/layouts/sidebar.py:134
+msgid "OFFLINE"
+msgstr "ОФЛАЙН"
+
+#: system/ui/widgets/confirm_dialog.py:93 system/ui/widgets/html_render.py:263
+#: selfdrive/ui/layouts/sidebar.py:127
+#, python-format
+msgid "OK"
+msgstr "OK"
+
+#: selfdrive/ui/layouts/sidebar.py:72
+#: selfdrive/ui/layouts/sidebar.py:136
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "ONLINE"
+msgstr "ОНЛАЙН"
+
+#: selfdrive/ui/widgets/setup.py:20
+#, python-format
+msgid "Open"
+msgstr "ВІДКРИТИ"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "PAIR"
+msgstr "ПІДКЛЮЧИТИ"
+
+#: selfdrive/ui/layouts/sidebar.py:142
+msgid "PANDA"
+msgstr "PANDA"
+
+#: selfdrive/ui/layouts/settings/device.py:62
+#, python-format
+msgid "PREVIEW"
+msgstr "ПОКАЖИ"
+
+#: selfdrive/ui/widgets/prime.py:44
+#, python-format
+msgid "PRIME FEATURES:"
+msgstr "XАРАКТЕРИСТИКИ PRIME:"
+
+#: selfdrive/ui/layouts/settings/device.py:48
+#, python-format
+msgid "Pair Device"
+msgstr "Підключити пристрій"
+
+#: selfdrive/ui/widgets/setup.py:19
+#, python-format
+msgid "Pair device"
+msgstr "Підключити пристрій"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:92
+#, python-format
+msgid "Pair your device to your comma account"
+msgstr "Підключіть свій пристрій до обліковки comma connect"
+
+#: selfdrive/ui/widgets/setup.py:48
+#: selfdrive/ui/layouts/settings/device.py:24
+#, python-format
+msgid ""
+"Pair your device with comma connect (connect.comma.ai) and claim your comma "
+"prime offer."
+msgstr ""
+"Підключіть свій пристрій до comma connect (connect.comma.ai) і отримайте "
+"свою пропозицію comma prime."
+
+#: selfdrive/ui/widgets/setup.py:91
+#, python-format
+msgid "Please connect to Wi-Fi to complete initial pairing"
+msgstr "Будь ласка, підключіться до Wi-Fi, щоб завершити початкове сполучення."
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:187
+#, python-format
+msgid "Power Off"
+msgstr "Вимкнути"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Prevent large data uploads when on a metered Wi-Fi connection"
+msgstr ""
+"Запобігайте завантаженню великих обсягів даних під час використання Wi-Fi-"
+"з'єднання з обмеженим трафіком"
+
+#: system/ui/widgets/network.py:135
+#, python-format
+msgid "Prevent large data uploads when on a metered cellular connection"
+msgstr ""
+"Запобігати великим завантаженням даних під час лімітного стільникового "
+"з'єднання"
+
+#: selfdrive/ui/layouts/settings/device.py:25
+msgid ""
+"Preview the driver facing camera to ensure that driver monitoring has good "
+"visibility. (vehicle must be off)"
+msgstr ""
+"Попередньо перегляньте камеру, спрямовану на водія, щоб переконатися, що "
+"система моніторингу водія має добру видимість. (автомобіль повинен бути "
+"вимкнений)"
+
+#: selfdrive/ui/widgets/pairing_dialog.py:150
+#, python-format
+msgid "QR Code Error"
+msgstr "Помилка QR-коду"
+
+#: selfdrive/ui/widgets/ssh_key.py:31
+msgid "REMOVE"
+msgstr "ВИДАЛИТИ"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "RESET"
+msgstr "Скинути"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "REVIEW"
+msgstr "ДИВИТИСЬ"
+
+#: selfdrive/ui/layouts/settings/device.py:55
+#: selfdrive/ui/layouts/settings/device.py:175
+#, python-format
+msgid "Reboot"
+msgstr "Перезавантажити"
+
+#: selfdrive/ui/onroad/alert_renderer.py:66
+#, python-format
+msgid "Reboot Device"
+msgstr "Перезавантажте пристрій"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:112
+#, python-format
+msgid "Reboot and Update"
+msgstr "Перезавантажити та оновити"
+
+#: selfdrive/ui/layouts/settings/toggles.py:27
+msgid ""
+"Receive alerts to steer back into the lane when your vehicle drifts over a "
+"detected lane line without a turn signal activated while driving over 31 mph "
+"(50 km/h)."
+msgstr ""
+"Отримувати попередження про необхідність повернутися в смугу, коли ваш "
+"автомобіль перетинає виявлену лінію розмітки без увімкненого сигналу "
+"повороту під час руху зі швидкістю понад 31 миль/год (50 км/год)."
+
+#: selfdrive/ui/layouts/settings/toggles.py:76
+#, python-format
+msgid "Record and Upload Driver Camera"
+msgstr "Писати та вантажити відео з камери водія"
+
+#: selfdrive/ui/layouts/settings/toggles.py:82
+#, python-format
+msgid "Record and Upload Microphone Audio"
+msgstr "Запис та завантаження аудіо з мікрофона"
+
+#: selfdrive/ui/layouts/settings/toggles.py:33
+msgid ""
+"Record and store microphone audio while driving. The audio will be included "
+"in the dashcam video in comma connect."
+msgstr ""
+"Записуйте та зберігайте аудіо з мікрофона під час руху. Аудіо буде включено "
+"до відео з відеореєстратора в comma connect."
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "Regulatory"
+msgstr "Нормативні документи"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Relaxed"
+msgstr "Спокійний"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote access"
+msgstr "Віддалений доступ"
+
+#: selfdrive/ui/widgets/prime.py:47
+#, python-format
+msgid "Remote snapshots"
+msgstr "Віддалені знімки"
+
+#: selfdrive/ui/widgets/ssh_key.py:123
+#, python-format
+msgid "Request timed out"
+msgstr "Час запиту вичерпано"
+
+#: selfdrive/ui/layouts/settings/device.py:119
+#, python-format
+msgid "Reset"
+msgstr "Скинути"
+
+#: selfdrive/ui/layouts/settings/device.py:51
+#, python-format
+msgid "Reset Calibration"
+msgstr "Скинути калібрування"
+
+#: selfdrive/ui/layouts/settings/device.py:65
+#, python-format
+msgid "Review Training Guide"
+msgstr "Переглянути посібник з навчання"
+
+#: selfdrive/ui/layouts/settings/device.py:27
+msgid "Review the rules, features, and limitations of openpilot"
+msgstr "Перегляньте правила, функції та обмеження openpilot"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "SELECT"
+msgstr "ВИБРАТИ"
+
+#: selfdrive/ui/layouts/settings/developer.py:53
+#, python-format
+msgid "SSH Keys"
+msgstr "SSH ключі"
+
+#: system/ui/widgets/network.py:310
+#, python-format
+msgid "Scanning Wi-Fi networks..."
+msgstr "Пошук мереж..."
+
+#: system/ui/widgets/option_dialog.py:36
+#, python-format
+msgid "Select"
+msgstr "Вибрати"
+
+#: selfdrive/ui/layouts/settings/software.py:191
+#, python-format
+msgid "Select a branch"
+msgstr "Виберіть гілку"
+
+#: selfdrive/ui/layouts/settings/device.py:91
+#, python-format
+msgid "Select a language"
+msgstr "Виберіть мову"
+
+#: selfdrive/ui/layouts/settings/device.py:60
+#, python-format
+msgid "Serial"
+msgstr "Серійний номер"
+
+#: selfdrive/ui/widgets/offroad_alerts.py:106
+#, python-format
+msgid "Snooze Update"
+msgstr "Відкласти оновлення"
+
+#: selfdrive/ui/layouts/settings/settings.py:62
+msgid "Software"
+msgstr "Програма"
+
+#: selfdrive/ui/layouts/settings/toggles.py:98
+#, python-format
+msgid "Standard"
+msgstr "Стандарт"
+
+#: selfdrive/ui/layouts/settings/toggles.py:22
+msgid ""
+"Standard is recommended. In aggressive mode, openpilot will follow lead cars "
+"closer and be more aggressive with the gas and brake. In relaxed mode "
+"openpilot will stay further away from lead cars. On supported cars, you can "
+"cycle through these personalities with your steering wheel distance button."
+msgstr ""
+"Рекомендується стандартний режим. В агресивному режимі openpilot буде "
+"триматися ближче до автомобілів попереду і більш агресивно використовувати "
+"газ і гальма. У спокійному режимі openpilot буде триматися на більшій "
+"відстані від автомобілів попереду. На підтримуваних автомобілях ви можете "
+"перемикатися між цими режимами за допомогою кнопки дистанції на кермі."
+
+#: selfdrive/ui/onroad/alert_renderer.py:59
+#: selfdrive/ui/onroad/alert_renderer.py:65
+#, python-format
+msgid "System Unresponsive"
+msgstr "Система не реагує"
+
+#: selfdrive/ui/onroad/alert_renderer.py:58
+#, python-format
+msgid "TAKE CONTROL IMMEDIATELY"
+msgstr "КЕРМУЙТЕ НЕГАЙНО"
+
+#: selfdrive/ui/layouts/sidebar.py:71
+#: selfdrive/ui/layouts/sidebar.py:125
+#: selfdrive/ui/layouts/sidebar.py:127
+#: selfdrive/ui/layouts/sidebar.py:129
+msgid "TEMP"
+msgstr "ТЕМП"
+
+#: selfdrive/ui/layouts/settings/software.py:61
+#, python-format
+msgid "Target Branch"
+msgstr "Цільова гілка"
+
+#: system/ui/widgets/network.py:124
+#, python-format
+msgid "Tethering Password"
+msgstr "Пароль для точки доступу"
+
+#: selfdrive/ui/layouts/settings/settings.py:61
+msgid "Toggles"
+msgstr "Перемикачі"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#, python-format
+msgid "UNINSTALL"
+msgstr "ВИДАЛИТИ"
+
+#: selfdrive/ui/layouts/home.py:155
+#, python-format
+msgid "UPDATE"
+msgstr "ОНОВИТИ"
+
+#: selfdrive/ui/layouts/settings/software.py:72
+#: selfdrive/ui/layouts/settings/software.py:171
+#, python-format
+msgid "Uninstall"
+msgstr "Видалити"
+
+#: selfdrive/ui/layouts/sidebar.py:117
+msgid "Unknown"
+msgstr "Невідомо"
+
+#: selfdrive/ui/layouts/settings/software.py:48
+#, python-format
+msgid "Updates are only downloaded while the car is off."
+msgstr "Оновлення завантажуються лише тоді, коли автомобіль вимкнено."
+
+#: selfdrive/ui/widgets/prime.py:33
+#, python-format
+msgid "Upgrade Now"
+msgstr "Оновити зараз"
+
+#: selfdrive/ui/layouts/settings/toggles.py:31
+msgid ""
+"Upload data from the driver facing camera and help improve the driver "
+"monitoring algorithm."
+msgstr ""
+"Завантажуйте дані з камери, спрямованої на водія, та допоможіть покращити "
+"алгоритм моніторингу водія."
+
+#: selfdrive/ui/layouts/settings/toggles.py:88
+#, python-format
+msgid "Use Metric System"
+msgstr "Використовувати метричну систему"
+
+#: selfdrive/ui/layouts/settings/toggles.py:17
+msgid ""
+"Use the openpilot system for adaptive cruise control and lane keep driver "
+"assistance. Your attention is required at all times to use this feature."
+msgstr ""
+"Використовуйте систему openpilot для адаптивного круїз-контролю та допомоги "
+"в утриманні смуги руху. Ваша увага потрібна постійно при використанні цієї "
+"функції. Зміна цього налаштування набуває чинності після вимкнення живлення "
+"автомобіля."
+
+#: selfdrive/ui/layouts/sidebar.py:72
+#: selfdrive/ui/layouts/sidebar.py:144
+msgid "VEHICLE"
+msgstr "АВТО"
+
+#: selfdrive/ui/layouts/settings/device.py:67
+#, python-format
+msgid "VIEW"
+msgstr "ДИВИСЬ"
+
+#: selfdrive/ui/onroad/alert_renderer.py:52
+#, python-format
+msgid "Waiting to start"
+msgstr "Очікування початку"
+
+#: selfdrive/ui/layouts/settings/developer.py:19
+msgid ""
+"Warning: This grants SSH access to all public keys in your GitHub settings. "
+"Never enter a GitHub username other than your own. A comma employee will "
+"NEVER ask you to add their GitHub username."
+msgstr ""
+"Попередження: це надає доступ по SSH до всіх публічних ключів у ваших "
+"налаштуваннях GitHub. Ніколи не вводьте ім'я користувача GitHub, окрім "
+"вашого власного. Співробітник comma НІКОЛИ не попросить вас додати його ім'я "
+"користувача GitHub."
+
+#: selfdrive/ui/layouts/onboarding.py:111
+#, python-format
+msgid "Welcome to openpilot"
+msgstr "Ласкаво просимо до openpilot"
+
+#: selfdrive/ui/layouts/settings/toggles.py:20
+msgid "When enabled, pressing the accelerator pedal will disengage openpilot."
+msgstr "Якщо увімкнено, натискання на педаль акселератора вимкне openpilot."
+
+#: selfdrive/ui/layouts/sidebar.py:44
+msgid "Wi-Fi"
+msgstr "Wi-Fi"
+
+#: system/ui/widgets/network.py:144
+#, python-format
+msgid "Wi-Fi Network Metered"
+msgstr "Трафік Wi-Fi"
+
+#: system/ui/widgets/network.py:314
+#, python-format
+msgid "Wrong password"
+msgstr "Невірний пароль"
+
+#: selfdrive/ui/layouts/onboarding.py:145
+#, python-format
+msgid "You must accept the Terms and Conditions in order to use openpilot."
+msgstr "Ви повинні прийняти Умови та положення, щоб користуватися openpilot."
+
+#: selfdrive/ui/layouts/onboarding.py:112
+#, python-format
+msgid ""
+"You must accept the Terms and Conditions to use openpilot. Read the latest "
+"terms at https://comma.ai/terms before continuing."
+msgstr ""
+"Ви повинні прийняти Умови використання, щоб користуватися openpilot. Перед "
+"тим, як продовжити, ознайомтеся з останніми умовами на сайті https://"
+"comma.ai/terms."
+
+#: selfdrive/ui/onroad/driver_camera_dialog.py:34
+#, python-format
+msgid "camera starting"
+msgstr "запуск камери"
+
+#: selfdrive/ui/layouts/settings/software.py:105
+#, python-format
+msgid "checking..."
+msgstr "перевіряю..."
+
+#: selfdrive/ui/widgets/prime.py:63
+#, python-format
+msgid "comma prime"
+msgstr "comma prime"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "default"
+msgstr "замовч."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "down"
+msgstr "вниз"
+
+#: selfdrive/ui/layouts/settings/software.py:106
+#, python-format
+msgid "downloading..."
+msgstr "завантажую..."
+
+#: selfdrive/ui/layouts/settings/software.py:114
+#, python-format
+msgid "failed to check for update"
+msgstr "не вдалося перевірити оновлення"
+
+#: selfdrive/ui/layouts/settings/software.py:107
+#, python-format
+msgid "finalizing update..."
+msgstr "завершую..."
+
+#: system/ui/widgets/network.py:237 system/ui/widgets/network.py:314
+#, python-format
+msgid "for \"{}\""
+msgstr "для \"{}\""
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "km/h"
+msgstr "км/год"
+
+#: system/ui/widgets/network.py:204
+#, python-format
+msgid "leave blank for automatic configuration"
+msgstr "залиште порожнім для автоматичного налаштування"
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "left"
+msgstr "вліво"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "metered"
+msgstr "обмеж."
+
+#: selfdrive/ui/onroad/hud_renderer.py:177
+#, python-format
+msgid "mph"
+msgstr "миль/год"
+
+#: selfdrive/ui/layouts/settings/software.py:20
+#, python-format
+msgid "never"
+msgstr "ніколи"
+
+#: selfdrive/ui/layouts/settings/software.py:31
+#, python-format
+msgid "now"
+msgstr "зараз"
+
+#: selfdrive/ui/layouts/settings/developer.py:71
+#, python-format
+msgid "openpilot Longitudinal Control (Alpha)"
+msgstr "Поздовжнє керування openpilot (Альфа)"
+
+#: selfdrive/ui/onroad/alert_renderer.py:51
+#, python-format
+msgid "openpilot Unavailable"
+msgstr "openpilot Недоступний"
+
+#: selfdrive/ui/layouts/settings/toggles.py:158
+#, python-format
+msgid ""
+"openpilot defaults to driving in chill mode. Experimental mode enables alpha-"
+"level features that aren't ready for chill mode. Experimental features are "
+"listed below:<br><h4>End-to-End Longitudinal Control</h4><br>Let the driving "
+"model control the gas and brakes. openpilot will drive as it thinks a human "
+"would, including stopping for red lights and stop signs. Since the driving "
+"model decides the speed to drive, the set speed will only act as an upper "
+"bound. This is an alpha quality feature; mistakes should be expected."
+"<br><h4>New Driving Visualization</h4><br>The driving visualization will "
+"transition to the road-facing wide-angle camera at low speeds to better show "
+"some turns. The Experimental mode logo will also be shown in the top right "
+"corner."
+msgstr ""
+"openpilot за замовчуванням працює в режимі спокій. Експериментальний режим "
+"увімкне функції альфа-рівня, які ще не готові для режиму спокій. "
+"Експериментальні функції перелічені нижче:<br><h4>Кінцевий поздовжній "
+"контроль</h4><br>Дозвольте моделі водіння контролювати газ і гальма. "
+"openpilot буде керувати автомобілем так, як це робив би людина, включаючи "
+"зупинку на червоне світло і знаки зупинки. Оскільки модель водіння визначає "
+"швидкість руху, задана швидкість буде діяти лише як верхня межа. Це функція "
+"альфа-рівня; слід очікувати помилок.<br><h4>Нова візуалізація водіння</"
+"h4><br>Візуалізація водіння перейде на ширококутну камеру, спрямовану на "
+"дорогу, при низьких швидкостях, щоб краще показувати деякі повороти. Логотип "
+"експериментального режиму також буде показаний у верхньому правому куті."
+
+#: selfdrive/ui/layouts/settings/device.py:165
+#, python-format
+msgid ""
+"openpilot is continuously calibrating, resetting is rarely required. "
+"Resetting calibration will restart openpilot if the car is powered on."
+msgstr ""
+"openpilot постійно калібрується, скидання рідко потрібне. Скидання "
+"калібрування призведе до перезапуску openpilot, якщо автомобіль увімкнено."
+
+#: selfdrive/ui/layouts/settings/firehose.py:20
+msgid ""
+"openpilot learns to drive by watching humans, like you, drive.\n"
+"\n"
+"Firehose Mode allows you to maximize your training data uploads to improve "
+"openpilot's driving models. More data means bigger models, which means "
+"better Experimental Mode."
+msgstr ""
+"openpilot вчиться керувати автомобілем, спостерігаючи за тим, як це роблять "
+"люди, такі як ви.\n"
+"\n"
+"Режим зливи дозволяє максимально збільшити обсяг завантажуваних навчальних "
+"даних, щоб поліпшити моделі керування автомобілем openpilot. Більше даних "
+"означає більші моделі, а це означає кращий експериментальний режим."
+
+#: selfdrive/ui/layouts/settings/toggles.py:183
+#, python-format
+msgid "openpilot longitudinal control may come in a future update."
+msgstr "Поздовжнє керування openpilot може з'явитися в майбутньому оновленні."
+
+#: selfdrive/ui/layouts/settings/device.py:26
+msgid ""
+"openpilot requires the device to be mounted within 4° left or right and "
+"within 5° up or 9° down."
+msgstr ""
+"Для роботи openpilot потрібно, щоб пристрій був встановлений з нахилом не "
+"більше 4° вліво або вправо та не більше 5° вгору або 9° вниз. openpilot "
+"постійно калібрується, тому скидання калібрування потрібне рідко."
+
+#: selfdrive/ui/layouts/settings/device.py:134
+#, python-format
+msgid "right"
+msgstr "вправо"
+
+#: system/ui/widgets/network.py:142
+#, python-format
+msgid "unmetered"
+msgstr "необмеж."
+
+#: selfdrive/ui/layouts/settings/device.py:133
+#, python-format
+msgid "up"
+msgstr "вгору"
+
+#: selfdrive/ui/layouts/settings/software.py:125
+#, python-format
+msgid "up to date, last checked never"
+msgstr "оновлено, ніколи не перевірялось"
+
+#: selfdrive/ui/layouts/settings/software.py:123
+#, python-format
+msgid "up to date, last checked {}"
+msgstr "оновлено, перевірив {}"
+
+#: selfdrive/ui/layouts/settings/software.py:117
+#, python-format
+msgid "update available"
+msgstr "доступне оновлення"
+
+#: selfdrive/ui/layouts/home.py:169
+#, python-format
+msgid "{} ALERT"
+msgid_plural "{} ALERTS"
+msgstr[0] "{} СПОВІЩЕННЯ"
+msgstr[1] "{} СПОВІЩЕННЯ"
+msgstr[2] "{} СПОВІЩЕНЬ"
+
+#: selfdrive/ui/layouts/settings/software.py:40
+#, python-format
+msgid "{} day ago"
+msgid_plural "{} days ago"
+msgstr[0] "{} день тому"
+msgstr[1] "{} дні тому"
+msgstr[2] "{} днів тому"
+
+#: selfdrive/ui/layouts/settings/software.py:37
+#, python-format
+msgid "{} hour ago"
+msgid_plural "{} hours ago"
+msgstr[0] "{} година тому"
+msgstr[1] "{} години тому"
+msgstr[2] "{} годин тому"
+
+#: selfdrive/ui/layouts/settings/software.py:34
+#, python-format
+msgid "{} minute ago"
+msgid_plural "{} minutes ago"
+msgstr[0] "{} хвилина тому"
+msgstr[1] "{} хвилини тому"
+msgstr[2] "{} хвилин тому"
+
+#: selfdrive/ui/layouts/settings/firehose.py:111
+#, python-format
+msgid "{} segment of your driving is in the training dataset so far."
+msgid_plural "{} segments of your driving is in the training dataset so far."
+msgstr[0] ""
+"{} сегмент вашого водіння на даний момент містяться в тренувальному наборі "
+"даних."
+msgstr[1] ""
+"{} сегменти вашого водіння на даний момент містяться в тренувальному наборі "
+"даних."
+msgstr[2] ""
+"{} сегментів вашого водіння на даний момент містяться в тренувальному наборі "
+"даних."
+
+#: selfdrive/ui/widgets/prime.py:62
+#, python-format
+msgid "✓ SUBSCRIBED"
+msgstr "✓ ПІДПИСАНО"
+
+#: selfdrive/ui/widgets/setup.py:22
+#, python-format
+msgid "🔥 Firehose Mode 🔥"
+msgstr "🌧️ Режим зливи 🌧️"
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index b0674dee82..47e673ce89 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -5,6 +5,7 @@
   "Português": "pt-BR",
   "Español": "es",
   "Türkçe": "tr",
+  "Українська": "uk",
   "العربية": "ar",
   "ไทย": "th",
   "中文（繁體）": "zh-CHT",
diff --git a/sunnypilot/models/tests/model_hash b/sunnypilot/models/tests/model_hash
index 82ff797b5b..f37b9dba50 100644
--- a/sunnypilot/models/tests/model_hash
+++ b/sunnypilot/models/tests/model_hash
@@ -1 +1 @@
-030a2a502e95e51290bb1d76795013b72b25521a572c3942a232b9395e544250
\ No newline at end of file
+6168bc755ea17aececa535e8b94e6c798e5e855bfc47be19220d5cbc08483332
\ No newline at end of file
diff --git a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
index 31c2182d41..c6658bdc78 100644
--- a/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
+++ b/sunnypilot/selfdrive/controls/lib/latcontrol_torque_ext_base.py
@@ -15,9 +15,8 @@ LAT_PLAN_MIN_IDX = 5
 LATERAL_LAG_MOD = 0.0  # seconds, modifies how far in the future we look ahead for the lateral plan
 
 # from selfdrive/controls/lib/latcontrol_torque.py
-KP = 1.0
-KI = 0.3
-KD = 0.0
+KP = 0.8
+KI = 0.15
 INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
 KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
 
@@ -64,7 +63,7 @@ class LatControlTorqueExtBase:
     self.torque_from_lateral_accel_in_torque_space = CI.torque_from_lateral_accel_in_torque_space()
 
     self._ff = 0.0
-    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD)
+    self._pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI)
     self._pid_log = None
     self._setpoint = 0.0
     self._measurement = 0.0
diff --git a/sunnypilot/sunnylink/api.py b/sunnypilot/sunnylink/api.py
index 26c3f3462d..3c78dd3e55 100644
--- a/sunnypilot/sunnylink/api.py
+++ b/sunnypilot/sunnylink/api.py
@@ -2,9 +2,10 @@ import json
 import os
 import random
 import time
-from datetime import datetime, timedelta
-
 import jwt
+from typing import cast
+from datetime import datetime, timedelta, UTC
+
 from openpilot.common.api.base import BaseApi
 from openpilot.common.params import Params
 from openpilot.system.hardware import HARDWARE
@@ -92,7 +93,8 @@ class SunnylinkApi(BaseApi):
 
       backoff = 1
       while True:
-        register_token = jwt.encode({'register': True, 'exp': datetime.utcnow() + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
+        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
+                                    cast(str, private_key), algorithm=jwt_algo)
         try:
           if verbose or time.monotonic() - start_time < timeout / 2:
             self._status_update("Registering device to sunnylink...")
diff --git a/sunnypilot/sunnylink/params_metadata.json b/sunnypilot/sunnylink/params_metadata.json
index 4cc6b18089..3228fd0d62 100644
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -458,6 +458,10 @@
     "title": "Language",
     "description": ""
   },
+  "LastAgnosPowerMonitorShutdown": {
+    "title": "Last AGNOS Power Monitor Shutdown",
+    "description": ""
+  },
   "LastAthenaPingTime": {
     "title": "Last Athena Ping Time",
     "description": ""
diff --git a/sunnypilot/sunnylink/statsd.py b/sunnypilot/sunnylink/statsd.py
index 70d3d58e94..233b531e85 100755
--- a/sunnypilot/sunnylink/statsd.py
+++ b/sunnypilot/sunnylink/statsd.py
@@ -17,7 +17,7 @@ from cereal.messaging import SubMaster
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.utils import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 from openpilot.system.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 from openpilot.system.statsd import METRIC_TYPE, StatLogSP
@@ -242,7 +242,7 @@ def stats_main(end_event):
         if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
           if len(result) > 0:
             stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
-            with atomic_write_in_dir(stats_path) as f:
+            with atomic_write(stats_path) as f:
               f.write(result)
             idx += 1
         else:
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 22e15051da..1f4187e8f7 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -31,7 +31,7 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.api import Api
+from openpilot.common.api import Api, get_key_pair
 from openpilot.common.utils import CallbackReader, get_upload_stream
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
@@ -554,11 +554,8 @@ def start_local_proxy_shim(global_end_event: threading.Event, local_port: int, w
 
 @dispatcher.add_method
 def getPublicKey() -> str | None:
-  if not os.path.isfile(Paths.persist_root() + '/comma/id_rsa.pub'):
-    return None
-
-  with open(Paths.persist_root() + '/comma/id_rsa.pub') as f:
-    return f.read()
+  _, _, public_key = get_key_pair()
+  return public_key
 
 
 @dispatcher.add_method
diff --git a/system/athena/registration.py b/system/athena/registration.py
index c6da463bd2..26a2adb1af 100755
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -2,6 +2,7 @@
 import time
 import json
 import jwt
+from typing import cast
 from pathlib import Path
 
 from datetime import datetime, timedelta, UTC
@@ -69,7 +70,9 @@ def register(show_spinner=False) -> str | None:
     start_time = time.monotonic()
     while True:
       try:
-        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)}, private_key, algorithm=jwt_algo)
+        register_token = jwt.encode({'register': True, 'exp': datetime.now(UTC).replace(tzinfo=None) + timedelta(hours=1)},
+                                    cast(str, private_key), algorithm=jwt_algo)
+        cloudlog.info("getting pilotauth")
         cloudlog.info("getting pilotauth")
         resp = api_get("v2/pilotauth/", method='POST', timeout=15,
                        imei=imei1, imei2=imei2, serial=serial, public_key=public_key, register_token=register_token)
diff --git a/system/camerad/cameras/spectra.cc b/system/camerad/cameras/spectra.cc
index caf7871573..0d93b70465 100644
--- a/system/camerad/cameras/spectra.cc
+++ b/system/camerad/cameras/spectra.cc
@@ -1004,8 +1004,8 @@ bool SpectraCamera::openSensor() {
   };
 
   // Figure out which sensor we have
-  if (!init_sensor_lambda(new OX03C10) &&
-      !init_sensor_lambda(new OS04C10)) {
+  if (!init_sensor_lambda(new OS04C10) &&
+      !init_sensor_lambda(new OX03C10)) {
     LOGE("** sensor %d FAILED bringup, disabling", cc.camera_num);
     enabled = false;
     return false;
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 38be4ecca4..62c26ca809 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -1,6 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
+#include "third_party/linux/include/msm_camsensor_sdk.h"
 
 namespace {
 
@@ -51,7 +52,7 @@ OS04C10::OS04C10() {
   probe_expected_data = 0x5304;
   bits_per_pixel = 12;
   mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = 0x2c;
+  frame_data_type = CSI_RAW12;
   mclk_frequency = 24000000; // Hz
 
   // TODO: this was set from logs. actually calculate it out
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 7cd9e97be5..28d6b3310c 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -4,10 +4,10 @@ const struct i2c_random_wr_payload start_reg_array_os04c10[] = {{0x100, 1}};
 const struct i2c_random_wr_payload stop_reg_array_os04c10[] = {{0x100, 0}};
 
 const struct i2c_random_wr_payload init_array_os04c10[] = {
-  // DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
-  {0x0103, 0x01},
+  // baseed on DP_2688X1520_NEWSTG_MIPI0776Mbps_30FPS_10BIT_FOURLANE
+  {0x0103, 0x01}, // software reset
 
-  // PLL
+  // PLL + clocks
   {0x0301, 0xe4},
   {0x0303, 0x01},
   {0x0305, 0xb6},
@@ -24,7 +24,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3106, 0x21},
   {0x3107, 0xa1},
 
-  // ?
+  // Analog/timing fine-tuning block
   {0x3624, 0x00},
   {0x3625, 0x4c},
   {0x3660, 0x04},
@@ -101,7 +101,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3f00, 0x0b},
   {0x3f06, 0x04},
 
-  // BLC
+  // BLC - black level correction
   {0x400a, 0x01},
   {0x400b, 0x50},
   {0x400e, 0x08},
@@ -157,7 +157,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x5180, 0x70},
   {0x5181, 0x10},
 
-  // DPC
+  // DPC - defective pixel correction
   {0x520a, 0x03},
   {0x520b, 0x06},
   {0x520c, 0x0c},
@@ -248,7 +248,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x4008, 0x01},
   {0x4009, 0x06},
 
-  // FSIN
+  // FSIN - frame sync
   {0x3002, 0x22},
   {0x3663, 0x22},
   {0x368a, 0x04},
@@ -276,8 +276,8 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3816, 0x03},
   {0x3817, 0x01},
 
-  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS
-  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS
+  {0x380c, 0x0b}, {0x380d, 0xac}, // HTS (line length)
+  {0x380e, 0x06}, {0x380f, 0x9c}, // VTS (frame length)
 
   {0x3820, 0xb3},
   {0x3821, 0x01},
@@ -309,17 +309,17 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   // initialize exposure
   {0x3503, 0x88},
 
-  // long
+  // long exposure
   {0x3500, 0x00}, {0x3501, 0x00}, {0x3502, 0x10},
   {0x3508, 0x00}, {0x3509, 0x80},
   {0x350a, 0x04}, {0x350b, 0x00},
 
-  // short
+  // short exposure
   {0x3510, 0x00}, {0x3511, 0x00}, {0x3512, 0x40},
   {0x350c, 0x00}, {0x350d, 0x80},
   {0x350e, 0x04}, {0x350f, 0x00},
 
-  // wb
+  // white balance
   // b
   {0x5100, 0x06}, {0x5101, 0x7e},
   {0x5140, 0x06}, {0x5141, 0x7e},
@@ -332,7 +332,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
 };
 
 const struct i2c_random_wr_payload ife_downscale_override_array_os04c10[] = {
-  // OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
+  // based on OS04C10_AA_00_02_17_wAO_2688x1524_MIPI728Mbps_Linear12bit_20FPS_4Lane_MCLK24MHz
   {0x3c8c, 0x40},
   {0x3714, 0x24},
   {0x37c2, 0x04},
diff --git a/system/camerad/sensors/ox03c10.cc b/system/camerad/sensors/ox03c10.cc
index 6f7e658f48..05d58f03c6 100644
--- a/system/camerad/sensors/ox03c10.cc
+++ b/system/camerad/sensors/ox03c10.cc
@@ -1,6 +1,7 @@
 #include <cmath>
 
 #include "system/camerad/sensors/sensor.h"
+#include "third_party/linux/include/msm_camsensor_sdk.h"
 
 namespace {
 
@@ -40,8 +41,8 @@ OX03C10::OX03C10() {
   probe_expected_data = 0x5803;
   bits_per_pixel = 12;
   mipi_format = CAM_FORMAT_MIPI_RAW_12;
-  frame_data_type = 0x2c; // one is 0x2a, two are 0x2b
-  mclk_frequency = 24000000; //Hz
+  frame_data_type = CSI_RAW12;
+  mclk_frequency = 24000000; // Hz
 
   readout_time_ns = 14697000;
 
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index 8a0c066942..d59b45efcb 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -7,7 +7,6 @@
 #include <string>
 #include <algorithm>  // for std::clamp
 
-#include "common/params.h"
 #include "common/util.h"
 #include "system/hardware/base.h"
 
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index c6a4b12e63..1cac16adcd 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -16,6 +16,7 @@ from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.system.hardware.hw import Paths
+from openpilot.system.hardware import TICI
 from openpilot.system.loggerd.xattr_cache import getxattr
 from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
 from openpilot.system.manager.process_config import managed_processes
@@ -221,13 +222,16 @@ class TestLoggerd:
     assert abs(boot.wallTimeNanos - time.time_ns()) < 5*1e9 # within 5s
     assert boot.launchLog == launch_log
 
-    for fn in ["console-ramoops", "pmsg-ramoops-0"]:
-      path = Path(os.path.join("/sys/fs/pstore/", fn))
-      if path.is_file():
-        with open(path, "rb") as f:
-          expected_val = f.read()
-        bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
-        assert expected_val == bootlog_val
+    if TICI:
+      for fn in ["console-ramoops", "pmsg-ramoops-0"]:
+        path = Path(os.path.join("/sys/fs/pstore/", fn))
+        if path.is_file():
+          with open(path, "rb") as f:
+            expected_val = f.read()
+          bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
+          assert expected_val == bootlog_val
+    else:
+      assert len(boot.pstore.entries) == 0
 
     # next one should increment by one
     bl1 = re.match(RE.LOG_ID_V2, bootlog_path.name)
diff --git a/system/manager/build.py b/system/manager/build.py
index c88befd454..d79e7fd2ad 100755
--- a/system/manager/build.py
+++ b/system/manager/build.py
@@ -14,7 +14,7 @@ from openpilot.system.version import get_build_metadata
 MAX_CACHE_SIZE = 4e9 if "CI" in os.environ else 2e9
 CACHE_DIR = Path("/data/scons_cache" if AGNOS else "/tmp/scons_cache")
 
-TOTAL_SCONS_NODES = 2280
+TOTAL_SCONS_NODES = 2705
 MAX_BUILD_PROGRESS = 100
 
 def build(spinner: Spinner, dirty: bool = False, minimal: bool = False) -> None:
diff --git a/system/manager/manager.py b/system/manager/manager.py
index d70b4d74b7..36e45488f6 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -9,6 +9,7 @@ import traceback
 from cereal import log
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
+from openpilot.common.utils import atomic_write
 from openpilot.common.params import Params, ParamKeyFlag
 from openpilot.common.text_window import TextWindow
 from openpilot.system.hardware import HARDWARE
@@ -168,7 +169,7 @@ def manager_thread() -> None:
     # kick AGNOS power monitoring watchdog
     try:
       if sm.all_checks(['deviceState']):
-        with open("/var/tmp/power_watchdog", "w") as f:
+        with atomic_write("/var/tmp/power_watchdog", "w", overwrite=True) as f:
           f.write(str(time.monotonic()))
     except Exception:
       pass
diff --git a/system/manager/process.py b/system/manager/process.py
index e6b6a44c40..1e24198267 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -67,6 +67,7 @@ class ManagerProcess(ABC):
   enabled = True
   name = ""
   shutting_down = False
+  restart_if_crash = False
 
   @abstractmethod
   def prepare(self) -> None:
@@ -167,13 +168,14 @@ class NativeProcess(ManagerProcess):
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, should_run, enabled=True, sigkill=False):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False, restart_if_crash=False):
     self.name = name
     self.module = module
     self.should_run = should_run
     self.enabled = enabled
     self.sigkill = sigkill
     self.launcher = launcher
+    self.restart_if_crash = restart_if_crash
 
   def prepare(self) -> None:
     if self.enabled:
@@ -252,6 +254,9 @@ 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):
+      if p.restart_if_crash and p.proc is not None and not p.proc.is_alive():
+        cloudlog.error(f'Restarting {p.name} (exitcode {p.proc.exitcode})')
+        p.restart()
       running.append(p)
     else:
       p.stop(block=False)
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 23c7a0116c..793fbc07fa 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -126,7 +126,7 @@ procs = [
   PythonProcess("dmonitoringmodeld", "selfdrive.modeld.dmonitoringmodeld", driverview, enabled=(WEBCAM or not PC)),
 
   PythonProcess("sensord", "system.sensord.sensord", only_onroad, enabled=not PC),
-  PythonProcess("ui", "selfdrive.ui.ui", always_run),
+  PythonProcess("ui", "selfdrive.ui.ui", always_run, restart_if_crash=True),
   PythonProcess("soundd", "selfdrive.ui.soundd", driverview),
   PythonProcess("locationd", "selfdrive.locationd.locationd", only_onroad),
   NativeProcess("_pandad", "selfdrive/pandad", ["./pandad"], always_run, enabled=False),
diff --git a/system/statsd.py b/system/statsd.py
index 17a5e4190e..3a67dd44c2 100755
--- a/system/statsd.py
+++ b/system/statsd.py
@@ -17,7 +17,7 @@ from cereal.messaging import SubMaster
 from openpilot.system.hardware.hw import Paths
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware import HARDWARE
-from openpilot.common.utils import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 from openpilot.system.version import get_build_metadata
 from openpilot.system.loggerd.config import STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
@@ -218,7 +218,7 @@ def main() -> NoReturn:
         if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
           if len(result) > 0:
             stats_path = os.path.join(STATS_DIR, f"{boot_uid}_{idx}")
-            with atomic_write_in_dir(stats_path) as f:
+            with atomic_write(stats_path) as f:
               f.write(result)
             idx += 1
         else:
diff --git a/system/ui/README.md b/system/ui/README.md
index 796d298626..54697dada8 100644
--- a/system/ui/README.md
+++ b/system/ui/README.md
@@ -10,6 +10,7 @@ Quick start:
 * set `BURN_IN=1` to get a burn-in heatmap version of the UI
 * set `GRID=50` to show a 50-pixel alignment grid overlay
 * set `MAGIC_DEBUG=1` to show every dropped frames (only on device)
+* set `RECORD=1` to record the screen, output defaults to `output.mp4` but can be set with `RECORD_OUTPUT`
 * set `SUNNYPILOT_UI=0` to run the stock UI instead of the sunnypilot UI
 * https://www.raylib.com/cheatsheet/cheatsheet.html
 * https://electronstudio.github.io/raylib-python-cffi/README.html#quickstart
diff --git a/system/ui/lib/application.py b/system/ui/lib/application.py
index 60a110293d..20f2d3a424 100644
--- a/system/ui/lib/application.py
+++ b/system/ui/lib/application.py
@@ -7,11 +7,13 @@ import sys
 import pyray as rl
 import threading
 import platform
+import subprocess
 from contextlib import contextmanager
 from collections.abc import Callable
 from collections import deque
 from dataclasses import dataclass
 from enum import StrEnum
+from pathlib import Path
 from typing import NamedTuple
 from importlib.resources import as_file, files
 from openpilot.common.swaglog import cloudlog
@@ -38,6 +40,8 @@ SCALE = float(os.getenv("SCALE", "1.0"))
 GRID_SIZE = int(os.getenv("GRID", "0"))
 PROFILE_RENDER = int(os.getenv("PROFILE_RENDER", "0"))
 PROFILE_STATS = int(os.getenv("PROFILE_STATS", "100"))  # Number of functions to show in profile output
+RECORD = os.getenv("RECORD") == "1"
+RECORD_OUTPUT = str(Path(os.getenv("RECORD_OUTPUT", "output")).with_suffix(".mp4"))
 
 GL_VERSION = """
 #version 300 es
@@ -200,10 +204,15 @@ class GuiApplication(GuiApplicationExt):
     else:
       self._scale = SCALE
 
+    # Scale, then ensure dimensions are even
     self._scaled_width = int(self._width * self._scale)
     self._scaled_height = int(self._height * self._scale)
+    self._scaled_width += self._scaled_width % 2
+    self._scaled_height += self._scaled_height % 2
+
     self._render_texture: rl.RenderTexture | None = None
     self._burn_in_shader: rl.Shader | None = None
+    self._ffmpeg_proc: subprocess.Popen | None = None
     self._textures: dict[str, rl.Texture] = {}
     self._target_fps: int = _DEFAULT_FPS
     self._last_fps_log_time: float = time.monotonic()
@@ -264,12 +273,33 @@ class GuiApplication(GuiApplicationExt):
       rl.set_config_flags(flags)
 
       rl.init_window(self._scaled_width, self._scaled_height, title)
-      needs_render_texture = self._scale != 1.0 or BURN_IN_MODE
+
+      needs_render_texture = self._scale != 1.0 or BURN_IN_MODE or RECORD
       if self._scale != 1.0:
         rl.set_mouse_scale(1 / self._scale, 1 / self._scale)
       if needs_render_texture:
         self._render_texture = rl.load_render_texture(self._width, self._height)
         rl.set_texture_filter(self._render_texture.texture, rl.TextureFilter.TEXTURE_FILTER_BILINEAR)
+
+      if RECORD:
+        ffmpeg_args = [
+          'ffmpeg',
+          '-v', 'warning',          # Reduce ffmpeg log spam
+          '-stats',                 # Show encoding progress
+          '-f', 'rawvideo',         # Input format
+          '-pix_fmt', 'rgba',       # Input pixel format
+          '-s', f'{self._width}x{self._height}',  # Input resolution
+          '-r', str(fps),           # Input frame rate
+          '-i', 'pipe:0',           # Input from stdin
+          '-vf', 'vflip,format=yuv420p',  # Flip vertically and convert rgba to yuv420p
+          '-c:v', 'libx264',        # Video codec
+          '-preset', 'ultrafast',   # Encoding speed
+          '-y',                     # Overwrite existing file
+          '-f', 'mp4',              # Output format
+          RECORD_OUTPUT,            # Output file path
+        ]
+        self._ffmpeg_proc = subprocess.Popen(ffmpeg_args, stdin=subprocess.PIPE)
+
       rl.set_target_fps(fps)
 
       self._target_fps = fps
@@ -314,6 +344,9 @@ class GuiApplication(GuiApplicationExt):
 
   def set_modal_overlay(self, overlay, callback: Callable | None = None):
     if self._modal_overlay.overlay is not None:
+      if hasattr(self._modal_overlay.overlay, 'hide_event'):
+        self._modal_overlay.overlay.hide_event()
+
       if self._modal_overlay.callback is not None:
         self._modal_overlay.callback(-1)
 
@@ -377,6 +410,16 @@ class GuiApplication(GuiApplicationExt):
     rl.unload_image(image)
     return texture
 
+  def close_ffmpeg(self):
+    if self._ffmpeg_proc is not None:
+      self._ffmpeg_proc.stdin.flush()
+      self._ffmpeg_proc.stdin.close()
+      try:
+        self._ffmpeg_proc.wait(timeout=5)
+      except subprocess.TimeoutExpired:
+        self._ffmpeg_proc.terminate()
+        self._ffmpeg_proc.wait()
+
   def close(self):
     if not rl.is_window_ready():
       return
@@ -400,6 +443,8 @@ class GuiApplication(GuiApplicationExt):
     if not PC:
       self._mouse.stop()
 
+    self.close_ffmpeg()
+
     rl.close_window()
 
   @property
@@ -477,6 +522,15 @@ class GuiApplication(GuiApplicationExt):
           self._draw_grid()
 
         rl.end_drawing()
+
+        if RECORD:
+          image = rl.load_image_from_texture(self._render_texture.texture)
+          data_size = image.width * image.height * 4
+          data = bytes(rl.ffi.buffer(image.data, data_size))
+          self._ffmpeg_proc.stdin.write(data)
+          self._ffmpeg_proc.stdin.flush()
+          rl.unload_image(image)
+
         self._monitor_fps()
         self._frame += 1
 
@@ -514,6 +568,8 @@ class GuiApplication(GuiApplicationExt):
         # Clear the overlay and execute the callback
         original_modal = self._modal_overlay
         self._modal_overlay = ModalOverlay()
+        if hasattr(original_modal.overlay, 'hide_event'):
+          original_modal.overlay.hide_event()
         if original_modal.callback is not None:
           original_modal.callback(result)
       return True
@@ -602,6 +658,7 @@ class GuiApplication(GuiApplicationExt):
     # Strict mode: terminate UI if FPS drops too much
     if STRICT_MODE and fps < self._target_fps * FPS_CRITICAL_THRESHOLD:
       cloudlog.error(f"FPS dropped critically below {fps}. Shutting down UI.")
+      self.close_ffmpeg()
       os._exit(1)
 
   def _draw_touch_points(self):
diff --git a/system/ui/lib/egl.py b/system/ui/lib/egl.py
index d119a8a832..69236482b0 100644
--- a/system/ui/lib/egl.py
+++ b/system/ui/lib/egl.py
@@ -128,8 +128,12 @@ def init_egl() -> bool:
 def create_egl_image(width: int, height: int, stride: int, fd: int, uv_offset: int) -> EGLImage | None:
   assert _egl.initialized, "EGL not initialized"
 
-  # Duplicate fd since EGL needs it
-  dup_fd = os.dup(fd)
+  try:
+    # Duplicate fd since EGL needs it
+    dup_fd = os.dup(fd)
+  except OSError as e:
+    cloudlog.exception(f"Failed to duplicate frame fd when creating EGL image: {e}")
+    return None
 
   # Create image attributes for EGL
   img_attrs = [
diff --git a/system/ui/lib/scroll_panel2.py b/system/ui/lib/scroll_panel2.py
index 8d9caadfdd..00ef95cc8b 100644
--- a/system/ui/lib/scroll_panel2.py
+++ b/system/ui/lib/scroll_panel2.py
@@ -8,7 +8,7 @@ from openpilot.system.ui.lib.application import gui_app, MouseEvent
 from openpilot.system.hardware import TICI
 from collections import deque
 
-MIN_VELOCITY = 2  # px/s, changes from auto scroll to steady state
+MIN_VELOCITY = 10  # px/s, changes from auto scroll to steady state
 MIN_VELOCITY_FOR_CLICKING = 2 * 60  # px/s, accepts clicks while auto scrolling below this velocity
 MIN_DRAG_PIXELS = 12
 AUTO_SCROLL_TC_SNAP = 0.025
@@ -67,16 +67,18 @@ class GuiScrollPanel2:
       print()
     return self.get_offset()
 
+  def _get_offset_bounds(self, bounds_size: float, content_size: float) -> tuple[float, float]:
+    """Returns (max_offset, min_offset) for the given bounds and content size."""
+    return 0.0, min(0.0, bounds_size - content_size)
+
   def _update_state(self, bounds_size: float, content_size: float) -> None:
     """Runs per render frame, independent of mouse events. Updates auto-scrolling state and velocity."""
     if self._state == ScrollState.AUTO_SCROLL:
+      max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
       # simple exponential return if out of bounds
-      out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
+      out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
       if out_of_bounds and self._handle_out_of_bounds:
-        if self.get_offset() < (bounds_size - content_size):  # too far right
-          target = bounds_size - content_size
-        else:  # too far left
-          target = 0.0
+        target = max_offset if self.get_offset() > max_offset else min_offset
 
         dt = rl.get_frame_time() or 1e-6
         factor = 1.0 - math.exp(-BOUNCE_RETURN_RATE * dt)
@@ -88,6 +90,7 @@ class GuiScrollPanel2:
         # Steady once we are close enough to the target
         if abs(dist) < 1 and abs(self._velocity) < MIN_VELOCITY:
           self.set_offset(target)
+          self._velocity = 0.0
           self._state = ScrollState.STEADY
 
       elif abs(self._velocity) < MIN_VELOCITY:
@@ -102,7 +105,9 @@ class GuiScrollPanel2:
 
   def _handle_mouse_event(self, mouse_event: MouseEvent, bounds: rl.Rectangle, bounds_size: float,
                           content_size: float) -> None:
-    out_of_bounds = self.get_offset() > 0 or self.get_offset() < (bounds_size - content_size)
+    max_offset, min_offset = self._get_offset_bounds(bounds_size, content_size)
+    # simple exponential return if out of bounds
+    out_of_bounds = self.get_offset() > max_offset or self.get_offset() < min_offset
     if DEBUG:
       print('Mouse event:', mouse_event)
 
@@ -201,8 +206,8 @@ class GuiScrollPanel2:
   def _get_mouse_pos(self, mouse_event: MouseEvent) -> float:
     return mouse_event.pos.x if self._horizontal else mouse_event.pos.y
 
-  def get_offset(self) -> int:
-    return round(self._offset.x if self._horizontal else self._offset.y)
+  def get_offset(self) -> float:
+    return self._offset.x if self._horizontal else self._offset.y
 
   def set_offset(self, value: float) -> None:
     if self._horizontal:
diff --git a/system/ui/mici_setup.py b/system/ui/mici_setup.py
index 316e6c4a8b..4435bd95e3 100755
--- a/system/ui/mici_setup.py
+++ b/system/ui/mici_setup.py
@@ -244,7 +244,7 @@ class TermsPage(Widget):
     pass
 
   def _render(self, _):
-    scroll_offset = self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16)
+    scroll_offset = round(self._scroll_panel.update(self._rect, self._content_height + self._continue_button.rect.height + 16))
 
     if scroll_offset <= self._scrolled_down_offset:
       # don't show back if not enabled
diff --git a/system/ui/widgets/__init__.py b/system/ui/widgets/__init__.py
index 95858ec1b3..546c682f33 100644
--- a/system/ui/widgets/__init__.py
+++ b/system/ui/widgets/__init__.py
@@ -104,46 +104,53 @@ class Widget(abc.ABC):
 
     # Keep track of whether mouse down started within the widget's rectangle
     if self.enabled and self.__was_awake:
-      for mouse_event in gui_app.mouse_events:
-        if not self._multi_touch and mouse_event.slot != 0:
-          continue
-
-        # Ignores touches/presses that start outside our rect
-        # Allows touch to leave the rect and come back in focus if mouse did not release
-        if mouse_event.left_pressed and self._touch_valid():
-          if rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
-            self._handle_mouse_press(mouse_event.pos)
-            self.__is_pressed[mouse_event.slot] = True
-            self.__tracking_is_pressed[mouse_event.slot] = True
-            self._handle_mouse_event(mouse_event)
-
-        # Callback such as scroll panel signifies user is scrolling
-        elif not self._touch_valid():
-          self.__is_pressed[mouse_event.slot] = False
-          self.__tracking_is_pressed[mouse_event.slot] = False
-
-        elif mouse_event.left_released:
-          self._handle_mouse_event(mouse_event)
-          if self.__is_pressed[mouse_event.slot] and rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
-            self._handle_mouse_release(mouse_event.pos)
-          self.__is_pressed[mouse_event.slot] = False
-          self.__tracking_is_pressed[mouse_event.slot] = False
-
-        # Mouse/touch is still within our rect
-        elif rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
-          if self.__tracking_is_pressed[mouse_event.slot]:
-            self.__is_pressed[mouse_event.slot] = True
-            self._handle_mouse_event(mouse_event)
-
-        # Mouse/touch left our rect but may come back into focus later
-        elif not rl.check_collision_point_rec(mouse_event.pos, self._hit_rect):
-          self.__is_pressed[mouse_event.slot] = False
-          self._handle_mouse_event(mouse_event)
+      self._process_mouse_events()
 
     self.__was_awake = device.awake
 
     return ret
 
+  def _process_mouse_events(self) -> None:
+    hit_rect = self._hit_rect
+    touch_valid = self._touch_valid()
+
+    for mouse_event in gui_app.mouse_events:
+      if not self._multi_touch and mouse_event.slot != 0:
+        continue
+
+      mouse_in_rect = rl.check_collision_point_rec(mouse_event.pos, hit_rect)
+      # Ignores touches/presses that start outside our rect
+      # Allows touch to leave the rect and come back in focus if mouse did not release
+      if mouse_event.left_pressed and touch_valid:
+        if mouse_in_rect:
+          self._handle_mouse_press(mouse_event.pos)
+          self.__is_pressed[mouse_event.slot] = True
+          self.__tracking_is_pressed[mouse_event.slot] = True
+          self._handle_mouse_event(mouse_event)
+
+      # Callback such as scroll panel signifies user is scrolling
+      elif not touch_valid:
+        self.__is_pressed[mouse_event.slot] = False
+        self.__tracking_is_pressed[mouse_event.slot] = False
+
+      elif mouse_event.left_released:
+        self._handle_mouse_event(mouse_event)
+        if self.__is_pressed[mouse_event.slot] and mouse_in_rect:
+          self._handle_mouse_release(mouse_event.pos)
+        self.__is_pressed[mouse_event.slot] = False
+        self.__tracking_is_pressed[mouse_event.slot] = False
+
+      # Mouse/touch is still within our rect
+      elif mouse_in_rect:
+        if self.__tracking_is_pressed[mouse_event.slot]:
+          self.__is_pressed[mouse_event.slot] = True
+          self._handle_mouse_event(mouse_event)
+
+      # Mouse/touch left our rect but may come back into focus later
+      elif not mouse_in_rect:
+        self.__is_pressed[mouse_event.slot] = False
+        self._handle_mouse_event(mouse_event)
+
   @abc.abstractmethod
   def _render(self, rect: rl.Rectangle) -> bool | int | None:
     """Render the widget within the given rectangle."""
@@ -359,6 +366,10 @@ class NavWidget(Widget, abc.ABC):
       self._nav_bar.set_position(bar_x, round(self._nav_bar_y_filter.x))
       self._nav_bar.render()
 
+      # draw black above widget when dismissing
+      if self._rect.y > 0:
+        rl.draw_rectangle(int(self._rect.x), 0, int(self._rect.width), int(self._rect.y), rl.BLACK)
+
     return ret
 
   def show_event(self):
diff --git a/system/ui/widgets/label.py b/system/ui/widgets/label.py
index 35e2708e62..97b293083d 100644
--- a/system/ui/widgets/label.py
+++ b/system/ui/widgets/label.py
@@ -179,11 +179,11 @@ class MiciLabel(Widget):
     if self._needs_scroll:
       # draw black fade on left and right
       fade_width = 20
-      rl.draw_rectangle_gradient_h(int(rect.x + rect.width - fade_width), int(rect.y), fade_width, int(rect.height), rl.Color(0, 0, 0, 0), rl.BLACK)
+      rl.draw_rectangle_gradient_h(int(rect.x + rect.width - fade_width), int(rect.y), fade_width, int(rect.height), rl.BLANK, rl.BLACK)
       if self._scroll_state != ScrollState.STARTING:
-        rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), fade_width, int(rect.height), rl.BLACK, rl.Color(0, 0, 0, 0))
+        rl.draw_rectangle_gradient_h(int(rect.x), int(rect.y), fade_width, int(rect.height), rl.BLACK, rl.BLANK)
 
-    rl.end_scissor_mode()
+      rl.end_scissor_mode()
 
 
 # TODO: This should be a Widget class
@@ -412,6 +412,7 @@ class UnifiedLabel(Widget):
                max_width: int | None = None,
                elide: bool = True,
                wrap_text: bool = True,
+               scroll: bool = False,
                line_height: float = 1.0,
                letter_spacing: float = 0.0):
     super().__init__()
@@ -426,10 +427,23 @@ class UnifiedLabel(Widget):
     self._max_width = max_width
     self._elide = elide
     self._wrap_text = wrap_text
+    self._scroll = scroll
     self._line_height = line_height * 0.9
     self._letter_spacing = letter_spacing  # 0.1 = 10%
     self._spacing_pixels = font_size * letter_spacing
 
+    # Scroll state
+    self._scroll = scroll
+    self._needs_scroll = False
+    self._scroll_offset = 0
+    self._scroll_pause_t: float | None = None
+    self._scroll_state: ScrollState = ScrollState.STARTING
+
+    # Scroll mode does not support eliding or multiline wrapping
+    if self._scroll:
+      self._elide = False
+      self._wrap_text = False
+
     # Cached data
     self._cached_text: str | None = None
     self._cached_wrapped_lines: list[str] = []
@@ -446,7 +460,7 @@ class UnifiedLabel(Widget):
   def set_text(self, text: str | Callable[[], str]):
     """Update the text content."""
     self._text = text
-    self._cached_text = None  # Invalidate cache
+    # No need to update cache here, will be done on next render if needed
 
   @property
   def text(self) -> str:
@@ -463,15 +477,17 @@ class UnifiedLabel(Widget):
 
   def set_font_size(self, size: int):
     """Update the font size."""
-    self._font_size = size
-    self._spacing_pixels = size * self._letter_spacing  # Recalculate spacing
-    self._cached_text = None  # Invalidate cache
+    if self._font_size != size:
+      self._font_size = size
+      self._spacing_pixels = size * self._letter_spacing  # Recalculate spacing
+      self._cached_text = None  # Invalidate cache
 
   def set_letter_spacing(self, letter_spacing: float):
     """Update letter spacing (as percentage, e.g., 0.1 = 10%)."""
-    self._letter_spacing = letter_spacing
-    self._spacing_pixels = self._font_size * letter_spacing
-    self._cached_text = None  # Invalidate cache
+    if self._letter_spacing != letter_spacing:
+      self._letter_spacing = letter_spacing
+      self._spacing_pixels = self._font_size * letter_spacing
+      self._cached_text = None  # Invalidate cache
 
   def set_font_weight(self, font_weight: FontWeight):
     """Update the font weight."""
@@ -488,6 +504,12 @@ class UnifiedLabel(Widget):
     """Update the vertical text alignment."""
     self._alignment_vertical = alignment_vertical
 
+  def reset_scroll(self):
+    """Reset scroll state to initial position."""
+    self._scroll_offset = 0
+    self._scroll_pause_t = None
+    self._scroll_state = ScrollState.STARTING
+
   def set_max_width(self, max_width: int | None):
     """Set the maximum width constraint for wrapping/eliding."""
     if self._max_width != max_width:
@@ -526,6 +548,9 @@ class UnifiedLabel(Widget):
     # Elide lines if needed (for width constraint)
     self._cached_wrapped_lines = [self._elide_line(line, content_width) for line in self._cached_wrapped_lines]
 
+    if self._scroll:
+      self._cached_wrapped_lines = self._cached_wrapped_lines[:1]  # Only first line for scrolling
+
     # Process each line: measure and find emojis
     self._cached_line_sizes = []
     self._cached_line_emojis = []
@@ -538,6 +563,11 @@ class UnifiedLabel(Widget):
         size = rl.Vector2(0, self._font_size * FONT_SCALE)
       else:
         size = measure_text_cached(self._font, line, self._font_size, self._spacing_pixels)
+
+      # This is the only line
+      if self._scroll:
+        self._needs_scroll = size.x > content_width
+
       self._cached_line_sizes.append(size)
 
     # Calculate total height
@@ -597,13 +627,13 @@ class UnifiedLabel(Widget):
       return self._cached_total_height
     return 0.0
 
-  def _render(self, rect: rl.Rectangle):
+  def _render(self, _):
     """Render the label."""
-    if rect.width <= 0 or rect.height <= 0:
+    if self._rect.width <= 0 or self._rect.height <= 0:
       return
 
     # Determine available width
-    available_width = rect.width
+    available_width = self._rect.width
     if self._max_width is not None:
       available_width = min(available_width, self._max_width)
 
@@ -631,7 +661,7 @@ class UnifiedLabel(Widget):
       line_height_needed = size.y * self._line_height
 
       # Check if this line fits
-      if current_height + line_height_needed > rect.height:
+      if current_height + line_height_needed > self._rect.height:
         # This line doesn't fit
         if len(visible_lines) == 0:
           # First line doesn't fit by height - still show it (will be clipped by scissor if needed)
@@ -675,51 +705,92 @@ class UnifiedLabel(Widget):
 
     # Calculate vertical alignment offset
     if self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_TOP:
-      start_y = rect.y
+      start_y = self._rect.y
     elif self._alignment_vertical == rl.GuiTextAlignmentVertical.TEXT_ALIGN_BOTTOM:
-      start_y = rect.y + rect.height - total_visible_height
+      start_y = self._rect.y + self._rect.height - total_visible_height
     else:  # TEXT_ALIGN_MIDDLE
-      start_y = rect.y + (rect.height - total_visible_height) / 2
+      start_y = self._rect.y + (self._rect.height - total_visible_height) / 2
+
+    # Only scissor when we know there is a single scrolling line
+    # Pad a little since descenders like g or j may overflow below rect from font_scale
+    if self._needs_scroll:
+      rl.begin_scissor_mode(int(self._rect.x), int(self._rect.y - self._font_size / 2), int(self._rect.width), int(self._rect.height + self._font_size))
 
     # Render each line
     current_y = start_y
     for idx, (line, size, emojis) in enumerate(zip(visible_lines, visible_sizes, visible_emojis, strict=True)):
-      # Calculate horizontal position
-      if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
-        line_x = rect.x + self._text_padding
-      elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
-        line_x = rect.x + (rect.width - size.x) / 2
-      elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
-        line_x = rect.x + rect.width - size.x - self._text_padding
+      if self._needs_scroll:
+        if self._scroll_state == ScrollState.STARTING:
+          if self._scroll_pause_t is None:
+            self._scroll_pause_t = rl.get_time() + 2.0
+          if rl.get_time() >= self._scroll_pause_t:
+            self._scroll_state = ScrollState.SCROLLING
+            self._scroll_pause_t = None
+
+        elif self._scroll_state == ScrollState.SCROLLING:
+          self._scroll_offset -= 0.8 / 60. * gui_app.target_fps
+          # don't fully hide
+          if self._scroll_offset <= -size.x - self._rect.width / 3:
+            self._scroll_offset = 0
+            self._scroll_state = ScrollState.STARTING
+            self._scroll_pause_t = None
       else:
-        line_x = rect.x + self._text_padding
+        self.reset_scroll()
 
-      # Render line with emojis
-      line_pos = rl.Vector2(line_x, current_y)
-      prev_index = 0
+      self._render_line(line, size, emojis, current_y)
 
-      for start, end, emoji in emojis:
-        # Draw text before emoji
-        text_before = line[prev_index:start]
-        if text_before:
-          rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, self._spacing_pixels, self._text_color)
-          width_before = measure_text_cached(self._font, text_before, self._font_size, self._spacing_pixels)
-          line_pos.x += width_before.x
-
-        # Draw emoji
-        tex = emoji_tex(emoji)
-        emoji_scale = self._font_size / tex.height * FONT_SCALE
-        rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color)
-        # Emoji width is font_size * FONT_SCALE (as per measure_text_cached)
-        line_pos.x += self._font_size * FONT_SCALE
-        prev_index = end
-
-      # Draw remaining text after last emoji
-      text_after = line[prev_index:]
-      if text_after:
-        rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color)
+      # Draw 2nd instance for scrolling
+      if self._needs_scroll and self._scroll_state != ScrollState.STARTING:
+        text2_scroll_offset = size.x + self._rect.width / 3
+        self._render_line(line, size, emojis, current_y, text2_scroll_offset)
 
       # Move to next line (if not last line)
       if idx < len(visible_lines) - 1:
         # Use current line's height * line_height for spacing to next line
         current_y += size.y * self._line_height
+
+    if self._needs_scroll:
+      # draw black fade on left and right
+      fade_width = 20
+      rl.draw_rectangle_gradient_h(int(self._rect.x + self._rect.width - fade_width), int(self._rect.y), fade_width, int(self._rect.height), rl.BLANK, rl.BLACK)
+      if self._scroll_state != ScrollState.STARTING:
+        rl.draw_rectangle_gradient_h(int(self._rect.x), int(self._rect.y), fade_width, int(self._rect.height), rl.BLACK, rl.BLANK)
+
+      rl.end_scissor_mode()
+
+  def _render_line(self, line, size, emojis, current_y, x_offset=0.0):
+    # Calculate horizontal position
+    if self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_LEFT:
+      line_x = self._rect.x + self._text_padding
+    elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_CENTER:
+      line_x = self._rect.x + (self._rect.width - size.x) / 2
+    elif self._alignment == rl.GuiTextAlignment.TEXT_ALIGN_RIGHT:
+      line_x = self._rect.x + self._rect.width - size.x - self._text_padding
+    else:
+      line_x = self._rect.x + self._text_padding
+    line_x += self._scroll_offset + x_offset
+
+    # Render line with emojis
+    line_pos = rl.Vector2(line_x, current_y)
+    prev_index = 0
+
+    for start, end, emoji in emojis:
+      # Draw text before emoji
+      text_before = line[prev_index:start]
+      if text_before:
+        rl.draw_text_ex(self._font, text_before, line_pos, self._font_size, self._spacing_pixels, self._text_color)
+        width_before = measure_text_cached(self._font, text_before, self._font_size, self._spacing_pixels)
+        line_pos.x += width_before.x
+
+      # Draw emoji
+      tex = emoji_tex(emoji)
+      emoji_scale = self._font_size / tex.height * FONT_SCALE
+      rl.draw_texture_ex(tex, line_pos, 0.0, emoji_scale, self._text_color)
+      # Emoji width is font_size * FONT_SCALE (as per measure_text_cached)
+      line_pos.x += self._font_size * FONT_SCALE
+      prev_index = end
+
+    # Draw remaining text after last emoji
+    text_after = line[prev_index:]
+    if text_after:
+      rl.draw_text_ex(self._font, text_after, line_pos, self._font_size, self._spacing_pixels, self._text_color)
diff --git a/system/ui/widgets/mici_keyboard.py b/system/ui/widgets/mici_keyboard.py
index a4f4c7d09b..7459dc5731 100644
--- a/system/ui/widgets/mici_keyboard.py
+++ b/system/ui/widgets/mici_keyboard.py
@@ -4,7 +4,7 @@ import numpy as np
 from openpilot.system.ui.lib.application import gui_app, FontWeight, MousePos, MouseEvent
 from openpilot.system.ui.lib.text_measure import measure_text_cached
 from openpilot.system.ui.widgets import Widget
-from openpilot.common.filter_simple import BounceFilter
+from openpilot.common.filter_simple import BounceFilter, FirstOrderFilter
 
 CHAR_FONT_SIZE = 42
 CHAR_NEAR_FONT_SIZE = CHAR_FONT_SIZE * 2
@@ -204,6 +204,7 @@ class MiciKeyboard(Widget):
     self._text: str = ""
 
     self._bg_scale_filter = BounceFilter(1.0, 0.1 * ANIMATION_SCALE, 1 / gui_app.target_fps)
+    self._selected_key_filter = FirstOrderFilter(0.0, 0.075 * ANIMATION_SCALE, 1 / gui_app.target_fps)
 
   def get_candidate_character(self) -> str:
     # return str of character about to be added to text
@@ -309,6 +310,9 @@ class MiciKeyboard(Widget):
     self._text += ' '
 
   def _update_state(self):
+    # update selected key filter
+    self._selected_key_filter.update(self._closest_key[0] is not None)
+
     # unselect key after animation plays
     if self._unselect_key_t is not None and rl.get_time() > self._unselect_key_t:
       self._closest_key = (None, float('inf'))
@@ -335,8 +339,9 @@ class MiciKeyboard(Widget):
           key.set_font_size(SELECTED_CHAR_FONT_SIZE)
 
           # draw black circle behind selected key
+          circle_alpha = int(self._selected_key_filter.x * 225)
           rl.draw_circle_gradient(int(key_x + key.rect.width / 2), int(key_y + key.rect.height / 2),
-                                  SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, 225), rl.BLANK)
+                                  SELECTED_CHAR_FONT_SIZE, rl.Color(0, 0, 0, circle_alpha), rl.BLANK)
         else:
           # move other keys away from selected key a bit
           dx = key.original_position.x - self._closest_key[0].original_position.x
diff --git a/system/ui/widgets/scroller.py b/system/ui/widgets/scroller.py
index 9a04e84257..72f76d90c4 100644
--- a/system/ui/widgets/scroller.py
+++ b/system/ui/widgets/scroller.py
@@ -124,7 +124,7 @@ class Scroller(Widget):
     self.scroll_panel.set_enabled(scroll_enabled and self.enabled)
     self.scroll_panel.update(self._rect, content_size)
     if not self._snap_items:
-      return self.scroll_panel.get_offset()
+      return round(self.scroll_panel.get_offset())
 
     # Snap closest item to center
     center_pos = self._rect.x + self._rect.width / 2 if self._horizontal else self._rect.y + self._rect.height / 2
@@ -224,12 +224,15 @@ class Scroller(Widget):
 
       # Scale each element around its own origin when scrolling
       scale = self._zoom_filter.x
-      rl.rl_push_matrix()
-      rl.rl_scalef(scale, scale, 1.0)
-      rl.rl_translatef((1 - scale) * (x + item.rect.width / 2) / scale,
-                       (1 - scale) * (y + item.rect.height / 2) / scale, 0)
-      item.render()
-      rl.rl_pop_matrix()
+      if scale != 1.0:
+        rl.rl_push_matrix()
+        rl.rl_scalef(scale, scale, 1.0)
+        rl.rl_translatef((1 - scale) * (x + item.rect.width / 2) / scale,
+                        (1 - scale) * (y + item.rect.height / 2) / scale, 0)
+        item.render()
+        rl.rl_pop_matrix()
+      else:
+        item.render()
 
     # Draw scroll indicator
     if SCROLL_BAR and not self._horizontal and len(visible_items) > 0:
diff --git a/system/updated/casync/casync.py b/system/updated/casync/casync.py
index 7a3303a9e9..79ac26f1c6 100755
--- a/system/updated/casync/casync.py
+++ b/system/updated/casync/casync.py
@@ -99,7 +99,7 @@ class DirectoryTarChunkReader(BinaryChunkReader):
     create_casync_tar_package(pathlib.Path(path), pathlib.Path(cache_file))
 
     self.f = open(cache_file, "rb")
-    return super().__init__(self.f)
+    super().__init__(self.f)
 
   def __del__(self):
     self.f.close()
diff --git a/system/updated/tests/test_base.py b/system/updated/tests/test_base.py
index 699a0f0bd3..c4894f2711 100644
--- a/system/updated/tests/test_base.py
+++ b/system/updated/tests/test_base.py
@@ -133,7 +133,7 @@ class TestBaseUpdate:
 class ParamsBaseUpdateTest(TestBaseUpdate):
   def _test_finalized_update(self, branch, version, agnos_version, release_notes):
     assert self.params.get("UpdaterNewDescription").startswith(f"{version} / {branch}")
-    assert self.params.get("UpdaterNewReleaseNotes") == f"{release_notes}\n"
+    assert self.params.get("UpdaterNewReleaseNotes") == f"{release_notes}\n".encode()
     super()._test_finalized_update(branch, version, agnos_version, release_notes)
 
   def send_check_for_updates_signal(self, updated: ManagerProcess):
diff --git a/system/version.py b/system/version.py
index 84d6b75591..8a0e2da3e2 100755
--- a/system/version.py
+++ b/system/version.py
@@ -13,7 +13,7 @@ from openpilot.common.git import get_commit, get_origin, get_branch, get_short_b
 RELEASE_SP_BRANCHES = ['release-c3', 'release', 'release-tizi', 'release-tici', 'release-tizi-staging', 'release-tici-staging']
 TESTED_SP_BRANCHES = ['staging-c3', 'staging-c3-new', 'staging']
 MASTER_SP_BRANCHES = ['master']
-RELEASE_BRANCHES = ['release-tizi-staging', 'release-tici', 'release-tizi', 'nightly']
+RELEASE_BRANCHES = ['release-tizi-staging', 'release-mici-staging', 'release-tizi', 'release-mici', 'nightly']
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel-staging', 'nightly-dev'] + RELEASE_SP_BRANCHES + TESTED_SP_BRANCHES
 
 SP_BRANCH_MIGRATIONS = {
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index eb0af5b64a..b5a68c6b26 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -275,16 +275,13 @@ void BinaryViewModel::refresh() {
     row_count = can->lastMessage(msg_id).dat.size();
     items.resize(row_count * column_count);
   }
-  int valid_rows = std::min<int>(can->lastMessage(msg_id).dat.size(), row_count);
-  for (int i = 0; i < valid_rows * column_count; ++i) {
-    items[i].valid = true;
-  }
   endResetModel();
   updateState();
 }
 
 void BinaryViewModel::updateItem(int row, int col, uint8_t val, const QColor &color) {
   auto &item = items[row * column_count + col];
+  item.valid = true;
   if (item.val != val || item.bg_color != color) {
     item.val = val;
     item.bg_color = color;
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
index 3e9e452b90..aba25dcf83 100644
--- a/tools/cabana/chart/chartswidget.cc
+++ b/tools/cabana/chart/chartswidget.cc
@@ -322,6 +322,32 @@ void ChartsWidget::splitChart(ChartView *src_chart) {
   }
 }
 
+QStringList ChartsWidget::serializeChartIds() const {
+  QStringList chart_ids;
+  for (auto c : charts) {
+    QStringList ids;
+    for (const auto& s : c->sigs)
+      ids += QString("%1|%2").arg(s.msg_id.toString(), s.sig->name);
+    chart_ids += ids.join(',');
+  }
+  std::reverse(chart_ids.begin(), chart_ids.end());
+  return chart_ids;
+}
+
+void ChartsWidget::restoreChartsFromIds(const QStringList& chart_ids) {
+  for (const auto& chart_id : chart_ids) {
+    int index = 0;
+    for (const auto& part : chart_id.split(',')) {
+      const auto sig_parts = part.split('|');
+      if (sig_parts.size() != 2) continue;
+      MessageId msg_id = MessageId::fromString(sig_parts[0]);
+      if (auto* msg = dbc()->msg(msg_id))
+        if (auto* sig = msg->sig(sig_parts[1]))
+          showChart(msg_id, sig, true, index++ > 0);
+    }
+  }
+}
+
 void ChartsWidget::setColumnCount(int n) {
   n = std::clamp(n, 1, MAX_COLUMN_COUNT);
   if (column_count != n) {
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
index 46e7f546b0..f87b1276c5 100644
--- a/tools/cabana/chart/chartswidget.h
+++ b/tools/cabana/chart/chartswidget.h
@@ -43,6 +43,8 @@ public:
   ChartsWidget(QWidget *parent = nullptr);
   void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
   inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; }
+  QStringList serializeChartIds() const;
+  void restoreChartsFromIds(const QStringList &chart_ids);
 
 public slots:
   void setColumnCount(int n);
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
index d2b25bc5f2..134d88a919 100644
--- a/tools/cabana/dbc/dbc.h
+++ b/tools/cabana/dbc/dbc.h
@@ -20,6 +20,12 @@ struct MessageId {
     return QString("%1:%2").arg(source).arg(QString::number(address, 16).toUpper());
   }
 
+  inline static MessageId fromString(const QString &str) {
+    auto parts = str.split(':');
+    if (parts.size() != 2) return {};
+    return MessageId{.source = uint8_t(parts[0].toUInt()), .address = parts[1].toUInt(nullptr, 16)};
+  }
+
   bool operator==(const MessageId &other) const {
     return source == other.source && address == other.address;
   }
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index 4eda46f37b..35492c8efa 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -118,10 +118,7 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
   }
 }
 
-void DetailWidget::setMessage(const MessageId &message_id) {
-  if (std::exchange(msg_id, message_id) == message_id) return;
-
-  tabbar->blockSignals(true);
+int DetailWidget::findOrAddTab(const MessageId& message_id) {
   int index = tabbar->count() - 1;
   for (/**/; index >= 0; --index) {
     if (tabbar->tabData(index).value<MessageId>() == message_id) break;
@@ -131,6 +128,14 @@ void DetailWidget::setMessage(const MessageId &message_id) {
     tabbar->setTabData(index, QVariant::fromValue(message_id));
     tabbar->setTabToolTip(index, msgName(message_id));
   }
+  return index;
+}
+
+void DetailWidget::setMessage(const MessageId &message_id) {
+  if (std::exchange(msg_id, message_id) == message_id) return;
+
+  tabbar->blockSignals(true);
+  int index = findOrAddTab(message_id);
   tabbar->setCurrentIndex(index);
   tabbar->blockSignals(false);
 
@@ -142,6 +147,29 @@ void DetailWidget::setMessage(const MessageId &message_id) {
   setUpdatesEnabled(true);
 }
 
+std::pair<QString, QStringList> DetailWidget::serializeMessageIds() const {
+  QStringList msgs;
+  for (int i = 0; i < tabbar->count(); ++i) {
+    MessageId id = tabbar->tabData(i).value<MessageId>();
+    msgs.append(id.toString());
+  }
+  return std::make_pair(msg_id.toString(), msgs);
+}
+
+void DetailWidget::restoreTabs(const QString active_msg_id, const QStringList& msg_ids) {
+  tabbar->blockSignals(true);
+  for (const auto& str_id : msg_ids) {
+    MessageId id = MessageId::fromString(str_id);
+    if (dbc()->msg(id) != nullptr)
+      findOrAddTab(id);
+  }
+  tabbar->blockSignals(false);
+
+  auto active_id = MessageId::fromString(active_msg_id);
+  if (dbc()->msg(active_id) != nullptr)
+    setMessage(active_id);
+}
+
 void DetailWidget::refresh() {
   QStringList warnings;
   auto msg = dbc()->msg(msg_id);
@@ -244,13 +272,13 @@ CenterWidget::CenterWidget(QWidget *parent) : QWidget(parent) {
   main_layout->addWidget(welcome_widget = createWelcomeWidget());
 }
 
-void CenterWidget::setMessage(const MessageId &msg_id) {
+DetailWidget* CenterWidget::ensureDetailWidget() {
   if (!detail_widget) {
     delete welcome_widget;
     welcome_widget = nullptr;
     layout()->addWidget(detail_widget = new DetailWidget(((MainWindow*)parentWidget())->charts_widget, this));
   }
-  detail_widget->setMessage(msg_id);
+  return detail_widget;
 }
 
 void CenterWidget::clear() {
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 6df164b442..0fe1535c7a 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -34,9 +34,12 @@ public:
   DetailWidget(ChartsWidget *charts, QWidget *parent);
   void setMessage(const MessageId &message_id);
   void refresh();
+  std::pair<QString, QStringList> serializeMessageIds() const;
+  void restoreTabs(const QString active_msg_id, const QStringList &msg_ids);
 
 private:
   void createToolBar();
+  int findOrAddTab(const MessageId& message_id);
   void showTabBarContextMenu(const QPoint &pt);
   void editMsg();
   void removeMsg();
@@ -60,7 +63,9 @@ class CenterWidget : public QWidget {
   Q_OBJECT
 public:
   CenterWidget(QWidget *parent);
-  void setMessage(const MessageId &msg_id);
+  void setMessage(const MessageId &message_id) { ensureDetailWidget()->setMessage(message_id); }
+  DetailWidget* getDetailWidget() { return detail_widget; }
+  DetailWidget* ensureDetailWidget();
   void clear();
 
 private:
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index d65fc5b760..1ea3733ed0 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -235,6 +235,8 @@ void MainWindow::DBCFileChanged() {
     title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
   }
   setWindowFilePath(title.join(" | "));
+
+  QTimer::singleShot(0, this, &::MainWindow::restoreSessionState);
 }
 
 void MainWindow::selectAndOpenStream() {
@@ -311,11 +313,19 @@ void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
 }
 
 void MainWindow::openStream(AbstractStream *stream, const QString &dbc_file) {
+  if (can) {
+    QObject::connect(can, &QObject::destroyed, this, [=]() { startStream(stream, dbc_file); });
+    can->deleteLater();
+  } else {
+    startStream(stream, dbc_file);
+  }
+}
+
+void MainWindow::startStream(AbstractStream *stream, QString dbc_file) {
   center_widget->clear();
   delete messages_widget;
   delete video_splitter;
 
-  delete can;
   can = stream;
   can->setParent(this);  // take ownership
   can->start();
@@ -563,6 +573,7 @@ void MainWindow::closeEvent(QCloseEvent *event) {
     settings.message_header_state = messages_widget->saveHeaderState();
   }
 
+  saveSessionState();
   QWidget::closeEvent(event);
 }
 
@@ -607,6 +618,39 @@ void MainWindow::toggleFullScreen() {
   }
 }
 
+void MainWindow::saveSessionState() {
+  settings.recent_dbc_file = "";
+  settings.active_msg_id = "";
+  settings.selected_msg_ids.clear();
+  settings.active_charts.clear();
+
+  for (auto &f : dbc()->allDBCFiles())
+    if (!f->isEmpty()) { settings.recent_dbc_file = f->filename; break; }
+
+  if (auto *detail = center_widget->getDetailWidget()) {
+    auto [active_id, ids] = detail->serializeMessageIds();
+    settings.active_msg_id = active_id;
+    settings.selected_msg_ids = ids;
+  }
+  if (charts_widget)
+    settings.active_charts = charts_widget->serializeChartIds();
+}
+
+void MainWindow::restoreSessionState() {
+  if (settings.recent_dbc_file.isEmpty() || dbc()->nonEmptyDBCCount() == 0) return;
+
+  QString dbc_file;
+  for (auto& f : dbc()->allDBCFiles())
+    if (!f->isEmpty()) { dbc_file = f->filename; break; }
+  if (dbc_file != settings.recent_dbc_file) return;
+
+  if (!settings.selected_msg_ids.isEmpty())
+    center_widget->ensureDetailWidget()->restoreTabs(settings.active_msg_id, settings.selected_msg_ids);
+
+  if (charts_widget != nullptr && !settings.active_charts.empty())
+    charts_widget->restoreChartsFromIds(settings.active_charts);
+}
+
 // HelpOverlay
 HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) {
   setAttribute(Qt::WA_NoSystemBackground, true);
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 9bc94c090f..92c2714ae7 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -44,6 +44,7 @@ signals:
   void updateProgressBar(uint64_t cur, uint64_t total, bool success);
 
 protected:
+  void startStream(AbstractStream *stream, QString dbc_file);
   bool eventFilter(QObject *obj, QEvent *event) override;
   void remindSaveChanges();
   void closeFile(SourceSet s = SOURCE_ALL);
@@ -72,6 +73,8 @@ protected:
   void updateLoadSaveMenus();
   void createDockWidgets();
   void eventsMerged();
+  void saveSessionState();
+  void restoreSessionState();
 
   VideoWidget *video_widget = nullptr;
   QDockWidget *video_dock;
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index cccc9b6d9a..e7b1129a30 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -41,6 +41,10 @@ void settings_op(SettingOperation op) {
   op(s, "log_path", settings.log_path);
   op(s, "drag_direction", (int &)settings.drag_direction);
   op(s, "suppress_defined_signals", settings.suppress_defined_signals);
+  op(s, "recent_dbc_file", settings.recent_dbc_file);
+  op(s, "active_msg_id", settings.active_msg_id);
+  op(s, "selected_msg_ids", settings.selected_msg_ids);
+  op(s, "active_charts", settings.active_charts);
 }
 
 Settings::Settings() {
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index e75c519ac7..7ab50d1494 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -46,6 +46,12 @@ public:
   QByteArray message_header_state;
   DragDirection drag_direction = MsbFirst;
 
+  // session data
+  QString recent_dbc_file;
+  QString active_msg_id;
+  QStringList selected_msg_ids;
+  QStringList active_charts;
+
 signals:
   void changed();
 };
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index cdbaca32cf..c2db249cf2 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -1,5 +1,5 @@
 #!/usr/bin/env bash
-set -e
+set -euo pipefail
 
 # Increase the pip timeout to handle TimeoutError
 export PIP_DEFAULT_TIMEOUT=200
@@ -10,7 +10,7 @@ cd "$ROOT"
 
 if ! command -v "uv" > /dev/null 2>&1; then
   echo "installing uv..."
-  curl -LsSf https://astral.sh/uv/install.sh | sh
+  curl -LsSf --retry 5 --retry-delay 5 --retry-all-errors https://astral.sh/uv/install.sh | sh
   UV_BIN="$HOME/.local/bin"
   PATH="$UV_BIN:$PATH"
 fi
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index ee9ee294bb..f5418be81a 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -1,4 +1,5 @@
 import os
+import io
 import posixpath
 import socket
 from functools import cache
@@ -41,9 +42,17 @@ def file_exists(fn):
     return URLFile(fn).get_length_online() != -1
   return os.path.exists(fn)
 
+class DiskFile(io.BufferedReader):
+  def get_multi_range(self, ranges: list[tuple[int, int]]) -> list[bytes]:
+    parts = []
+    for r in ranges:
+      self.seek(r[0])
+      parts.append(self.read(r[1] - r[0]))
+    return parts
 
-def FileReader(fn, debug=False):
+def FileReader(fn):
   fn = resolve_name(fn)
   if fn.startswith(("http://", "https://")):
-    return URLFile(fn, debug=debug)
-  return open(fn, "rb")
+    return URLFile(fn)
+  else:
+    return DiskFile(open(fn, "rb"))
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 8d84cdbd5d..f9a90490b9 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -181,6 +181,8 @@ def auto_source(identifier: str, sources: list[Source], default_mode: ReadMode)
         # We've found all files, return them
         if len(needed_seg_idxs) == 0:
           return cast(list[str], list(valid_files.values()))
+        else:
+          raise FileNotFoundError(f"Did not find {fn} for seg idxs {needed_seg_idxs} of {sr.route_name}")
 
       except Exception as e:
         exceptions[source.__name__] = e
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index 31c1e0ff11..c791444f74 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -1,14 +1,15 @@
+import re
 import logging
 import os
 import socket
-import time
 from hashlib import sha256
 from urllib3 import PoolManager, Retry
 from urllib3.response import BaseHTTPResponse
 from urllib3.util import Timeout
 
-from openpilot.common.utils import atomic_write_in_dir
+from openpilot.common.utils import atomic_write
 from openpilot.system.hardware.hw import Paths
+from urllib3.exceptions import MaxRetryError
 
 #  Cache chunk size
 K = 1000
@@ -40,12 +41,11 @@ class URLFile:
       URLFile._pool_manager = PoolManager(num_pools=10, maxsize=100, socket_options=socket_options, retries=retries)
     return URLFile._pool_manager
 
-  def __init__(self, url: str, timeout: int = 10, debug: bool = False, cache: bool | None = None):
+  def __init__(self, url: str, timeout: int = 10, cache: bool | None = None):
     self._url = url
     self._timeout = Timeout(connect=timeout, read=timeout)
     self._pos = 0
     self._length: int | None = None
-    self._debug = debug
     #  True by default, false if FILEREADER_CACHE is defined, but can be overwritten by the cache input
     self._force_download = not int(os.environ.get("FILEREADER_CACHE", "0"))
     if cache is not None:
@@ -61,7 +61,10 @@ class URLFile:
     pass
 
   def _request(self, method: str, url: str, headers: dict[str, str] | None = None) -> BaseHTTPResponse:
-    return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)
+    try:
+      return URLFile.pool_manager().request(method, url, timeout=self._timeout, headers=headers)
+    except MaxRetryError as e:
+      raise URLFileException(f"Failed to {method} {url}: {e}") from e
 
   def get_length_online(self) -> int:
     response = self._request('HEAD', self._url)
@@ -83,7 +86,7 @@ class URLFile:
 
     self._length = self.get_length_online()
     if not self._force_download and self._length != -1:
-      with atomic_write_in_dir(file_length_path, mode="w", overwrite=True) as file_length:
+      with atomic_write(file_length_path, mode="w", overwrite=True) as file_length:
         file_length.write(str(self._length))
     return self._length
 
@@ -106,7 +109,7 @@ class URLFile:
       #  If we don't have a file, download it
       if not os.path.exists(full_path):
         data = self.read_aux(ll=CHUNK_SIZE)
-        with atomic_write_in_dir(full_path, mode="wb", overwrite=True) as new_cached_file:
+        with atomic_write(full_path, mode="wb", overwrite=True) as new_cached_file:
           new_cached_file.write(data)
       else:
         with open(full_path, "rb") as cached_file:
@@ -120,39 +123,45 @@ class URLFile:
         return response
 
   def read_aux(self, ll: int | None = None) -> bytes:
-    download_range = False
-    headers = {}
-    if self._pos != 0 or ll is not None:
-      if ll is None:
-        end = self.get_length() - 1
-      else:
-        end = min(self._pos + ll, self.get_length()) - 1
-      if self._pos >= end:
-        return b""
-      headers['Range'] = f"bytes={self._pos}-{end}"
-      download_range = True
+    if ll is None:
+      length = self.get_length()
+      if length == -1:
+        raise URLFileException(f"Remote file is empty or doesn't exist: {self._url}")
+      end = length
+    else:
+      end = self._pos + ll
+    data = self.get_multi_range([(self._pos, end)])
+    self._pos += len(data[0])
+    return data[0]
 
-    if self._debug:
-      t1 = time.monotonic()
+  def get_multi_range(self, ranges: list[tuple[int, int]]) -> list[bytes]:
+    # HTTP range requests are inclusive
+    assert all(e > s for s, e in ranges), "Range end must be greater than start"
+    rs = [f"{s}-{e-1}" for s, e in ranges if e > s]
 
-    response = self._request('GET', self._url, headers=headers)
-    ret = response.data
+    r = self._request("GET", self._url, headers={"Range": "bytes=" + ",".join(rs)})
+    if r.status not in [200, 206]:
+      raise URLFileException(f"Expected 206 or 200 response {r.status} ({self._url})")
 
-    if self._debug:
-      t2 = time.monotonic()
-      if t2 - t1 > 0.1:
-        print(f"get {self._url} {headers!r} {t2 - t1:.3f} slow")
+    ctype = (r.headers.get("content-type") or "").lower()
+    if "multipart/byteranges" not in ctype:
+      return [r.data,]
 
-    response_code = response.status
-    if response_code == 416:  # Requested Range Not Satisfiable
-      raise URLFileException(f"Error, range out of bounds {response_code} {headers} ({self._url}): {repr(ret)[:500]}")
-    if download_range and response_code != 206:  # Partial Content
-      raise URLFileException(f"Error, requested range but got unexpected response {response_code} {headers} ({self._url}): {repr(ret)[:500]}")
-    if (not download_range) and response_code != 200:  # OK
-      raise URLFileException(f"Error {response_code} {headers} ({self._url}): {repr(ret)[:500]}")
+    m = re.search(r'boundary="?([^";]+)"?', ctype)
+    if not m:
+      raise URLFileException(f"Missing multipart boundary ({self._url})")
+    boundary = m.group(1).encode()
 
-    self._pos += len(ret)
-    return ret
+    parts = []
+    for chunk in r.data.split(b"--" + boundary):
+      if b"\r\n\r\n" not in chunk:
+        continue
+      payload = chunk.split(b"\r\n\r\n", 1)[1].rstrip(b"\r\n")
+      if payload and payload != b"--":
+        parts.append(payload)
+    if len(parts) != len(ranges):
+      raise URLFileException(f"Expected {len(ranges)} parts, got {len(parts)} ({self._url})")
+    return parts
 
   def seek(self, pos: int) -> None:
     self._pos = pos
diff --git a/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index bdbdb3e841..a57c8a125d 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -117,7 +117,12 @@ void ConsoleUI::initWindows() {
     w[Win::Log] = newwin(log_height - 2, max_width - 2 * BORDER_SIZE, 18, BORDER_SIZE);
     scrollok(w[Win::Log], true);
   }
-  w[Win::Help] = newwin(5, max_width - (2 * BORDER_SIZE), max_height - 6, BORDER_SIZE);
+  if (max_height >= 23) {
+    w[Win::Help] = newwin(5, max_width - (2 * BORDER_SIZE), max_height - 6, BORDER_SIZE);
+  } else if (max_height >= 17) {
+    w[Win::Help] = newwin(1, max_width - (2 * BORDER_SIZE), max_height - 1, BORDER_SIZE);
+    mvwprintw(w[Win::Help], 0, 0, "Expand screen vertically to list available commands");
+  }
 
   // set the title bar
   wbkgd(w[Win::Title], A_REVERSE);
@@ -126,7 +131,7 @@ void ConsoleUI::initWindows() {
   // show windows on the real screen
   refresh();
   displayTimelineDesc();
-  displayHelp();
+  if (max_height >= 23) displayHelp();
   updateSummary();
   updateTimeline();
   for (auto win : w) {
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index c9ab7e7e2b..cc105dd10e 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -31,6 +31,8 @@ void Replay::setupServices(const std::vector<std::string> &allow, const std::vec
   sockets_.resize(event_schema.getUnionFields().size(), nullptr);
 
   std::vector<const char *> active_services;
+  active_services.reserve(services.size());
+
   for (const auto &[name, _] : services) {
     bool is_blocked = std::find(block.begin(), block.end(), name) != block.end();
     bool is_allowed = allow.empty() || std::find(allow.begin(), allow.end(), name) != allow.end();
@@ -40,7 +42,9 @@ void Replay::setupServices(const std::vector<std::string> &allow, const std::vec
       active_services.push_back(name.c_str());
     }
   }
-  rInfo("active services: %s", join(active_services, ", ").c_str());
+
+  std::string services_str = join(active_services, ", ");
+  rInfo("active services: %s", services_str.c_str());
   if (!sm_) {
     pm_ = std::make_unique<PubMaster>(active_services);
   }
@@ -59,7 +63,6 @@ void Replay::setupSegmentManager(bool has_filters) {
 }
 
 Replay::~Replay() {
-  seg_mgr_.reset();
   if (stream_thread_.joinable()) {
     rInfo("shutdown: in progress...");
     interruptStream([this]() {
@@ -70,6 +73,7 @@ Replay::~Replay() {
     rInfo("shutdown: done");
   }
   camera_server_.reset();
+  seg_mgr_.reset();
 }
 
 bool Replay::load() {
diff --git a/tools/replay/seg_mgr.cc b/tools/replay/seg_mgr.cc
index ee034fb083..f4e865d476 100644
--- a/tools/replay/seg_mgr.cc
+++ b/tools/replay/seg_mgr.cc
@@ -91,7 +91,8 @@ bool SegmentManager::mergeSegments(const SegmentMap::iterator &begin, const Segm
   auto &merged_events = merged_event_data->events;
   merged_events.reserve(total_event_count);
 
-  rDebug("merging segments: %s", join(segments_to_merge, ", ").c_str());
+  std::string segments_str = join(segments_to_merge, ", ");
+  rDebug("merging segments: %s", segments_str.c_str());
   for (int n : segments_to_merge) {
     const auto &events = segments_.at(n)->log->events;
     if (events.empty()) continue;
diff --git a/tools/setup.sh b/tools/setup.sh
index e0a9a4f6a6..fd7efcee90 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -1,6 +1,5 @@
 #!/usr/bin/env bash
-
-set -e
+set -euo pipefail
 
 RED='\033[0;31m'
 GREEN='\033[0;32m'
diff --git a/uv.lock b/uv.lock
index c34a6d9b71..b179517e0b 100644
--- a/uv.lock
+++ b/uv.lock
@@ -371,6 +371,41 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/0c/58/bd257695f39d05594ca4ad60df5bcb7e32247f9951fd09a9b8edb82d1daa/contourpy-1.3.3-pp311-pypy311_pp73-win_amd64.whl", hash = "sha256:3d1a3799d62d45c18bafd41c5fa05120b96a28079f2393af559b843d1a966a77", size = 225315, upload-time = "2025-07-26T12:02:58.801Z" },
 ]
 
+[[package]]
+name = "coverage"
+version = "7.12.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/89/26/4a96807b193b011588099c3b5c89fbb05294e5b90e71018e065465f34eb6/coverage-7.12.0.tar.gz", hash = "sha256:fc11e0a4e372cb5f282f16ef90d4a585034050ccda536451901abfb19a57f40c", size = 819341, upload-time = "2025-11-18T13:34:20.766Z" }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/5a/0c/0dfe7f0487477d96432e4815537263363fb6dd7289743a796e8e51eabdf2/coverage-7.12.0-cp311-cp311-macosx_10_9_x86_64.whl", hash = "sha256:aa124a3683d2af98bd9d9c2bfa7a5076ca7e5ab09fdb96b81fa7d89376ae928f", size = 217535, upload-time = "2025-11-18T13:32:08.812Z" },
+    { url = "https://files.pythonhosted.org/packages/9b/f5/f9a4a053a5bbff023d3bec259faac8f11a1e5a6479c2ccf586f910d8dac7/coverage-7.12.0-cp311-cp311-macosx_11_0_arm64.whl", hash = "sha256:d93fbf446c31c0140208dcd07c5d882029832e8ed7891a39d6d44bd65f2316c3", size = 218044, upload-time = "2025-11-18T13:32:10.329Z" },
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 version = "1.7"
@@ -1349,6 +1384,7 @@ docs = [
 ]
 testing = [
     { name = "codespell" },
+    { name = "coverage" },
     { name = "hypothesis" },
     { name = "mypy" },
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@@ -1364,7 +1400,7 @@ testing = [
     { name = "ruff" },
 ]
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+    { name = "dearpygui", marker = "platform_machine != 'aarch64' or sys_platform != 'linux'" },
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     { name = "cffi" },
     { name = "codespell", marker = "extra == 'testing'" },
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