diff --git a/.devcontainer/.gitignore b/.devcontainer/.gitignore
deleted file mode 100644
index 5682fe1190..0000000000
--- a/.devcontainer/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-.Xauthority
-.env
-.host/
\ No newline at end of file
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
deleted file mode 100644
index 53a06f6f31..0000000000
--- a/.devcontainer/Dockerfile
+++ /dev/null
@@ -1,18 +0,0 @@
-FROM ghcr.io/commaai/openpilot-base:latest
-
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa gdb bash-completion
-RUN python3 -m ensurepip --upgrade
-RUN pip3 install ipython jupyter jupyterlab
-
-RUN cd /tmp && \
-    ARCH=$(arch | sed s/aarch64/arm64/ | sed s/x86_64/amd64/) && \
-    curl -L -o virtualgl.deb "https://github.com/VirtualGL/virtualgl/releases/download/3.1.1/virtualgl_3.1.1_$ARCH.deb" && \
-    dpkg -i virtualgl.deb
-
-RUN usermod -aG video batman
-
-USER batman
-
-RUN cd $HOME && \
-    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
-    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc
diff --git a/.devcontainer/container_post_create.sh b/.devcontainer/container_post_create.sh
deleted file mode 100755
index dee1c61101..0000000000
--- a/.devcontainer/container_post_create.sh
+++ /dev/null
@@ -1,38 +0,0 @@
-#!/usr/bin/env bash
-
-TARGET_USER=batman
-source .devcontainer/.host/.env
-
-# override display flag for mac hosts
-if [[ $HOST_OS == darwin ]]; then
-  echo "Setting up DISPLAY override for macOS..."
-  cat <<EOF >> /home/$TARGET_USER/.bashrc
-source .devcontainer/.host/.env
-if [ -n "\$HOST_DISPLAY" ]; then
-  DISPLAY_NUM=\$(echo "\$HOST_DISPLAY" | awk -F: '{print \$NF}')
-  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
-fi
-EOF
-fi
-
-# setup virtualgl for mac hosts
-if [[ $HOST_OS == darwin ]]; then
-  echo "Setting up virtualgl for macOS..."
-  cat <<EOF >> /home/$TARGET_USER/.bashrc
-if [ -n "\$HOST_DISPLAY" ]; then
-  export VGL_PORT=10000
-  export VGL_CLIENT=host.docker.internal
-  export VGL_COMPRESS=rgb
-  export VGL_DISPLAY=:99
-  export VGL_FPS=60
-  # prevent vglrun from running exec
-  alias exec=:; source vglrun :; unalias exec
-fi
-EOF
-fi
-
-# These lines are temporary, to remain backwards compatible with old devcontainers
-# that were running as root and therefore had their caches written as root
-sudo chown -R $TARGET_USER: /tmp/scons_cache
-sudo chown -R $TARGET_USER: /tmp/comma_download_cache
-sudo chown -R $TARGET_USER: /home/batman/.comma
diff --git a/.devcontainer/container_post_start.sh b/.devcontainer/container_post_start.sh
deleted file mode 100755
index 1521b9c3fb..0000000000
--- a/.devcontainer/container_post_start.sh
+++ /dev/null
@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-
-source .devcontainer/.host/.env
-
-# setup safe directories for submodules
-SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
-for DIR in $SUBMODULE_DIRS; do 
-  git config --global --add safe.directory "$PWD/$DIR"
-done
-
-# virtual display for virtualgl
-if [[ "$HOST_OS" == "darwin" ]] && [[ -n "$HOST_DISPLAY" ]]; then
-  echo "Starting virtual display at :99 ..."
-  tmux new-session -d -s fakedisplay Xvfb :99 -screen 0 1920x1080x24
-fi
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
deleted file mode 100644
index 3f5b38d12e..0000000000
--- a/.devcontainer/devcontainer.json
+++ /dev/null
@@ -1,53 +0,0 @@
-{
-  "name": "openpilot devcontainer",
-  "build": {
-    "dockerfile": "Dockerfile"
-  },
-  "postCreateCommand": ".devcontainer/container_post_create.sh",
-  "postStartCommand": ".devcontainer/container_post_start.sh",
-  "initializeCommand": [".devcontainer/host_setup"],
-  "privileged": true,
-  "containerEnv": {
-    "DISPLAY": "${localEnv:DISPLAY}",
-    "PYTHONPATH": "${containerWorkspaceFolder}",
-    "TERM": "xterm-256color",
-    "force_color_prompt": "1"
-  },
-  "runArgs": [
-    "--volume=/dev:/dev",
-    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
-    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
-    "--volume=${localEnv:HOME}/.azure:/home/batman/.azure",
-    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
-    "--shm-size=1G",
-    "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux
-    "--publish=0.0.0.0:8070-8079:8070-8079"  // body ZMQ services
-  ],
-  "features": {
-    "ghcr.io/devcontainers/features/common-utils:2": {
-      "installZsh": false,
-      "installOhMyZsh": false,
-      "upgradePackages": false,
-      "username": "batman"
-    },
-    "ghcr.io/devcontainers-contrib/features/gh-cli:1": {},
-    "ghcr.io/devcontainers/features/azure-cli:1": {}
-  },
-  "containerUser": "batman",
-  "remoteUser": "batman",
-  "customizations": {
-    "vscode": {
-      "extensions": [
-        "ms-python.python",
-        "ms-vscode.cpptools",
-        "ms-toolsai.jupyter",
-        "guyskk.language-cython",
-        "lharri73.dbc"
-      ]
-    }
-  },
-  "mounts": [
-    "type=volume,source=scons_cache,target=/tmp/scons_cache"
-  ]
-}
diff --git a/.devcontainer/host_setup b/.devcontainer/host_setup
deleted file mode 100755
index 8ff81ebe42..0000000000
--- a/.devcontainer/host_setup
+++ /dev/null
@@ -1,47 +0,0 @@
-#!/usr/bin/env bash
-
-# pull base image
-if [[ -z $USE_LOCAL_IMAGE ]]; then
-  echo "Updating openpilot_base image if needed..."
-  docker pull ghcr.io/commaai/openpilot-base:latest
-fi
-
-# setup .host dir
-mkdir -p .devcontainer/.host
-
-# setup links to Xauthority
-XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
-rm -f $XAUTHORITY_LINK
-if [[ -z $XAUTHORITY ]]; then
-  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
-  if ! [[ -f $HOME/.Xauthority ]]; then
-    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
-    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
-  else
-    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
-  fi
-else
-    ln -sf $XAUTHORITY $XAUTHORITY_LINK
-fi
-
-# setup host env file
-HOST_INFO_FILE=".devcontainer/.host/.env"
-SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
-echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE
-echo "HOST_DISPLAY=\"$DISPLAY\"" >> $HOST_INFO_FILE
-
-# run virtualgl if macos
-if [[ $SYSTEM == "darwin" ]]; then
-  echo
-  if [[ -f /opt/VirtualGL/bin/vglclient ]]; then
-    echo "Starting VirtualGL client at port 10000..."
-    VGL_LOG_FILE=".devcontainer/.host/.vgl/vglclient.log"
-    mkdir -p "$(dirname $VGL_LOG_FILE)"
-    /opt/VirtualGL/bin/vglclient -l "$VGL_LOG_FILE" -display "$DISPLAY" -port 10000 -detach
-  else
-    echo "VirtualGL not found. GUI tools may not work properly. Some GUI tools require OpenGL to work properly. To use them with XQuartz on mac, VirtualGL needs to be installed. To install it run:"
-    echo
-    echo "  brew install --cask virtualgl"
-    echo
-  fi
-fi
diff --git a/.devcontainer/host_setup.cmd b/.devcontainer/host_setup.cmd
deleted file mode 100644
index 885bd27f25..0000000000
--- a/.devcontainer/host_setup.cmd
+++ /dev/null
@@ -1,10 +0,0 @@
-:: pull base image
-IF NOT DEFINED USE_LOCAL_IMAGE ^
-echo "Updating openpilot_base image if needed..." && ^
-docker pull ghcr.io/commaai/openpilot-base:latest
-
-:: setup .host dir
-mkdir .devcontainer\.host
-
-:: setup host env file
-echo "" > .devcontainer\.host\.env
\ No newline at end of file
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index e91fc15a89..6d0803452c 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -35,9 +35,9 @@ jobs:
   build_release:
     if: github.repository == 'commaai/openpilot' # build_release blocked for the time being to only comma as we may have a different process.
     name: build release
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -78,15 +78,9 @@ jobs:
         ${{ env.RUN }} "scripts/lint/lint.sh --skip check_added_large_files"
 
   build:
-    strategy:
-      matrix:
-        arch: ${{ fromJson(
-           ((github.repository == 'commaai/openpilot') &&
-              ((github.event_name != 'pull_request') ||
-               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
-    runs-on: ${{ ((matrix.arch == 'aarch64') && 'namespace-profile-arm64-2x8') ||
-                 ((matrix.arch == 'x86_64') && ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16') ||
-                   'ubuntu-latest'}}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -95,7 +89,6 @@ jobs:
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
-        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
     - uses: ./.github/workflows/setup-with-retry
     - uses: ./.github/workflows/compile-openpilot
@@ -131,28 +124,11 @@ jobs:
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
 
-  docker_push_multiarch:
-    name: docker push multiarch tag
-    runs-on: ubuntu-latest
-    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: [build]
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: false
-    - name: Setup docker
-      run: |
-        $DOCKER_LOGIN
-    - name: Merge x64 and arm64 tags
-      run: |
-        export PUSH_IMAGE=true
-        scripts/retry.sh selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
-
   static_analysis:
     name: static analysis
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     env:
       PYTHONWARNINGS: default
     steps:
@@ -166,9 +142,9 @@ jobs:
 
   unit_tests:
     name: unit tests
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -193,9 +169,9 @@ jobs:
 
   process_replay:
     name: process replay
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -246,9 +222,9 @@ jobs:
 
   test_cars:
     name: cars
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-latest' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     strategy:
       fail-fast: false
       matrix:
@@ -338,9 +314,9 @@ jobs:
 
   simulator_driving:
     name: simulator driving
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
     - uses: actions/checkout@v4
       with:
@@ -360,9 +336,9 @@ jobs:
   create_ui_report:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
-    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
-                   ((github.event_name != 'pull_request') ||
-                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+    runs-on:
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-profile-amd64-8x16' || 'ubuntu-24.04' }}
+      - ${{ ((github.repository == 'commaai/openpilot') && ((github.event_name != 'pull_request') || (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'namespace-experiments:docker.builds.local-cache=separate' || 'ubuntu-24.04' }}
     steps:
       - uses: actions/checkout@v4
         with:
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
deleted file mode 100644
index 00725ef823..0000000000
--- a/.github/workflows/tools_tests.yaml
+++ /dev/null
@@ -1,55 +0,0 @@
-name: tools
-
-on:
-  push:
-    branches:
-      - master
-      - master-new
-  pull_request:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-concurrency:
-  group: tools-tests-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && (github.ref == 'refs/heads/master' || github.ref == 'refs/heads/master-new') && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-
-  BUILD: selfdrive/test/docker_build.sh base
-
-  RUN: docker run --shm-size 2G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-
-jobs:
-  devcontainer:
-    name: devcontainer
-    runs-on: ubuntu-latest
-    if: false  # we can re-enable once this is faster
-    steps:
-    - uses: actions/checkout@v4
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup-with-retry
-    - name: Use local image for testing devcontainer with latest base image
-      run: |
-        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
-    - name: Setup Dev Container CLI
-      run: npm install -g @devcontainers/cli
-    - name: Build dev container image
-      run: ./scripts/retry.sh devcontainer build --workspace-folder .
-    - name: Run dev container
-      run: |
-        mkdir -p /tmp/devcontainer_scons_cache/
-        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/. /tmp/devcontainer_scons_cache/
-        devcontainer up --workspace-folder .
-    - name: Test environment
-      run: |
-        devcontainer exec --workspace-folder . scons -j$(nproc) cereal/ common/
-        devcontainer exec --workspace-folder . pip3 install pip-install-test
-        devcontainer exec --workspace-folder . touch /home/batman/.comma/auth.json
-        devcontainer exec --workspace-folder . sudo touch /root/test.txt
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index aa5230fa6d..ae0cda374d 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -4,7 +4,7 @@ ENV PYTHONUNBUFFERED 1
 
 ENV DEBIAN_FRONTEND=noninteractive
 RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot pocl-opencl-icd && \
+    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot && \
     rm -rf /var/lib/apt/lists/*
 
 RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
@@ -18,6 +18,43 @@ RUN /tmp/tools/install_ubuntu_dependencies.sh && \
     cd /usr/lib/gcc/arm-none-eabi/* && \
     rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
+# Add OpenCL
+RUN apt-get update && apt-get install -y --no-install-recommends \
+    apt-utils \
+    alien \
+    unzip \
+    tar \
+    curl \
+    xz-utils \
+    dbus \
+    gcc-arm-none-eabi \
+    tmux \
+    vim \
+    libx11-6 \
+    wget \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN mkdir -p /tmp/opencl-driver-intel && \
+    cd /tmp/opencl-driver-intel && \
+    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
+    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
+    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
+    mkdir -p /etc/OpenCL/vendors && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
+    cd /opt/intel && \
+    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
+    mkdir -p /etc/ld.so.conf.d && \
+    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
+    cd / && \
+    rm -rf /tmp/opencl-driver-intel
+
 ENV NVIDIA_VISIBLE_DEVICES all
 ENV NVIDIA_DRIVER_CAPABILITIES graphics,utility,compute
 ENV QTWEBENGINE_DISABLE_SANDBOX 1
diff --git a/cereal/log.capnp b/cereal/log.capnp
index b6ccf2f55f..70508f36e2 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -488,6 +488,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   pmicTempC @39 :List(Float32);
   intakeTempC @46 :Float32;
   exhaustTempC @47 :Float32;
+  caseTempC @48 :Float32;
   maxTempC @44 :Float32;  # max of other temps, used to control fan
   thermalZones @38 :List(ThermalZone);
   thermalStatus @14 :ThermalStatus;
diff --git a/common/realtime.py b/common/realtime.py
index dd97ea3d78..854c3ca592 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -48,13 +48,13 @@ class Ratekeeper:
   def __init__(self, rate: float, print_delay_threshold: float | None = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
-    self._next_frame_time = time.monotonic() + self._interval
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
     self._process_name = getproctitle()
     self._dts = deque([self._interval], maxlen=100)
-    self._last_monitor_time = time.monotonic()
+    self._last_monitor_time = -1.
+    self._next_frame_time = -1.
 
   @property
   def frame(self) -> int:
@@ -79,6 +79,10 @@ class Ratekeeper:
 
   # Monitors the cumulative lag, but does not enforce a rate
   def monitor_time(self) -> bool:
+    if self._last_monitor_time < 0:
+      self._next_frame_time = time.monotonic() + self._interval
+      self._last_monitor_time = time.monotonic()
+
     prev = self._last_monitor_time
     self._last_monitor_time = time.monotonic()
     self._dts.append(self._last_monitor_time - prev)
diff --git a/launch_env.sh b/launch_env.sh
index 781f40fc7e..3d2900650b 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="11.2"
+  export AGNOS_VERSION="11.3"
 fi
 
 export STAGING_ROOT="/data/safe_staging"
diff --git a/opendbc_repo b/opendbc_repo
index c67bfd6a97..8cc9020578 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit c67bfd6a9726c3fecbb85971d84321cd26ff281c
+Subproject commit 8cc90205783d17891f47634808f561a8cd9aca65
diff --git a/pyproject.toml b/pyproject.toml
index 2bfcc19650..41b0e3aca5 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -101,7 +101,6 @@ dev = [
   "azure-identity",
   "azure-storage-blob",
   "dictdiffer",
-  "flaky",
   "lru-dict",
   "matplotlib",
   "parameterized >=0.8, <0.9",
diff --git a/release/release_files.py b/release/release_files.py
index afd0d468b6..52974ba711 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -32,7 +32,6 @@ blacklist = [
 
   ".git/",
   ".github/",
-  ".devcontainer/",
   "Darwin/",
   ".vscode",
 
diff --git a/scripts/lint/check_raylib_includes.sh b/scripts/lint/check_raylib_includes.sh
new file mode 100755
index 0000000000..e3be73a489
--- /dev/null
+++ b/scripts/lint/check_raylib_includes.sh
@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+FAIL=0
+
+if grep -n '#include "third_party/raylib/include/raylib\.h"' $@ | grep -v '^system/ui/raylib/raylib\.h'; then
+  echo -e "Bad raylib include found! Use '#include \"system/ui/raylib/raylib.h\"' instead\n"
+  FAIL=1
+fi
+
+exit $FAIL
diff --git a/scripts/lint/lint.sh b/scripts/lint/lint.sh
index 44622922b3..92a0c168fd 100755
--- a/scripts/lint/lint.sh
+++ b/scripts/lint/lint.sh
@@ -53,6 +53,7 @@ function run_tests() {
   run "check_shebang_scripts_are_executable" python3 -m pre_commit_hooks.check_shebang_scripts_are_executable $ALL_FILES
   run "check_shebang_format" $DIR/check_shebang_format.sh $ALL_FILES
   run "check_nomerge_comments" $DIR/check_nomerge_comments.sh $ALL_FILES
+  run "check_raylib_includes" $DIR/check_raylib_includes.sh $ALL_FILES
 
   if [[ -z "$FAST" ]]; then
     run "mypy" mypy $PYTHON_FILES
diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index 4095ae3fc1..76e02d414e 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -8,6 +8,7 @@ from typing import cast
 
 from cereal.services import SERVICE_LIST
 from openpilot.tools.lib.logreader import LogReader, ReadMode
+from openpilot.selfdrive.test.process_replay.migration import migrate_all
 
 if __name__ == "__main__":
   cnt_events: Counter = Counter()
@@ -20,7 +21,7 @@ if __name__ == "__main__":
   start_time = math.inf
   end_time = -math.inf
   ignition_off = None
-  for msg in LogReader(sys.argv[1], ReadMode.QLOG):
+  for msg in migrate_all(LogReader(sys.argv[1], ReadMode.QLOG)):
     t = (msg.logMonoTime - start_time) / 1e9
     end_time = max(end_time, msg.logMonoTime)
     start_time = min(start_time, msg.logMonoTime)
diff --git a/selfdrive/locationd/test/test_locationd_scenarios.py b/selfdrive/locationd/test/test_locationd_scenarios.py
index e0ff96a362..bf5e571f27 100644
--- a/selfdrive/locationd/test/test_locationd_scenarios.py
+++ b/selfdrive/locationd/test/test_locationd_scenarios.py
@@ -1,4 +1,3 @@
-import pytest
 import numpy as np
 from collections import defaultdict
 from enum import Enum
@@ -87,8 +86,6 @@ def run_scenarios(scenario, logs):
   return get_select_fields_data(logs), get_select_fields_data(replayed_logs)
 
 
-@pytest.mark.xdist_group("test_locationd_scenarios")
-@pytest.mark.shared_download_cache
 class TestLocationdScenarios:
   """
   Test locationd with different scenarios. In all these scenarios, we expect the following:
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index fe3532b89e..06b7875362 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:66f3fa03aa1f61ed2ff84a954d3eca5d5fe9ef95bb484edc4044b63ff5b6e2ab
+oid sha256:663f58026cdf0b5c8e079a8a1591c8e2b5fa7e5c0f29a882011a17c405af10f4
 size 50320584
diff --git a/selfdrive/pandad/tests/test_pandad_loopback.py b/selfdrive/pandad/tests/test_pandad_loopback.py
index 0f41201ece..bf1c557128 100644
--- a/selfdrive/pandad/tests/test_pandad_loopback.py
+++ b/selfdrive/pandad/tests/test_pandad_loopback.py
@@ -14,7 +14,7 @@ from openpilot.common.params import Params
 from openpilot.common.timeout import Timeout
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.system.hardware import TICI
-from openpilot.selfdrive.test.helpers import phone_only, with_processes
+from openpilot.selfdrive.test.helpers import with_processes
 
 
 @retry(attempts=3)
@@ -72,7 +72,6 @@ class TestBoarddLoopback:
     os.environ['STARTED'] = '1'
     os.environ['BOARDD_LOOPBACK'] = '1'
 
-  @phone_only
   @with_processes(['pandad'])
   def test_loopback(self):
     num_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
diff --git a/selfdrive/pandad/tests/test_pandad_spi.py b/selfdrive/pandad/tests/test_pandad_spi.py
index 9c5990cd3f..9f7cc3b029 100644
--- a/selfdrive/pandad/tests/test_pandad_spi.py
+++ b/selfdrive/pandad/tests/test_pandad_spi.py
@@ -7,7 +7,7 @@ import random
 import cereal.messaging as messaging
 from cereal.services import SERVICE_LIST
 from openpilot.system.hardware import HARDWARE
-from openpilot.selfdrive.test.helpers import phone_only, with_processes
+from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.selfdrive.pandad.tests.test_pandad_loopback import setup_pandad, send_random_can_messages
 
 JUNGLE_SPAM = "JUNGLE_SPAM" in os.environ
@@ -23,7 +23,6 @@ class TestBoarddSpi:
     if not JUNGLE_SPAM:
       os.environ['BOARDD_LOOPBACK'] = '1'
 
-  @phone_only
   @with_processes(['pandad'])
   def test_spi_corruption(self, subtests):
     setup_pandad(1)
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index b7f5bb183b..81635aa31f 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -10,7 +10,6 @@ from functools import wraps
 import cereal.messaging as messaging
 from openpilot.common.params import Params
 from openpilot.system.manager.process_config import managed_processes
-from openpilot.system.hardware import PC
 from openpilot.system.version import training_version, terms_version
 
 
@@ -29,14 +28,6 @@ def set_params_enabled():
   msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
   params.put("CalibrationParams", msg.to_bytes())
 
-def phone_only(f):
-  @wraps(f)
-  def wrap(self, *args, **kwargs):
-    if PC:
-      pytest.skip("This test is not meant to run on PC")
-    return f(self, *args, **kwargs)
-  return wrap
-
 def release_only(f):
   @wraps(f)
   def wrap(self, *args, **kwargs):
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 592bb4f676..8453675507 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-6b43f700377cc3aea5ab01c642dde36947a1d382
+255ceb08c75bc85379da5ec247e612be3716fb43
diff --git a/system/athena/athenad.py b/system/athena/athenad.py
index 78285f018e..55b9476986 100755
--- a/system/athena/athenad.py
+++ b/system/athena/athenad.py
@@ -99,9 +99,9 @@ send_queue: Queue[str] = queue.Queue()
 upload_queue: Queue[UploadItem] = queue.Queue()
 low_priority_send_queue: Queue[str] = queue.Queue()
 log_recv_queue: Queue[str] = queue.Queue()
-cancelled_uploads: set[str] = set()
 
 cur_upload_items: dict[int, UploadItem | None] = {}
+cur_upload_items_lock = threading.Lock()
 
 
 def strip_zst_extension(fn: str) -> str:
@@ -129,8 +129,9 @@ class UploadQueueCache:
   @staticmethod
   def cache(upload_queue: Queue[UploadItem]) -> None:
     try:
-      queue: list[UploadItem | None] = list(upload_queue.queue)
-      items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
+      with upload_queue.mutex:
+        items = [asdict(item) for item in upload_queue.queue]
+
       Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
@@ -200,7 +201,8 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
     upload_queue.put_nowait(item)
     UploadQueueCache.cache(upload_queue)
 
-    cur_upload_items[tid] = None
+    with cur_upload_items_lock:
+      cur_upload_items[tid] = None
 
     for _ in range(RETRY_DELAY):
       time.sleep(1)
@@ -219,7 +221,8 @@ def cb(sm, item, tid, end_event: threading.Event, sz: int, cur: int) -> None:
   if end_event.is_set():
     raise AbortTransferException
 
-  cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
+  with cur_upload_items_lock:
+    cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
 
 
 def upload_handler(end_event: threading.Event) -> None:
@@ -227,14 +230,10 @@ def upload_handler(end_event: threading.Event) -> None:
   tid = threading.get_ident()
 
   while not end_event.is_set():
-    cur_upload_items[tid] = None
-
     try:
-      cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
-
-      if item.id in cancelled_uploads:
-        cancelled_uploads.remove(item.id)
-        continue
+      with cur_upload_items_lock:
+        cur_upload_items[tid] = None
+        cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
 
       # Remove item if too old
       age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
@@ -413,8 +412,13 @@ def uploadFilesToUrls(files_data: list[UploadFileDict]) -> UploadFilesToUrlRespo
 
 @dispatcher.add_method
 def listUploadQueue() -> list[UploadItemDict]:
-  items = list(upload_queue.queue) + list(cur_upload_items.values())
-  return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
+  with upload_queue.mutex:
+    items = list(upload_queue.queue)
+
+  with cur_upload_items_lock:
+    items += list(cur_upload_items.values())
+
+  return [asdict(item) for item in items]
 
 
 @dispatcher.add_method
@@ -422,13 +426,14 @@ def cancelUpload(upload_id: str | list[str]) -> dict[str, int | str]:
   if not isinstance(upload_id, list):
     upload_id = [upload_id]
 
-  uploading_ids = {item.id for item in list(upload_queue.queue)}
-  cancelled_ids = uploading_ids.intersection(upload_id)
-  if len(cancelled_ids) == 0:
-    return {"success": 0, "error": "not found"}
+  with upload_queue.mutex:
+    remaining_items = [item for item in upload_queue.queue if item.id not in upload_id]
+    if len(remaining_items) == len(upload_queue.queue):
+      return {"success": 0, "error": "not found"}
 
-  cancelled_uploads.update(cancelled_ids)
-  return {"success": 1}
+    upload_queue.queue.clear()
+    upload_queue.queue.extend(remaining_items)
+    return {"success": 1}
 
 @dispatcher.add_method
 def setRouteViewed(route: str) -> dict[str, int | str]:
diff --git a/system/athena/tests/test_athenad.py b/system/athena/tests/test_athenad.py
index a6bfc68930..cee37064b9 100644
--- a/system/athena/tests/test_athenad.py
+++ b/system/athena/tests/test_athenad.py
@@ -78,7 +78,6 @@ class TestAthenadMethods:
 
     athenad.upload_queue = queue.Queue()
     athenad.cur_upload_items.clear()
-    athenad.cancelled_uploads.clear()
 
     for i in os.listdir(Paths.log_root()):
       p = os.path.join(Paths.log_root(), i)
@@ -282,13 +281,10 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
 
-    assert item.id in athenad.cancelled_uploads
-
     self._wait_for_upload()
     time.sleep(0.1)
 
     assert athenad.upload_queue.qsize() == 0
-    assert len(athenad.cancelled_uploads) == 0
 
   @with_upload_handler
   def test_cancel_expiry(self):
@@ -331,7 +327,7 @@ class TestAthenadMethods:
     assert items[0] == asdict(item)
     assert not items[0]['current']
 
-    athenad.cancelled_uploads.add(item.id)
+    dispatcher["cancelUpload"](item.id)
     items = dispatcher["listUploadQueue"]()
     assert len(items) == 0
 
@@ -343,7 +339,7 @@ class TestAthenadMethods:
     athenad.upload_queue.put_nowait(item2)
 
     # Ensure canceled items are not persisted
-    athenad.cancelled_uploads.add(item2.id)
+    dispatcher["cancelUpload"](item2.id)
 
     # serialize item
     athenad.UploadQueueCache.cache(athenad.upload_queue)
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index 07a68e0020..c259fe788d 100644
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -1,12 +1,12 @@
 import pytest
 import time
 import numpy as np
-from flaky import flaky
 from collections import defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import SERVICE_LIST
+from openpilot.common.retry import retry
 from openpilot.system.manager.process_config import managed_processes
 
 TEST_TIMESPAN = 10
@@ -17,44 +17,46 @@ FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
 
 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
 
-# TODO: this shouldn't be needed
-@flaky(max_runs=3)
+@retry(attempts=3, delay=5.0)
+def setup_camerad(cls):
+  # run camerad and record logs
+  managed_processes['camerad'].start()
+  time.sleep(3)
+  socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
+
+  cls.logs = defaultdict(list)
+  start_time = time.monotonic()
+  while time.monotonic()- start_time < TEST_TIMESPAN:
+    for cam, s in socks.items():
+      cls.logs[cam] += messaging.drain_sock(s)
+    time.sleep(0.2)
+  managed_processes['camerad'].stop()
+
+  cls.log_by_frame_id = defaultdict(list)
+  cls.sensor_type = None
+  for cam, msgs in cls.logs.items():
+    if cls.sensor_type is None:
+      cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
+    expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
+    assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
+
+    dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
+    assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+
+    for m in msgs:
+      cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
+
+  # strip beginning and end
+  for _ in range(3):
+    mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
+    del cls.log_by_frame_id[mn]
+    del cls.log_by_frame_id[mx]
+
 @pytest.mark.tici
 class TestCamerad:
   @classmethod
   def setup_class(cls):
-    # run camerad and record logs
-    managed_processes['camerad'].start()
-    time.sleep(3)
-    socks = {c: messaging.sub_sock(c, conflate=False, timeout=100) for c in CAMERAS}
-
-    cls.logs = defaultdict(list)
-    start_time = time.monotonic()
-    while time.monotonic()- start_time < TEST_TIMESPAN:
-      for cam, s in socks.items():
-        cls.logs[cam] += messaging.drain_sock(s)
-      time.sleep(0.2)
-    managed_processes['camerad'].stop()
-
-    cls.log_by_frame_id = defaultdict(list)
-    cls.sensor_type = None
-    for cam, msgs in cls.logs.items():
-      if cls.sensor_type is None:
-        cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
-      expected_frames = SERVICE_LIST[cam].frequency * TEST_TIMESPAN
-      assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
-
-      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/SERVICE_LIST[cam].frequency)
-      assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
-
-      for m in msgs:
-        cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
-
-    # strip beginning and end
-    for _ in range(3):
-      mn, mx = min(cls.log_by_frame_id.keys()), max(cls.log_by_frame_id.keys())
-      del cls.log_by_frame_id[mn]
-      del cls.log_by_frame_id[mx]
+    setup_camerad(cls)
 
   def test_frame_skips(self):
     skips = {}
diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py
index dbe6f3d880..97f03ed182 100644
--- a/system/camerad/test/test_exposure.py
+++ b/system/camerad/test/test_exposure.py
@@ -1,12 +1,14 @@
 import time
 import numpy as np
+import pytest
 
-from openpilot.selfdrive.test.helpers import with_processes, phone_only
+from openpilot.selfdrive.test.helpers import with_processes
 from openpilot.system.camerad.snapshot.snapshot import get_snapshots
 
 TEST_TIME = 45
 REPEAT = 5
 
+@pytest.mark.tici
 class TestCamerad:
   @classmethod
   def setup_class(cls):
@@ -28,7 +30,6 @@ class TestCamerad:
     print([i_median, i_mean])
     return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
 
-  @phone_only
   @with_processes(['camerad'])
   def test_camera_operation(self):
     passed = 0
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 0f8b7d8680..c7c765f20a 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -1,11 +1,54 @@
+import os
 from abc import abstractmethod, ABC
-from collections import namedtuple
+from dataclasses import dataclass, fields
 
 from cereal import log
 
-ThermalConfig = namedtuple('ThermalConfig', ['cpu', 'gpu', 'mem', 'pmic', 'intake', 'exhaust'])
 NetworkType = log.DeviceState.NetworkType
 
+@dataclass
+class ThermalZone:
+  # a zone from /sys/class/thermal/thermal_zone*
+  name: str             # a.k.a type
+  scale: float = 1000.  # scale to get degrees in C
+  zone_number = -1
+
+  def read(self) -> float:
+    if self.zone_number < 0:
+      for n in os.listdir("/sys/devices/virtual/thermal"):
+        if not n.startswith("thermal_zone"):
+          continue
+        with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
+          if f.read().strip() == self.name:
+            self.zone_number = int(n.removeprefix("thermal_zone"))
+            break
+
+    try:
+      with open(f"/sys/devices/virtual/thermal/thermal_zone{self.zone_number}/temp") as f:
+        return int(f.read()) / self.scale
+    except FileNotFoundError:
+      return 0
+
+@dataclass
+class ThermalConfig:
+  cpu: list[ThermalZone] | None = None
+  gpu: list[ThermalZone] | None = None
+  pmic: list[ThermalZone] | None = None
+  memory: ThermalZone | None = None
+  intake: ThermalZone | None = None
+  exhaust: ThermalZone | None = None
+  case: ThermalZone | None = None
+
+  def get_msg(self):
+    ret = {}
+    for f in fields(ThermalConfig):
+      v = getattr(self, f.name)
+      if v is not None:
+        if isinstance(v, list):
+          ret[f.name + "TempC"] = [x.read() for x in v]
+        else:
+          ret[f.name + "TempC"] = v.read()
+    return ret
 
 class HardwareBase(ABC):
   @staticmethod
@@ -84,9 +127,8 @@ class HardwareBase(ABC):
   def shutdown(self):
     pass
 
-  @abstractmethod
   def get_thermal_config(self):
-    pass
+    return ThermalConfig()
 
   @abstractmethod
   def set_screen_brightness(self, percentage):
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 15b144ec4e..48c916b146 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -51,41 +51,6 @@ OFFROAD_DANGER_TEMP = 75
 
 prev_offroad_states: dict[str, tuple[bool, str | None]] = {}
 
-tz_by_type: dict[str, int] | None = None
-def populate_tz_by_type():
-  global tz_by_type
-  tz_by_type = {}
-  for n in os.listdir("/sys/devices/virtual/thermal"):
-    if not n.startswith("thermal_zone"):
-      continue
-    with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
-      tz_by_type[f.read().strip()] = int(n.removeprefix("thermal_zone"))
-
-def read_tz(x):
-  if x is None:
-    return 0
-
-  if isinstance(x, str):
-    if tz_by_type is None:
-      populate_tz_by_type()
-    x = tz_by_type[x]
-
-  try:
-    with open(f"/sys/devices/virtual/thermal/thermal_zone{x}/temp") as f:
-      return int(f.read())
-  except FileNotFoundError:
-    return 0
-
-
-def read_thermal(thermal_config):
-  dat = messaging.new_message('deviceState', valid=True)
-  dat.deviceState.cpuTempC = [read_tz(z) / thermal_config.cpu[1] for z in thermal_config.cpu[0]]
-  dat.deviceState.gpuTempC = [read_tz(z) / thermal_config.gpu[1] for z in thermal_config.gpu[0]]
-  dat.deviceState.memoryTempC = read_tz(thermal_config.mem[0]) / thermal_config.mem[1]
-  dat.deviceState.pmicTempC = [read_tz(z) / thermal_config.pmic[1] for z in thermal_config.pmic[0]]
-  dat.deviceState.intakeTempC = read_tz(thermal_config.intake[0]) / thermal_config.intake[1]
-  dat.deviceState.exhaustTempC = read_tz(thermal_config.exhaust[0]) / thermal_config.exhaust[1]
-  return dat
 
 
 def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_text: str | None=None):
@@ -234,7 +199,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     if (sm.frame % round(SERVICE_LIST['pandaStates'].frequency * DT_HW) != 0) and not ign_edge:
       continue
 
-    msg = read_thermal(thermal_config)
+    msg = messaging.new_message('deviceState', valid=True)
+    msg.deviceState = thermal_config.get_msg()
     msg.deviceState.deviceType = HARDWARE.get_device_type()
 
     try:
@@ -264,13 +230,13 @@ def hardware_thread(end_event, hw_queue) -> None:
     # this subset is only used for offroad
     temp_sources = [
       msg.deviceState.memoryTempC,
-      max(msg.deviceState.cpuTempC),
-      max(msg.deviceState.gpuTempC),
+      max(msg.deviceState.cpuTempC, default=0.),
+      max(msg.deviceState.gpuTempC, default=0.),
     ]
     offroad_comp_temp = offroad_temp_filter.update(max(temp_sources))
 
     # this drives the thermal status while onroad
-    temp_sources.append(max(msg.deviceState.pmicTempC))
+    temp_sources.append(max(msg.deviceState.pmicTempC, default=0.))
     all_comp_temp = all_temp_filter.update(max(temp_sources))
     msg.deviceState.maxTempC = all_comp_temp
 
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index a2386b92d2..017a449c90 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -1,7 +1,7 @@
 import random
 
 from cereal import log
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.base import HardwareBase
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
@@ -53,9 +53,6 @@ class Pc(HardwareBase):
   def shutdown(self):
     print("SHUTDOWN!")
 
-  def get_thermal_config(self):
-    return ThermalConfig(cpu=((None,), 1), gpu=((None,), 1), mem=(None, 1), pmic=((None,), 1), intake=(None, 1), exhaust=(None, 1))
-
   def set_screen_brightness(self, percentage):
     pass
 
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 3aa712a6b0..430f86bfed 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,19 +1,19 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate-staging/boot-184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a.img.xz",
-    "hash": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
-    "hash_raw": "184b9edb429167dcc97110134cdeffaa9739a758b3069e3ea7700e6559b79a0a",
-    "size": 16414720,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3.img.xz",
+    "hash": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
+    "hash_raw": "45e107ad65e6cc9ee95dc139f9ed11d56ef7f5f0657f579498a4a48f0a2f7ea3",
+    "size": 16418816,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate-staging/system-93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea.img.xz",
-    "hash": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
-    "hash_raw": "93a86656670d6d8d99ea401bd5735cd1060c2355d65f2c14de522c77a80c57ea",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9.img.xz",
+    "hash": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
+    "hash_raw": "c0d738052c77f97b10bcea111479ddabd3fde2653d50533dd0fa2b17bb7881e9",
     "size": 4404019200,
     "sparse": false,
     "full_check": false,
@@ -21,9 +21,9 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050.img.xz",
-    "hash": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050",
-    "hash_raw": "446e37054b4c2f08bac3ee9d98256cdb93e876fb3343acfc8881124900f11050",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030.img.xz",
+    "hash": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
+    "hash_raw": "bece486a68d9470c165e87955e451339cd86ada6ca2c7fde13c49144624ce030",
     "size": 3282256,
     "sparse": false,
     "full_check": true,
@@ -41,9 +41,9 @@
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995.img.xz",
-    "hash": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995",
-    "hash_raw": "80f3e644529d30e260bb9b8b6c765d76a4ccd0a2d3104cc07acf93b0eabb8995",
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f.img.xz",
+    "hash": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
+    "hash_raw": "868b6f9aa98871dc50ef191a2d8f432578d1eca84f87d9185f8fb61242c3b66f",
     "size": 98124,
     "sparse": false,
     "full_check": true,
@@ -51,9 +51,9 @@
   },
   {
     "name": "devcfg",
-    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8.img.xz",
-    "hash": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8",
-    "hash_raw": "8ea8a9e779b0bd43af41ed367e3c781ba666012eebb4707ce58328b81219f9f8",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1.img.xz",
+    "hash": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
+    "hash_raw": "c27dc9ab628015ef265e1204ca736b2838ec179e9ecdd79e2ddb59d984b78df1",
     "size": 40336,
     "sparse": false,
     "full_check": true,
@@ -61,9 +61,9 @@
   },
   {
     "name": "aop",
-    "url": "https://commadist.azureedge.net/agnosupdate/aop-c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4.img.xz",
-    "hash": "c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4",
-    "hash_raw": "c1dbeefa20e742dde97eac76aaa00d1e6c2e2b01cfbd4c1242bd4e26c7d2aed4",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837.img.xz",
+    "hash": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
+    "hash_raw": "588bb60f0f8194d2df12f041e320a6dfeafae7209b312be3e4f6fe0744192837",
     "size": 184364,
     "sparse": false,
     "full_check": true,
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index 8950329841..def8267f40 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -10,7 +10,7 @@ from pathlib import Path
 
 from cereal import log
 from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
-from openpilot.system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.base import HardwareBase, ThermalConfig, ThermalZone
 from openpilot.system.hardware.tici import iwlist
 from openpilot.system.hardware.tici.pins import GPIO
 from openpilot.system.hardware.tici.amplifier import Amplifier
@@ -323,17 +323,19 @@ class Tici(HardwareBase):
     os.system("sudo poweroff")
 
   def get_thermal_config(self):
-    intake, exhaust = (None, 1), (None, 1)
+    intake, exhaust, case = None, None, None
     if self.get_device_type() == "mici":
-      intake = ("intake", 1000)
-      exhaust = ("exhaust", 1000)
-    return ThermalConfig(cpu=([f"cpu{i}-silver-usr" for i in range(4)] +
-                              [f"cpu{i}-gold-usr" for i in range(4)], 1000),
-                         gpu=(("gpu0-usr", "gpu1-usr"), 1000),
-                         mem=("ddr-usr", 1000),
-                         pmic=(("pm8998_tz", "pm8005_tz"), 1000),
+      case = ThermalZone("case")
+      intake = ThermalZone("intake")
+      exhaust = ThermalZone("exhaust")
+    return ThermalConfig(cpu=[ThermalZone(f"cpu{i}-silver-usr") for i in range(4)] +
+                             [ThermalZone(f"cpu{i}-gold-usr") for i in range(4)],
+                         gpu=[ThermalZone("gpu0-usr"), ThermalZone("gpu1-usr")],
+                         memory=ThermalZone("ddr-usr"),
+                         pmic=[ThermalZone("pm8998_tz"), ThermalZone("pm8005_tz")],
                          intake=intake,
-                         exhaust=exhaust)
+                         exhaust=exhaust,
+                         case=case)
 
   def set_screen_brightness(self, percentage):
     try:
@@ -485,14 +487,16 @@ class Tici(HardwareBase):
         'AT$QCNETDEVCTL=3,1',
       ]
     else:
-      cmds += [
-        # SIM sleep disable
-        'AT$QCSIMSLEEP=0',
-        'AT$QCSIMCFG=SimPowerSave,0',
+      # this modem gets upset with too many AT commands
+      if sim_id is None or len(sim_id) == 0:
+        cmds += [
+          # SIM sleep disable
+          'AT$QCSIMSLEEP=0',
+          'AT$QCSIMCFG=SimPowerSave,0',
 
-        # ethernet config
-        'AT$QCPCFG=usbNet,1',
-      ]
+          # ethernet config
+          'AT$QCPCFG=usbNet,1',
+        ]
 
     for cmd in cmds:
       try:
@@ -591,3 +595,4 @@ if __name__ == "__main__":
   t.configure_modem()
   t.initialize_hardware()
   t.set_power_save(False)
+  print(t.get_sim_info())
diff --git a/system/ui/raylib/raylib.h b/system/ui/raylib/raylib.h
new file mode 100644
index 0000000000..bdd07a3312
--- /dev/null
+++ b/system/ui/raylib/raylib.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#define OPENPILOT_RAYLIB
+
+#include "third_party/raylib/include/raylib.h"
diff --git a/system/ui/raylib/spinner.cc b/system/ui/raylib/spinner.cc
index cf96ccb117..891d34b2d5 100644
--- a/system/ui/raylib/spinner.cc
+++ b/system/ui/raylib/spinner.cc
@@ -3,7 +3,6 @@
 #include <iostream>
 
 #include "system/ui/raylib/util.h"
-#include "third_party/raylib/include/raylib.h"
 
 constexpr int kProgressBarWidth = 1000;
 constexpr int kProgressBarHeight = 20;
@@ -27,7 +26,7 @@ int main(int argc, char *argv[]) {
 
   while (!WindowShouldClose()) {
     BeginDrawing();
-    ClearBackground(BLACK);
+    ClearBackground(RAYLIB_BLACK);
 
     rotation = fmod(rotation + kRotationRate, 360.0f);
     Vector2 center = {GetScreenWidth() / 2.0f, GetScreenHeight() / 2.0f};
@@ -37,8 +36,8 @@ int main(int argc, char *argv[]) {
     // Draw rotating spinner and static comma logo
     DrawTexturePro(spinnerTexture, {0, 0, (float)kTextureSize, (float)kTextureSize},
                    {center.x, center.y, (float)kTextureSize, (float)kTextureSize},
-                   spinnerOrigin, rotation, WHITE);
-    DrawTextureV(commaTexture, commaPosition, WHITE);
+                   spinnerOrigin, rotation, RAYLIB_WHITE);
+    DrawTextureV(commaTexture, commaPosition, RAYLIB_WHITE);
 
     // Check for user input
     if (std::cin.rdbuf()->in_avail() > 0) {
@@ -50,14 +49,14 @@ int main(int argc, char *argv[]) {
       float yPos = GetScreenHeight() - kMargin - kProgressBarHeight;
       if (std::all_of(userInput.begin(), userInput.end(), ::isdigit)) {
         Rectangle bar = {center.x - kProgressBarWidth / 2.0f, yPos, kProgressBarWidth, kProgressBarHeight};
-        DrawRectangleRounded(bar, 0.5f, 10, GRAY);
+        DrawRectangleRounded(bar, 0.5f, 10, RAYLIB_GRAY);
 
         int progress = std::clamp(std::stoi(userInput), 0, 100);
         bar.width *= progress / 100.0f;
-        DrawRectangleRounded(bar, 0.5f, 10, RAYWHITE);
+        DrawRectangleRounded(bar, 0.5f, 10, RAYLIB_RAYWHITE);
       } else {
         Vector2 textSize = MeasureTextEx(getFont(), userInput.c_str(), kFontSize, 1.0);
-        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, WHITE);
+        DrawTextEx(getFont(), userInput.c_str(), {center.x - textSize.x / 2, yPos}, kFontSize, 1.0, RAYLIB_WHITE);
       }
     }
 
diff --git a/system/ui/raylib/util.h b/system/ui/raylib/util.h
index da2ec7118b..1e2662fb90 100644
--- a/system/ui/raylib/util.h
+++ b/system/ui/raylib/util.h
@@ -2,7 +2,7 @@
 
 #include <string>
 
-#include "third_party/raylib/include/raylib.h"
+#include "system/ui/raylib/raylib.h"
 
 enum class FontWeight {
   Normal,
diff --git a/third_party/raylib/include/raylib.h b/third_party/raylib/include/raylib.h
index 56abfa7a55..ea973ff1ba 100644
--- a/third_party/raylib/include/raylib.h
+++ b/third_party/raylib/include/raylib.h
@@ -172,33 +172,91 @@
 
 // Some Basic Colors
 // NOTE: Custom raylib color palette for amazing visuals on WHITE background
-#define LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
-#define GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
-#define DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
-#define YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
-#define GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
-#define ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
-#define PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
-#define RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
-#define MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
-#define GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
-#define LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
-#define DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
-#define SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
-#define BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
-#define DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
-#define PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
-#define VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
-#define DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
-#define BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
-#define BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
-#define DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown
+#define _rl_LIGHTGRAY  CLITERAL(Color){ 200, 200, 200, 255 }   // Light Gray
+#define _rl_GRAY       CLITERAL(Color){ 130, 130, 130, 255 }   // Gray
+#define _rl_DARKGRAY   CLITERAL(Color){ 80, 80, 80, 255 }      // Dark Gray
+#define _rl_YELLOW     CLITERAL(Color){ 253, 249, 0, 255 }     // Yellow
+#define _rl_GOLD       CLITERAL(Color){ 255, 203, 0, 255 }     // Gold
+#define _rl_ORANGE     CLITERAL(Color){ 255, 161, 0, 255 }     // Orange
+#define _rl_PINK       CLITERAL(Color){ 255, 109, 194, 255 }   // Pink
+#define _rl_RED        CLITERAL(Color){ 230, 41, 55, 255 }     // Red
+#define _rl_MAROON     CLITERAL(Color){ 190, 33, 55, 255 }     // Maroon
+#define _rl_GREEN      CLITERAL(Color){ 0, 228, 48, 255 }      // Green
+#define _rl_LIME       CLITERAL(Color){ 0, 158, 47, 255 }      // Lime
+#define _rl_DARKGREEN  CLITERAL(Color){ 0, 117, 44, 255 }      // Dark Green
+#define _rl_SKYBLUE    CLITERAL(Color){ 102, 191, 255, 255 }   // Sky Blue
+#define _rl_BLUE       CLITERAL(Color){ 0, 121, 241, 255 }     // Blue
+#define _rl_DARKBLUE   CLITERAL(Color){ 0, 82, 172, 255 }      // Dark Blue
+#define _rl_PURPLE     CLITERAL(Color){ 200, 122, 255, 255 }   // Purple
+#define _rl_VIOLET     CLITERAL(Color){ 135, 60, 190, 255 }    // Violet
+#define _rl_DARKPURPLE CLITERAL(Color){ 112, 31, 126, 255 }    // Dark Purple
+#define _rl_BEIGE      CLITERAL(Color){ 211, 176, 131, 255 }   // Beige
+#define _rl_BROWN      CLITERAL(Color){ 127, 106, 79, 255 }    // Brown
+#define _rl_DARKBROWN  CLITERAL(Color){ 76, 63, 47, 255 }      // Dark Brown
 
-#define WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
-#define BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
-#define BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
-#define MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
-#define RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
+#define _rl_WHITE      CLITERAL(Color){ 255, 255, 255, 255 }   // White
+#define _rl_BLACK      CLITERAL(Color){ 0, 0, 0, 255 }         // Black
+#define _rl_BLANK      CLITERAL(Color){ 0, 0, 0, 0 }           // Blank (Transparent)
+#define _rl_MAGENTA    CLITERAL(Color){ 255, 0, 255, 255 }     // Magenta
+#define _rl_RAYWHITE   CLITERAL(Color){ 245, 245, 245, 255 }   // My own White (raylib logo)
+
+#ifndef OPENPILOT_RAYLIB
+  #define LIGHTGRAY  _rl_LIGHTGRAY
+  #define GRAY       _rl_GRAY
+  #define DARKGRAY   _rl_DARKGRAY
+  #define YELLOW     _rl_YELLOW
+  #define GOLD       _rl_GOLD
+  #define ORANGE     _rl_ORANGE
+  #define PINK       _rl_PINK
+  #define RED        _rl_RED
+  #define MAROON     _rl_MAROON
+  #define GREEN      _rl_GREEN
+  #define LIME       _rl_LIME
+  #define DARKGREEN  _rl_DARKGREEN
+  #define SKYBLUE    _rl_SKYBLUE
+  #define BLUE       _rl_BLUE
+  #define DARKBLUE   _rl_DARKBLUE
+  #define PURPLE     _rl_PURPLE
+  #define VIOLET     _rl_VIOLET
+  #define DARKPURPLE _rl_DARKBLUE
+  #define BEIGE      _rl_BEIGE
+  #define BROWN      _rl_BROWN
+  #define DARKBROWN  _rl_DARKBROWN
+
+  #define WHITE      _rl_WHITE
+  #define BLACK      _rl_BLACK
+  #define BLANK      _rl_BLANK
+  #define MAGENTA    _rl_MAGENTA
+  #define RAYWHITE   _rl_RAYWHITE
+#else
+  #define RAYLIB_LIGHTGRAY  _rl_LIGHTGRAY
+  #define RAYLIB_GRAY       _rl_GRAY
+  #define RAYLIB_DARKGRAY   _rl_DARKGRAY
+  #define RAYLIB_YELLOW     _rl_YELLOW
+  #define RAYLIB_GOLD       _rl_GOLD
+  #define RAYLIB_ORANGE     _rl_ORANGE
+  #define RAYLIB_PINK       _rl_PINK
+  #define RAYLIB_RED        _rl_RED
+  #define RAYLIB_MAROON     _rl_MAROON
+  #define RAYLIB_GREEN      _rl_GREEN
+  #define RAYLIB_LIME       _rl_LIME
+  #define RAYLIB_DARKGREEN  _rl_DARKGREEN
+  #define RAYLIB_SKYBLUE    _rl_SKYBLUE
+  #define RAYLIB_BLUE       _rl_BLUE
+  #define RAYLIB_DARKBLUE   _rl_DARKBLUE
+  #define RAYLIB_PURPLE     _rl_PURPLE
+  #define RAYLIB_VIOLET     _rl_VIOLET
+  #define RAYLIB_DARKPURPLE _rl_DARKBLUE
+  #define RAYLIB_BEIGE      _rl_BEIGE
+  #define RAYLIB_BROWN      _rl_BROWN
+  #define RAYLIB_DARKBROWN  _rl_DARKBROWN
+
+  #define RAYLIB_WHITE      _rl_WHITE
+  #define RAYLIB_BLACK      _rl_BLACK
+  #define RAYLIB_BLANK      _rl_BLANK
+  #define RAYLIB_MAGENTA    _rl_MAGENTA
+  #define RAYLIB_RAYWHITE   _rl_RAYWHITE
+#endif
 
 //----------------------------------------------------------------------------------
 // Structures Definition
diff --git a/third_party/raylib/setup.sh b/third_party/raylib/setup.sh
index c5f4e325ea..4f26847706 100755
--- a/third_party/raylib/setup.sh
+++ b/third_party/raylib/setup.sh
@@ -30,7 +30,7 @@ fi
 
 cd raylib_repo
 
-COMMIT="5b56f44b1f1014300fbf03b636571f2bbdfc0d05"
+COMMIT="f5b0a7237c6e45f0e8a6ff68322d19b49298d798"
 git fetch origin $COMMIT
 git reset --hard $COMMIT
 git clean -xdff .
diff --git a/tools/README.md b/tools/README.md
index 7f5c6b4d06..ce710d5032 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -4,7 +4,7 @@
 
 openpilot is developed and tested on **Ubuntu 24.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car).
 
-Running natively on any other system is not recommended and will require modifications. On Windows you can use WSL, and on macOS or incompatible Linux systems, it is recommended to use the dev containers.
+Most of openpilot should work natively on macOS. On Windows you can use WSL for a nearly native Ubuntu experience. Running natively on any other system is not currently recommended and will likely require modifications.
 
 ## Native setup on Ubuntu 24.04
 
@@ -48,16 +48,6 @@ source .venv/bin/activate
 scons -u -j$(nproc)
 ```
 
-## Dev Container on any Linux or macOS
-
-openpilot supports [Dev Containers](https://containers.dev/). Dev containers provide customizable and consistent development environment wrapped inside a container. This means you can develop in a designated environment matching our primary development target, regardless of your local setup.
-
-Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including Visual Studio Code. Use the following [guide](https://code.visualstudio.com/docs/devcontainers/containers) to start using them with VSCode.
-
-#### X11 forwarding on macOS
-
-GUI apps like `ui` or `cabana` can also run inside the container by leveraging X11 forwarding. To make use of it on macOS, additional configuration steps must be taken. Follow [these](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088) steps to setup X11 forwarding on macOS.
-
 ## WSL on Windows
 
 [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index be5c479c36..bb41587c5b 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -101,7 +101,7 @@ if [ -f "/etc/os-release" ]; then
       install_ubuntu_focal_requirements
       ;;
     *)
-      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04."
+      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 24.04."
       read -p "Would you like to attempt installation anyway? " -n 1 -r
       echo ""
       if [[ ! $REPLY =~ ^[Yy]$ ]]; then
diff --git a/tools/lib/api.py b/tools/lib/api.py
index 92a75d2a3b..c2e1b1a8cd 100644
--- a/tools/lib/api.py
+++ b/tools/lib/api.py
@@ -10,16 +10,16 @@ class CommaApi:
       self.session.headers['Authorization'] = 'JWT ' + token
 
   def request(self, method, endpoint, **kwargs):
-    resp = self.session.request(method, API_HOST + '/' + endpoint, **kwargs)
-    resp_json = resp.json()
-    if isinstance(resp_json, dict) and resp_json.get('error'):
-      if resp.status_code in [401, 403]:
-        raise UnauthorizedError('Unauthorized. Authenticate with tools/lib/auth.py')
+    with self.session.request(method, API_HOST + '/' + endpoint, **kwargs) as resp:
+      resp_json = resp.json()
+      if isinstance(resp_json, dict) and resp_json.get('error'):
+        if resp.status_code in [401, 403]:
+          raise UnauthorizedError('Unauthorized. Authenticate with tools/lib/auth.py')
 
-      e = APIError(str(resp.status_code) + ":" + resp_json.get('description', str(resp_json['error'])))
-      e.status_code = resp.status_code
-      raise e
-    return resp_json
+        e = APIError(str(resp.status_code) + ":" + resp_json.get('description', str(resp_json['error'])))
+        e.status_code = resp.status_code
+        raise e
+      return resp_json
 
   def get(self, endpoint, **kwargs):
     return self.request('GET', endpoint, **kwargs)
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index 2d3d14ce8a..fe8bd3ea84 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -82,7 +82,7 @@ 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") as file_length:
+      with atomic_write_in_dir(file_length_path, mode="w", overwrite=True) as file_length:
         file_length.write(str(self._length))
     return self._length
 
@@ -105,7 +105,7 @@ 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") as new_cached_file:
+        with atomic_write_in_dir(full_path, mode="wb", overwrite=True) as new_cached_file:
           new_cached_file.write(data)
       else:
         with open(full_path, "rb") as cached_file:
diff --git a/tools/op.sh b/tools/op.sh
index f01863e1b1..0166b0d854 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -327,9 +327,9 @@ function op_switch() {
   fi
   BRANCH="$1"
 
-  git fetch "$REMOTE" "$BRANCH":"$BRANCH"
+  git fetch "$REMOTE" "$BRANCH"
   git checkout -f --recurse-submodules "$BRANCH"
-  git reset --hard "$BRANCH"
+  git reset --hard "${REMOTE}/${BRANCH}"
   git clean -df
   git submodule update --init --recursive
   git submodule foreach git reset --hard
diff --git a/uv.lock b/uv.lock
index 4ae1288bed..085fdf369e 100644
--- a/uv.lock
+++ b/uv.lock
@@ -80,7 +80,7 @@ wheels = [
 
 [[package]]
 name = "aiortc"
-version = "1.7.0"
+version = "1.9.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "aioice" },
@@ -92,15 +92,15 @@ dependencies = [
     { name = "pylibsrtp" },
     { name = "pyopenssl" },
 ]
-sdist = { url = "https://files.pythonhosted.org/packages/35/85/6716217e91790f08d382fcf48eea83ace2874732ab5872a649623ebcfd93/aiortc-1.7.0.tar.gz", hash = "sha256:4fd900797b419a9189443b7c95a2ce4bf5aa0d9542d8d19edfabf30aa5fbc296", size = 1167708 }
+sdist = { url = "https://files.pythonhosted.org/packages/71/32/e9b01e2271124643e5dc15c273f2bb8155efebf5bc2115407441ac62f4c5/aiortc-1.9.0.tar.gz", hash = "sha256:03faa76d76ef0e5989ac10386898b029369756102217230e2fcd4b029c50b303", size = 1168973 }
 wheels = [
-    { url = "https://files.pythonhosted.org/packages/00/f3/8b51c79e6296bd76b3154a0a977472f2416e5d806dc210604416e3548b0b/aiortc-1.7.0-cp38-abi3-macosx_10_9_x86_64.whl", hash = "sha256:aba47eac61ee7fb7e89876f40e4132aa66a13ed2a730dff003342e57219f34c0", size = 1219242 },
-    { url = "https://files.pythonhosted.org/packages/52/5d/628f937106e66f4b40f861c1167924ab45ec19063cf5bcceb2dc0740c8e9/aiortc-1.7.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:169abaaa0c11a1695942b3eeea9d9032ea4992c6e84958c1b31c6ba22fcf4b0e", size = 895380 },
-    { url = "https://files.pythonhosted.org/packages/f2/f8/86d23644e87e22156a9446ec844b21a83a3db52900a7e67f562c359c3817/aiortc-1.7.0-cp38-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:c5323a347d02d53989e61944eead19e550d930afbb872dd0fb51b3d065aaa833", size = 1778678 },
-    { url = "https://files.pythonhosted.org/packages/46/8a/815f0d619a08b89c5505aced5e5f598d463b4cb21c091cf7fb9549084285/aiortc-1.7.0-cp38-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:71c18762ebfeb239352705672e598c57f0e56e5c1b7955dba27651c801c56ea2", size = 1895896 },
-    { url = "https://files.pythonhosted.org/packages/96/1e/3aa111508a82bbebfab65fda06c93dc68f7215f12dfa65d24f3a3d1df641/aiortc-1.7.0-cp38-abi3-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl", hash = "sha256:817526c2e429a1ef1226ca9cdb4ff3c5d03857eb31de0f5a00433dc4cb5569f3", size = 1918175 },
-    { url = "https://files.pythonhosted.org/packages/52/1d/90d2465efb01f81a9866352dd5c754402e7e092d2af3f0d966f4f26bae09/aiortc-1.7.0-cp38-abi3-win32.whl", hash = "sha256:a63c4da5c4a9d96ef6e3948c1f4675e02b0b908605eff4cea8b5e2fa5a34da4e", size = 922594 },
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+    { url = "https://files.pythonhosted.org/packages/93/01/db89910fc4dfb72ca25fd9a41326762a490d93d39d2fc4aac3f86c05857d/aiortc-1.9.0-cp38-abi3-macosx_10_9_x86_64.whl", hash = "sha256:e3e67c1970c2cffacac53c8f161df264efc62b22721c64a621940935028ee087", size = 1216069 },
+    { url = "https://files.pythonhosted.org/packages/4c/6d/76ed96521080492c7264eacf73a8cba2202f1ff9f59af1776c5a2532f332/aiortc-1.9.0-cp38-abi3-macosx_11_0_arm64.whl", hash = "sha256:d893cb3d4ffa0ff4f9bb03a88f0a700cdbcd4c0dc060a46c59a27ccd1c890663", size = 896012 },
+    { url = "https://files.pythonhosted.org/packages/8c/87/1f666108764fa5b557bed4f0fd5e2acccd739bb2cca2b766dcacb53e5669/aiortc-1.9.0-cp38-abi3-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:176b4eb38d833667f87cf719a7a3e105e25a35b138b30893294418c1c96e38db", size = 1779113 },
+    { url = "https://files.pythonhosted.org/packages/32/03/f3233e936f7a81549bd95f33f3d304e2a9211cb35d819d74570c0718b1ac/aiortc-1.9.0-cp38-abi3-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:c44b610f36b8d17123855dfbe915fa6874201765b8a2c7fd9cf72d14cf417740", size = 1896322 },
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+    { url = "https://files.pythonhosted.org/packages/76/e3/bdb76e7e51bc4fc7a5869597de2effad073ccf5ef14de3aed742d7384107/aiortc-1.9.0-cp38-abi3-win32.whl", hash = "sha256:680b703e35870e301535c930bfe32e7d012224a91ce51531aba45a3124ef07cc", size = 923055 },
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 ]
 
 [[package]]
@@ -126,22 +126,22 @@ wheels = [
 
 [[package]]
 name = "av"
-version = "11.0.0"
+version = "12.3.0"
 source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/21/e8/fadad78511fd108e17f0df1dd2a29755020e92345791e4fe207d304a0cd4/av-11.0.0.tar.gz", hash = "sha256:48223f000a252070f8e700ff634bb7fb3aa1b7bc7e450373029fbdd6f369ac31", size = 3652129 }
+sdist = { url = "https://files.pythonhosted.org/packages/00/f8/5adeeae0c42a7130933d168b8d84a21c98a32cb9fcf9222e2541ed0d9c7b/av-12.3.0.tar.gz", hash = "sha256:04b1892562aff3277efc79f32bd8f1d0cbb64ed011241cb3e96f9ad471816c22", size = 3833953 }
 wheels = [
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