diff --git a/README.md b/README.md
index 21928a8611ae77..2ba14f988c5652 100644
--- a/README.md
+++ b/README.md
@@ -21,7 +21,7 @@ FrogPilot is a fully open-sourced fork of openpilot, featuring clear and concise
 ------
 FrogPilot was last updated on:
 
-**October 21st, 2024**
+**November 24th, 2024**
 
 Features
 ------
diff --git a/SConstruct b/SConstruct
index 747cd09dd8a5fd..944d650d742d99 100644
--- a/SConstruct
+++ b/SConstruct
@@ -277,7 +277,6 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-
 qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
 
 qt_libs = []
diff --git a/cereal/car.capnp b/cereal/car.capnp
index ec40d92c040f10..62559a402b7817 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -84,6 +84,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     startup @75;
     startupNoCar @76;
     startupNoControl @77;
+    startupNoSecOcKey @149;
     startupMaster @78;
     startupNoFw @104;
     fcw @79;
@@ -137,14 +138,15 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     openpilotCrashedRandomEvent @137;
     pedalInterceptorNoBrake @138;
     speedLimitChanged @139;
-    torqueNNLoad @140;
-    trafficModeActive @141;
-    trafficModeInactive @142;
-    turningLeft @143;
-    turningRight @144;
-    vCruise69 @145;
-    yourFrogTriedToKillMe @146;
-    youveGotMail @147;
+    thisIsFineSteerSaturated @140;
+    torqueNNLoad @141;
+    trafficModeActive @142;
+    trafficModeInactive @143;
+    turningLeft @144;
+    turningRight @145;
+    vCruise69 @146;
+    yourFrogTriedToKillMe @147;
+    youveGotMail @148;
 
     radarCanErrorDEPRECATED @15;
     communityFeatureDisallowedDEPRECATED @62;
@@ -453,7 +455,8 @@ struct CarControl {
       mail @16;
       nessie @17;
       noice @18;
-      uwu @19;
+      thisIsFine @19;
+      uwu @20;
     }
   }
 
@@ -546,6 +549,9 @@ struct CarParams {
 
   wheelSpeedFactor @63 :Float32; # Multiplier on wheels speeds to computer actual speeds
 
+  secOcRequired @74 :Bool;  # Car requires SecOC message authentication to operate
+  secOcKeyAvailable @75 :Bool;  # Stored SecOC key loaded from params
+
   struct SafetyConfig {
     safetyModel @0 :SafetyModel;
     safetyParam @3 :UInt16;
diff --git a/cereal/custom.capnp b/cereal/custom.capnp
index 6b5554fe7b7c09..172b802f3b7bed 100644
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -51,30 +51,32 @@ struct FrogPilotPlan @0x80ae746ee2596b11 {
   accelerationJerkStock @1 :Float32;
   adjustedCruise @2 :Float32;
   dangerJerk @3 :Float32;
-  desiredFollowDistance @4 :Float32;
+  desiredFollowDistance @4 :Int64;
   experimentalMode @5 :Bool;
   forcingStop @6 :Bool;
-  frogpilotEvents @7 :List(Car.CarEvent);
-  lateralCheck @8 :Bool;
-  laneWidthLeft @9 :Float32;
-  laneWidthRight @10 :Float32;
-  maxAcceleration @11 :Float32;
-  minAcceleration @12 :Float32;
-  redLight @13 :Bool;
-  safeObstacleDistance @14 :Int32;
-  safeObstacleDistanceStock @15 :Int32;
-  slcOverridden @16 :Bool;
-  slcOverriddenSpeed @17 :Float32;
-  slcSpeedLimit @18 :Float32;
-  slcSpeedLimitOffset @19 :Float32;
-  speedJerk @20 :Float32;
-  speedJerkStock @21 :Float32;
-  speedLimitChanged @22 :Bool;
-  stoppedEquivalenceFactor @23 :Int32;
-  tFollow @24 :Float32;
-  unconfirmedSlcSpeedLimit @25 :Float32;
-  vCruise @26 :Float32;
-  vtscControllingCurve @27 :Bool;
+  forcingStopLength @7 :Float32;
+  frogpilotEvents @8 :List(Car.CarEvent);
+  lateralCheck @9 :Bool;
+  laneWidthLeft @10 :Float32;
+  laneWidthRight @11 :Float32;
+  maxAcceleration @12 :Float32;
+  minAcceleration @13 :Float32;
+  redLight @14 :Bool;
+  safeObstacleDistance @15 :Int64;
+  safeObstacleDistanceStock @16 :Int64;
+  slcOverridden @17 :Bool;
+  slcOverriddenSpeed @18 :Float32;
+  slcSpeedLimit @19 :Float32;
+  slcSpeedLimitOffset @20 :Float32;
+  speedJerk @21 :Float32;
+  speedJerkStock @22 :Float32;
+  speedLimitChanged @23 :Bool;
+  stoppedEquivalenceFactor @24 :Int64;
+  tFollow @25 :Float32;
+  togglesUpdated @26 :Bool;
+  unconfirmedSlcSpeedLimit @27 :Float32;
+  vCruise @28 :Float32;
+  vtscControllingCurve @29 :Bool;
 }
 
 struct CustomReserved5 @0xa5cd762cd951a455 {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 3b1df446a51ff5..9a944eac3429f6 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -618,6 +618,10 @@ struct RadarState @0x9a185389d6fdd05f {
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
+  leadLeft @13 :LeadData;
+  leadRight @14 :LeadData;
+  leadLeftFar @15 :LeadData;
+  leadRightFar @16 :LeadData;
   cumLagMs @5 :Float32;
 
   struct LeadData {
diff --git a/cereal/services.py b/cereal/services.py
index 1ac0ae4760138c..6a15c9672c27ad 100755
--- a/cereal/services.py
+++ b/cereal/services.py
@@ -74,13 +74,6 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "userFlag": (True, 0., 1),
   "microphone": (True, 10., 10),
 
-  # FrogPilot
-  "frogpilotCarControl": (True, 100., 10),
-  "frogpilotCarState": (True, 100., 10),
-  "frogpilotDeviceState": (True, 2., 1),
-  "frogpilotNavigation": (True, 1., 10),
-  "frogpilotPlan": (True, 20., 5),
-
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),
@@ -97,6 +90,13 @@ def __init__(self, should_log: bool, frequency: float, decimation: Optional[int]
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
+
+  # FrogPilot
+  "frogpilotCarControl": (True, 100., 10),
+  "frogpilotCarState": (True, 100., 10),
+  "frogpilotDeviceState": (True, 2., 1),
+  "frogpilotNavigation": (True, 1., 10),
+  "frogpilotPlan": (True, 20., 5),
 }
 SERVICE_LIST = {name: Service(*vals) for
                 idx, (name, vals) in enumerate(_services.items())}
diff --git a/common/conversions.py b/common/conversions.py
index 8554646ed0bb72..62c8debdb56e0e 100644
--- a/common/conversions.py
+++ b/common/conversions.py
@@ -12,8 +12,6 @@ class Conversions:
   KNOTS_TO_MS = 1. / MS_TO_KNOTS
 
   # Distance
-  KM_TO_MILES = KPH_TO_MPH
-  MILES_TO_KM = MPH_TO_KPH
   METER_TO_FOOT = 3.28084
   FOOT_TO_METER = 1. / METER_TO_FOOT
   CM_TO_INCH = 1. / 2.54
diff --git a/common/params.cc b/common/params.cc
index 918f714f3e3cf8..eba32fab4fceb2 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -112,7 +112,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisablePowerDown", PERSISTENT},
-    {"DisableUpdates", PERSISTENT | FROGPILOT_STORAGE},
+    {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT | FROGPILOT_STORAGE},
     {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
     {"DongleId", PERSISTENT},
@@ -189,6 +189,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
     {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"RouteCount", PERSISTENT},
+    {"SecOCKey", PERSISTENT | DONT_LOG},
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"TermsVersion", PERSISTENT},
@@ -211,12 +212,11 @@ std::unordered_map<std::string, uint32_t> keys = {
     // FrogPilot parameters
     {"AccelerationPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"AccelerationProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"AdjacentLeadsUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"AdjacentPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"AdjacentPathMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"AdvancedCustomUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"AdvancedLateralTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"AdvancedLongitudinalTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"AdvancedQOLDriving", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"AggressiveFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"AggressiveJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"AggressiveJerkDanger", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -240,7 +240,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"BlindSpotMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"BlindSpotPath", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"BorderMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"CameraFPS", PERSISTENT},
     {"CameraView", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"CancelModelDownload", PERSISTENT},
     {"CancelThemeDownload", PERSISTENT},
@@ -255,9 +254,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CENavigationIntersections", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CENavigationLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CENavigationTurns", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"CertifiedHerbalistCalibrationParams", PERSISTENT},
     {"CertifiedHerbalistDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"CertifiedHerbalistLiveTorqueParameters", PERSISTENT},
     {"CertifiedHerbalistScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CESignalSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CESignalLaneDetection", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -266,6 +263,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CESpeedLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CEStatus", CLEAR_ON_OFFROAD_TRANSITION},
     {"CEStoppedLead", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"ClassicModels", PERSISTENT},
     {"ClusterOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"ColorToDownload", PERSISTENT},
     {"Compass", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
@@ -281,18 +279,22 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CustomCruiseLong", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CustomDistanceIcons", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CustomIcons", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"CustomPaths", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
+    {"CustomizationLevel", PERSISTENT},
+    {"CustomizationLevelConfirmed", PERSISTENT},
     {"CustomPersonalities", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"CustomSignals", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"CustomSounds", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"CustomUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"DecelerationProfile", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"DefaultModelName", CLEAR_ON_MANAGER_START},
     {"DeveloperUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"DeviceManagement", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DeviceShutdown", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DisableCurveSpeedSmoothing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DisableOnroadUploads", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DisableOpenpilotLongitudinal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
+    {"DissolvedOxygenDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"DissolvedOxygenScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DistanceIconToDownload", PERSISTENT},
     {"DisengageVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"DoToggleReset", PERSISTENT},
@@ -303,13 +305,10 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"DownloadableSounds", PERSISTENT},
     {"DownloadableWheels", PERSISTENT},
     {"DownloadAllModels", PERSISTENT},
-    {"DragonPilotTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
-    {"DriveRated", CLEAR_ON_ONROAD_TRANSITION},
+    {"DragonRiderDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"DragonRiderScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DriverCamera", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"DrivingPersonalities", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"DuckAmigoCalibrationParams", PERSISTENT},
     {"DuckAmigoDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"DuckAmigoLiveTorqueParameters", PERSISTENT},
     {"DuckAmigoScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"DynamicPathWidth", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"DynamicPedalsOnUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
@@ -334,14 +333,10 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"FrogPilotDrives", PERSISTENT | FROGPILOT_TRACKING},
     {"FrogPilotKilometers", PERSISTENT | FROGPILOT_TRACKING},
     {"FrogPilotMinutes", PERSISTENT | FROGPILOT_TRACKING},
+    {"FrogPilotToggles", PERSISTENT},
     {"FrogPilotTogglesUpdated", PERSISTENT},
-    {"FrogsGoMoo", PERSISTENT},
     {"FrogsGoMoosTweak", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"FullMap", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"GameBoyCalibrationParams", PERSISTENT},
-    {"GameBoyDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"GameBoyLiveTorqueParameters", PERSISTENT},
-    {"GameBoyScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"GasRegenCmd", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"GMapKey", PERSISTENT},
     {"GoatScream", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
@@ -353,8 +348,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"HideMapIcon", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HideMaxSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HideSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"HideSpeedUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"HideUIElements", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
+    {"HideSpeedLimit", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HolidayThemes", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"HumanAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"HumanFollowing", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -376,9 +370,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LongitudinalMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"LongitudinalTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"LongPitch", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
-    {"LosAngelesCalibrationParams", PERSISTENT},
     {"LosAngelesDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"LosAngelesLiveTorqueParameters", PERSISTENT},
     {"LosAngelesScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"LoudBlindspotAlert", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"LowVoltageShutdown", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -388,7 +380,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"MapboxSecretKey", PERSISTENT},
     {"MapDeceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"MapGears", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"MapsSelected", PERSISTENT | FROGPILOT_OTHER},
+    {"MapsSelected", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER},
     {"MapSpeedLimit", PERSISTENT},
     {"MapStyle", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"MapTargetVelocities", PERSISTENT},
@@ -397,31 +389,25 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"MinimumLaneChangeSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"Model", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ModelDownloadProgress", PERSISTENT},
-    {"ModelManagement", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ModelName", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ModelRandomizer", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ModelsDownloaded", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"ModelSelector", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ModelToDownload", PERSISTENT},
     {"ModelUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"MTSCCurvatureCheck", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"MTSCEnabled", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NavigationModels", PERSISTENT},
+    {"NavigationUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"NextMapSpeedLimit", PERSISTENT},
     {"NewLongAPI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"NewLongAPIGM", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
-    {"NewToyotaTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"NNFF", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NNFFLite", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NNFFModelName", CLEAR_ON_OFFROAD_TRANSITION},
     {"NoLogging", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"NorthDakotaCalibrationParams", PERSISTENT},
     {"NorthDakotaDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"NorthDakotaLiveTorqueParameters", PERSISTENT},
     {"NorthDakotaScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"NotreDameCalibrationParams", PERSISTENT},
     {"NotreDameDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"NotreDameLiveTorqueParameters", PERSISTENT},
     {"NotreDameScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NoUploads", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"NudgelessLaneChange", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -434,6 +420,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"OneLaneChange", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"OnroadDistanceButton", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"OnroadDistanceButtonPressed", PERSISTENT},
+    {"openpilotMinutes", PERSISTENT},
     {"OSMDownloadBounds", PERSISTENT},
     {"OSMDownloadLocations", PERSISTENT},
     {"OSMDownloadProgress", CLEAR_ON_MANAGER_START},
@@ -452,14 +439,10 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"QOLLongitudinal", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"QOLVisuals", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"RadarlessModels", PERSISTENT},
-    {"RadicalTurtleCalibrationParams", PERSISTENT},
     {"RadicalTurtleDrives", PERSISTENT | FROGPILOT_CONTROLS},
-    {"RadicalTurtleLiveTorqueParameters", PERSISTENT},
     {"RadicalTurtleScore", PERSISTENT | FROGPILOT_CONTROLS},
     {"RandomEvents", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"RecertifiedHerbalistCalibrationParams", PERSISTENT},
     {"RecertifiedHerbalistDrives", PERSISTENT | FROGPILOT_CONTROLS},
-    {"RecertifiedHerbalistLiveTorqueParameters", PERSISTENT},
     {"RecertifiedHerbalistScore", PERSISTENT | FROGPILOT_CONTROLS},
     {"RefuseVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"RelaxedFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -482,9 +465,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ScreenTimeout", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"ScreenTimeoutOnroad", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"SearchInput", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER},
-    {"SecretGoodOpenpilotCalibrationParams", PERSISTENT},
     {"SecretGoodOpenpilotDrives", PERSISTENT | FROGPILOT_CONTROLS},
-    {"SecretGoodOpenpilotLiveTorqueParameters", PERSISTENT},
     {"SecretGoodOpenpilotScore", PERSISTENT | FROGPILOT_CONTROLS},
     {"SetSpeedLimit", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"SetSpeedOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -493,7 +474,6 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"ShowIP", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"ShowMemoryUsage", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"ShowSLCOffset", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"ShowSLCOffsetUI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ShowSteering", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"ShowStoppingPoint", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"ShowStoppingPointMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
@@ -503,6 +483,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SidebarMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"SignalMetrics", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"SignalToDownload", PERSISTENT},
+    {"SLCConfirmation", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"SLCConfirmationHigher", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"SLCConfirmationLower", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"SLCConfirmed", PERSISTENT},
@@ -539,12 +520,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SteerRatioStock", PERSISTENT},
     {"StoppedTimer", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"TacoTune", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
+    {"TestingSound", PERSISTENT},
     {"TetheringEnabled", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_OTHER},
     {"ThemeDownloadProgress", PERSISTENT},
-    {"TombRaiderCalibrationParams", PERSISTENT},
-    {"TombRaiderDrives", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"TombRaiderLiveTorqueParameters", PERSISTENT},
-    {"TombRaiderScore", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"ToyotaDoors", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"TrafficFollow", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"TrafficJerkAcceleration", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
@@ -564,14 +542,11 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UseSI", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"UseStockColors", CLEAR_ON_MANAGER_START},
     {"UseVienna", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
-    {"VelocityModels", PERSISTENT},
     {"VisionTurnControl", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_CONTROLS},
     {"VoltSNG", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VEHICLES},
     {"WarningImmediateVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"WarningSoftVolume", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
-    {"WD40CalibrationParams", PERSISTENT},
     {"WD40Drives", PERSISTENT | FROGPILOT_CONTROLS},
-    {"WD40LiveTorqueParameters", PERSISTENT},
     {"WD40Score", PERSISTENT | FROGPILOT_CONTROLS},
     {"WheelIcon", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
     {"WheelSpeed", PERSISTENT | FROGPILOT_STORAGE | FROGPILOT_VISUALS},
diff --git a/common/params.h b/common/params.h
index e7ad3e1c8040c7..461f522cf806bf 100644
--- a/common/params.h
+++ b/common/params.h
@@ -77,11 +77,9 @@ class Params {
   inline void putBoolNonBlocking(const std::string &key, bool val) {
     putNonBlocking(key, val ? "1" : "0");
   }
-  void putIntNonBlocking(const std::string &key, const std::string &val);
   inline void putIntNonBlocking(const std::string &key, int val) {
     putNonBlocking(key, std::to_string(val));
   }
-  void putFloatNonBlocking(const std::string &key, const std::string &val);
   inline void putFloatNonBlocking(const std::string &key, float val) {
     putNonBlocking(key, std::to_string(val));
   }
diff --git a/opendbc/toyota_new_mc_pt_generated.dbc b/opendbc/toyota_new_mc_pt_generated.dbc
index 1a9a2a9a26c204..2b74b4651cbe87 100644
--- a/opendbc/toyota_new_mc_pt_generated.dbc
+++ b/opendbc/toyota_new_mc_pt_generated.dbc
@@ -197,7 +197,11 @@ BO_ 643 PRE_COLLISION: 7 DSU
 
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+ SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX
+ SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS
+ SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
 
 BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
diff --git a/opendbc/toyota_nodsu_pt_generated.dbc b/opendbc/toyota_nodsu_pt_generated.dbc
index 5f106bfc1797ce..ef60ba9319682e 100644
--- a/opendbc/toyota_nodsu_pt_generated.dbc
+++ b/opendbc/toyota_nodsu_pt_generated.dbc
@@ -197,7 +197,11 @@ BO_ 643 PRE_COLLISION: 7 DSU
 
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+ SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX
+ SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS
+ SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
 
 BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
diff --git a/opendbc/toyota_rav4_prime_generated.dbc b/opendbc/toyota_rav4_prime_generated.dbc
new file mode 100644
index 00000000000000..c2477c15182ddf
--- /dev/null
+++ b/opendbc/toyota_rav4_prime_generated.dbc
@@ -0,0 +1,526 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+
+CM_ "Imported file _community.dbc starts here";
+BO_ 359 STEERING_IPAS_COMMA: 8 IPAS
+ SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
+ SG_ ANGLE : 3|12@0- (1.5,0) [-510|510] "deg" XXX
+ SG_ SET_ME_X10 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00 : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ DIRECTION_CMD : 38|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X40 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X00_1 : 55|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+CM_ "BO_ STEERING_IPAS_COMMA: Copy of msg 614 so we can do angle control while the Park Assist ECU is connected (Panda spoofs 614 with 359 on connector J70). Note that addresses 0x266 and 0x167 are checksum-invariant";
+
+BO_ 512 GAS_COMMAND: 6 EON
+ SG_ GAS_COMMAND : 7|16@0+ (0.159375,-75.555) [0|1] "" INTERCEPTOR
+ SG_ GAS_COMMAND2 : 23|16@0+ (0.159375,-151.111) [0|1] "" INTERCEPTOR
+ SG_ ENABLE : 39|1@0+ (1,0) [0|1] "" INTERCEPTOR
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" INTERCEPTOR
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" INTERCEPTOR
+
+BO_ 513 GAS_SENSOR: 6 INTERCEPTOR
+ SG_ INTERCEPTOR_GAS : 7|16@0+ (1,0) [0|1] "" EON
+ SG_ INTERCEPTOR_GAS2 : 23|16@0+ (1,0) [0|1] "" EON
+ SG_ STATE : 39|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER_PEDAL : 35|4@0+ (1,0) [0|15] "" EON
+ SG_ CHECKSUM_PEDAL : 47|8@0+ (1,0) [0|255] "" EON
+
+VAL_ 513 STATE 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+BO_ 35 SECONDARY_STEER_ANGLE: 8 XXX
+ SG_ ZORRO_STEER : 7|24@0- (0.004901594652,0) [-500|500] "" XXX
+
+CM_ "BO_ SECONDARY_STEER_ANGLE: ZSS is a high-precision steering angle sensor that can replace the lower resolution sensor in most TSS1 Toyotas. Learn more: https://github.com/commaai/openpilot/wiki/Toyota-Lexus#zorro-steering-sensor-zss";
+
+BO_ 767 SDSU: 8 XXX
+ SG_ FD_BUTTON : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STATE : 23|4@0+ (1,0) [0|15] "" XXX
+
+CM_ "BO_ SDSU: The sDSU is a modified DSU for use in TSS-P Toyotas. Learn more: https://github.com/RetroPilot/ocelot/tree/main/firmware/smart_dsu";
+CM_ SG_ 767 FD_BUTTON "The follow distance button signal as forwarded by the sdsu";
+
+VAL_ 767 STATE 7 "STATE_AEB_CTRL" 6 "FAULT_INVALID" 5 "FAULT_TIMEOUT" 4 "FAULT_STARTUP" 3 "FAULT_SCE" 2 "FAULT_SEND" 1 "FAULT_BAD_CHECKSUM" 0 "NO_FAULT" ;
+
+
+CM_ "toyota_rav4_prime.dbc starts here";
+VERSION ""
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX DSU HCU EPS IPAS CGW BGM
+
+BO_ 15 SECOC_SYNCHRONIZATION: 8 XXX
+ SG_ TRIP_CNT : 7|16@0+ (1,0) [0|65535] "" XXX
+ SG_ RESET_CNT : 23|20@0+ (1,0) [0|65535] "" XXX
+ SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
+
+BO_ 37 STEER_ANGLE_SENSOR: 8 XXX
+ SG_ STEER_ANGLE : 3|12@0- (1.5,0) [-500|500] "deg" XXX
+ SG_ STEER_RATE : 35|12@0- (1,0) [-2000|2000] "deg/s" XXX
+ SG_ STEER_FRACTION : 39|4@0- (0.1,0) [-0.7|0.7] "deg" XXX
+
+BO_ 170 WHEEL_SPEEDS: 8 XXX
+ SG_ WHEEL_SPEED_FR : 7|16@0+ (0.01,-67.67) [0|250] "km/h" XXX
+ SG_ WHEEL_SPEED_FL : 23|16@0+ (0.01,-67.67) [0|250] "km/h" XXX
+ SG_ WHEEL_SPEED_RR : 39|16@0+ (0.01,-67.67) [0|250] "km/h" XXX
+ SG_ WHEEL_SPEED_RL : 55|16@0+ (0.01,-67.67) [0|250] "km/h" XXX
+
+BO_ 257 BRAKE_MODULE: 8 XXX
+ SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_PRESSURE_1 : 31|8@0+ (1,0) [0|15] "" XXX
+ SG_ BRAKE_PRESSURE_2 : 61|6@0+ (1,0) [0|63] "" XXX
+
+BO_ 278 GAS_PEDAL: 8 XXX
+ SG_ GAS_PEDAL_ACC : 7|8@0+ (0.005,0) [0|255] "" XXX
+ SG_ GAS_PEDAL_USER : 15|8@0+ (0.005,0) [0|255] "" XXX
+ SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
+ SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 295 GEAR_PACKET_HYBRID: 8 XXX
+ SG_ CAR_MOVEMENT : 25|10@0- (1,0) [0|255] "" XXX
+ SG_ GEAR : 47|4@0+ (1,0) [0|15] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 305 STEERING_LTA_2: 8 XXX
+ SG_ STEER_REQUEST_2 : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_REQUEST : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 13|6@0+ (1,0) [0|63] "" XXX
+ SG_ STEER_ANGLE_CMD : 23|16@0- (0.0573,0) [0|65535] "" XXX
+ SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
+ SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 353 DSU_SPEED: 7 XXX
+ SG_ FORWARD_SPEED : 15|16@0- (0.00390625,-30) [0|255] "km/h" XXX
+
+BO_ 374 PCM_CRUISE: 8 XXX
+ SG_ CRUISE_ACTIVE : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_STATE : 31|4@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 375 PCM_CRUISE_3: 8 XXX
+ SG_ NEW_SIGNAL_1 : 7|16@0- (1,0) [0|65535] "" XXX
+ SG_ NEW_SIGNAL_4 : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_6 : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_7 : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_5 : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ GAS_RELEASED : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ NEW_SIGNAL_2 : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
+ SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 387 ACC_CONTROL_2: 8 XXX
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU
+ SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
+ SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 401 STEERING_LTA: 8 XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|255] "" XXX
+ SG_ SETME_X1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_ANGLE_CMD : 15|16@0- (0.0573,0) [-540|540] "" XXX
+ SG_ STEER_REQUEST_2 : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKA_ACTIVE : 26|1@0+ (1,0) [0|1] "" XXX
+ SG_ SETME_X3 : 29|2@0+ (1,0) [0|3] "" XXX
+ SG_ CLEAR_HOLD_STEERING_ALERT : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ PERCENTAGE : 39|8@0+ (1,0) [0|255] "" XXX
+ SG_ TORQUE_WIND_DOWN : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ ANGLE : 55|8@0- (0.5,0) [0|255] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 418 CRUISE_RELATED: 8 XXX
+ SG_ CRUISE_ACTIVE : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 467 PCM_CRUISE_2: 8 XXX
+ SG_ BRAKE_PRESSED : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ PCM_FOLLOW_DISTANCE : 12|2@0+ (1,0) [0|3] "" XXX
+ SG_ LOW_SPEED_LOCKOUT : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ MAIN_ON : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_SPEED : 23|8@0+ (1,0) [0|255] "km/h" XXX
+ SG_ ACC_FAULTED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
+ SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
+ SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 610 EPS_STATUS: 8 EPS
+ SG_ IPAS_STATE : 3|4@0+ (1,0) [0|15] "" XXX
+ SG_ LTA_STATE : 15|5@0+ (1,0) [0|31] "" XXX
+ SG_ TYPE : 24|1@0+ (1,0) [0|1] "" XXX
+ SG_ LKA_STATE : 31|7@0+ (1,0) [0|127] "" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 643 PRE_COLLISION: 8 DSU
+ SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
+ SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 740 STEERING_LKA: 8 XXX
+ SG_ STEER_REQUEST : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 6|6@0+ (1,0) [0|63] "" XXX
+ SG_ SET_ME_1 : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEER_TORQUE_CMD : 15|16@0- (1,0) [0|65535] "" XXX
+ SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
+ SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
+ SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 742 LEAD_INFO: 8 DSU
+ SG_ LEAD_LONG_DIST : 7|13@0+ (0.05,0) [0|300] "m" HCU
+ SG_ LEAD_REL_SPEED : 23|12@0- (0.025,0) [-100|100] "m/s" HCU
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" HCU
+
+BO_ 835 ACC_CONTROL: 8 DSU
+ SG_ ACCEL_CMD : 7|16@0- (0.001,0) [-20|20] "m/s^2" HCU
+ SG_ ALLOW_LONG_PRESS : 17|2@0+ (1,0) [0|2] "" XXX
+ SG_ ACC_MALFUNCTION : 18|1@0+ (1,0) [0|0] "" XXX
+ SG_ RADAR_DIRTY : 19|1@0+ (1,0) [0|1] "" XXX
+ SG_ DISTANCE : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ MINI_CAR : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_TYPE : 23|2@0+ (1,0) [0|3] "" HCU
+ SG_ CANCEL_REQ : 24|1@0+ (1,0) [0|1] "" HCU
+ SG_ ACC_CUT_IN : 25|1@0+ (1,0) [0|1] "" XXX
+ SG_ PERMIT_BRAKING : 30|1@0+ (1,0) [0|1] "" HCU
+ SG_ RELEASE_STANDSTILL : 31|1@0+ (1,0) [0|1] "" HCU
+ SG_ ITS_CONNECT_LEAD : 39|8@0+ (1,0) [0|1] "" Vector__XXX
+ SG_ ACCEL_CMD_ALT : 47|8@0- (0.05,0) [0|0] "m/s^2" XXX
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 836 PRE_COLLISION_2: 8 DSU
+ SG_ AUTHENTICATOR : 35|28@0+ (1,0) [0|268435455] "" XXX
+ SG_ RESET_FLAG : 37|2@0+ (1,0) [0|3] "" XXX
+ SG_ MSG_CNT_LOWER : 39|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 881 LTA_RELATED: 8 FCM
+ SG_ GAS_PEDAL : 15|8@0+ (0.005,0) [0|1] "" XXX
+ SG_ STEER_ANGLE : 23|16@0- (0.0573,0) [-500|500] "" XXX
+ SG_ TURN_SIGNALS : 35|2@0+ (1,0) [0|3] "" XXX
+ SG_ UNKNOWN_2 : 58|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_SA_TOGGLE : 59|1@0+ (1,0) [0|1] "" XXX
+ SG_ LTA_STEER_REQUEST : 60|1@0+ (1,0) [0|1] "" XXX
+ SG_ UNKNOWN : 61|1@0+ (1,0) [0|1] "" XXX
+ SG_ STEERING_PRESSED : 63|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 921 PCM_CRUISE_SM: 8 XXX
+ SG_ MAIN_ON : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_CONTROL_STATE : 11|4@0+ (1,0) [0|15] "" XXX
+ SG_ DISTANCE_LINES : 14|2@0+ (1,0) [0|3] "" XXX
+ SG_ TEMP_ACC_FAULTED : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ UI_SET_SPEED : 31|8@0+ (1,0) [0|255] "" XXX
+
+BO_ 951 ESP_CONTROL: 8 ESP
+ SG_ VSC_DISABLED : 12|2@0+ (1,0) [0|1] "" XXX
+ SG_ TC_DISABLED : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_LIGHTS_ACC : 18|1@0+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ENABLED : 33|1@1+ (1,0) [0|1] "" XXX
+ SG_ BRAKE_HOLD_ACTIVE : 36|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1014 BSM: 8 XXX
+ SG_ L_ADJACENT : 0|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_ADJACENT : 1|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ L_APPROACHING : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ R_APPROACHING : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1020 SOLAR_SENSOR: 8 XXX
+ SG_ LUX_SENSOR : 55|13@0+ (1,0) [0|0] "" XXX
+
+BO_ 1041 PCS_HUD: 8 DSU
+ SG_ FCW : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_INDICATOR : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X20 : 15|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_DUST : 34|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_TEMP : 35|1@0+ (1,0) [0|0] "" XXX
+ SG_ SET_ME_X10 : 39|8@0+ (1,0) [0|1] "" XXX
+ SG_ PCS_OFF : 40|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_DUST2 : 41|1@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_TEMP2 : 42|1@0+ (1,0) [0|0] "" XXX
+ SG_ FRD_ADJ : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ PCS_SENSITIVITY : 55|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1042 LKAS_HUD: 8 DSU
+ SG_ BARRIERS : 1|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LINE : 3|2@0+ (1,0) [0|3] "" XXX
+ SG_ LEFT_LINE : 5|2@0+ (1,0) [0|3] "" XXX
+ SG_ LKAS_STATUS : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_ALERT : 9|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDW_EXIST : 10|1@0+ (1,0) [0|1] "" XXX
+ SG_ TWO_BEEPS : 12|1@0+ (1,0) [0|1] "" XXX
+ SG_ ADJUSTING_CAMERA : 13|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_UNAVAILABLE_QUIET : 14|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_MALFUNCTION : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_UNAVAILABLE : 16|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_SENSITIVITY : 18|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_SA_TOGGLE : 20|2@0+ (1,0) [0|3] "" XXX
+ SG_ LDA_MESSAGES : 23|3@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_ON_MESSAGE : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ REPEATED_BEEPS : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X01 : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ LANE_SWAY_TOGGLE : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ LANE_SWAY_SENSITIVITY : 45|2@0+ (1,0) [0|3] "" XXX
+ SG_ TAKE_CONTROL : 46|1@0+ (1,0) [0|1] "" XXX
+ SG_ LDA_FRONT_CAMERA_BLOCKED : 47|1@0+ (1,0) [0|1] "" XXX
+ SG_ LANE_SWAY_BUZZER : 50|2@0+ (1,0) [0|0] "" XXX
+ SG_ LANE_SWAY_FLD : 53|3@0+ (1,0) [0|7] "" XXX
+ SG_ LANE_SWAY_WARNING : 55|2@0+ (1,0) [0|3] "" XXX
+ SG_ SET_ME_X02 : 63|8@0+ (1,0) [0|1] "" XXX
+
+BO_ 1044 AUTO_HIGH_BEAM: 8 FCM
+ SG_ AHB_DUTY : 47|8@0+ (0.5,0) [0|0] "%" Vector__XXX
+ SG_ C_AHB : 51|4@0+ (1,0) [0|0] "" Vector__XXX
+ SG_ F_AHB : 55|4@0+ (1,0) [0|0] "" Vector__XXX
+
+BO_ 1161 RSA1: 8 FCM
+ SG_ TSGN1 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT1 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY1 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL1 : 23|8@0+ (1,0) [0|0] "km/h" XXX
+ SG_ SPLSGN2 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN1 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN2 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT2 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY2 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPDVAL2 : 55|8@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID1 : 59|4@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_A : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ BZRRQ_P : 63|2@0+ (1,0) [0|0] "" XXX
+
+BO_ 1162 RSA2: 8 FCM
+ SG_ TSGN3 : 7|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT3 : 9|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY3 : 12|3@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN4 : 27|4@0+ (1,0) [0|0] "" XXX
+ SG_ SPLSGN3 : 31|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSGN4 : 39|8@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNHLT4 : 41|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSGNGRY4 : 44|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMA : 50|3@0+ (1,0) [0|0] "" XXX
+ SG_ SGNNUMP : 53|3@0+ (1,0) [0|0] "" XXX
+ SG_ DPSGNREQ : 54|1@0+ (1,0) [0|0] "" XXX
+ SG_ SYNCID2 : 59|4@0+ (1,0) [0|0] "" XXX
+ SG_ TSRWMSG : 61|2@0+ (1,0) [0|0] "" XXX
+ SG_ SPDUNT : 63|2@0+ (1,0) [0|0] "" XXX
+
+BO_ 1163 RSA3: 8 FCM
+ SG_ OVSPNTM : 1|2@0+ (1,0) [0|0] "" XXX
+ SG_ NTLVLSPD : 3|2@0+ (1,0) [0|0] "" XXX
+ SG_ OTSGNNTM : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ TSRMSW : 6|1@0+ (1,0) [0|0] "" XXX
+ SG_ TSREQPD : 7|1@0+ (1,0) [0|0] "" XXX
+ SG_ OVSPVALL : 11|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALM : 19|4@0+ (1,-5) [0|0] "" XXX
+ SG_ OVSPVALH : 27|4@0+ (1,-5) [0|0] "" XXX
+ SG_ TSRSPU : 33|2@0+ (1,0) [0|0] "" XXX
+
+BO_ 1552 BODY_CONTROL_STATE_2: 8 XXX
+ SG_ UI_SPEED : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ METER_SLIDER_BRIGHTNESS_PCT : 30|7@0+ (1,0) [12|100] "%" XXX
+ SG_ METER_SLIDER_LOW_BRIGHTNESS : 37|1@0+ (1,0) [0|1] "" XXX
+ SG_ METER_SLIDER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ UNITS : 63|3@0+ (1,0) [1|4] "" XXX
+
+BO_ 1553 UI_SETTING: 8 XXX
+ SG_ UNITS : 26|2@0+ (1,0) [0|3] "" XXX
+ SG_ ODOMETER : 39|32@0+ (1,0) [0|1048575] "" XXX
+
+BO_ 1556 BLINKERS_STATE: 8 XXX
+ SG_ HAZARD_LIGHT : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ TURN_SIGNALS : 29|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1568 BODY_CONTROL_STATE: 8 XXX
+ SG_ METER_DIMMED : 38|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RL : 42|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_RR : 43|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FR : 44|1@0+ (1,0) [0|1] "" XXX
+ SG_ DOOR_OPEN_FL : 45|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_BRAKE : 60|1@0+ (1,0) [0|1] "" XXX
+ SG_ SEATBELT_DRIVER_UNLATCHED : 62|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1570 LIGHT_STALK: 8 SCM
+ SG_ FRONT_FOG : 27|1@0+ (1,0) [0|1] "" XXX
+ SG_ PARKING_LIGHT : 28|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOW_BEAM : 29|1@0+ (1,0) [0|1] "" XXX
+ SG_ HIGH_BEAM : 30|1@0+ (1,0) [0|1] "" XXX
+ SG_ DAYTIME_RUNNING_LIGHT : 31|1@0+ (1,0) [0|1] "" XXX
+ SG_ AUTO_HIGH_BEAM : 37|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1571 CERTIFICATION_ECU: 8 CGW
+ SG_ DOOR_LOCK_FEEDBACK_LIGHT : 15|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_LOCKING_FEEDBACK_LIGHT : 61|1@0+ (1,0) [0|0] "" XXX
+ SG_ KEYFOB_UNLOCKING_FEEDBACK_LIGHT : 62|1@0+ (1,0) [0|0] "" XXX
+
+BO_ 1592 DOOR_LOCKS: 8 XXX
+ SG_ LOCK_STATUS_CHANGED : 15|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOCK_STATUS : 20|1@0+ (1,0) [0|1] "" XXX
+ SG_ LOCKED_VIA_KEYFOB : 23|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 37 STEER_RATE "factor is tbd";
+CM_ SG_ 37 STEER_FRACTION "1/15th of the signal STEER_ANGLE, which is 1.5 deg; note that 0x8 is never set";
+CM_ SG_ 305 STEER_ANGLE_CMD "Used in place of STEERING_LTA.STEER_ANGLE_CMD on SecOC cars";
+CM_ SG_ 387 ACCEL_CMD "Used in place of ACC_CONTROL.ACCEL_CMD on SecOC cars";
+CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
+CM_ SG_ 401 SETME_X1 "usually 1, seen at 0 on some South American Corollas indicating lack of stock Lane Tracing Assist";
+CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
+CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not";
+CM_ SG_ 401 LKA_ACTIVE "1 when using LTA for LKA";
+CM_ SG_ 401 SETME_X3 "almost completely correlates with Toyota Safety Sense version, but may instead describe max torque when using LTA. if TSS 2.5 or 2022 RAV4, this is always 1. if TSS 2.0 this is always 3 (or 0 on Alphard, Highlander, NX)";
+CM_ SG_ 401 CLEAR_HOLD_STEERING_ALERT "set to 1 when user clears LKAS_HUD->LDA_ALERT ('Hold Steering') by applying torque to steering wheel";
+CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeringPressed in OP";
+CM_ SG_ 401 TORQUE_WIND_DOWN "used to wind down torque on user override";
+CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
+CM_ SG_ 467 LOW_SPEED_LOCKOUT "in low speed lockout, system would always disengage below 28mph";
+CM_ SG_ 467 SET_SPEED "43 km/h are shown as 28 mph, so conversion isn't perfect";
+CM_ SG_ 467 ACC_FAULTED "1 when ACC is faulted and the PCM disallows engagement";
+CM_ SG_ 608 STEER_OVERRIDE "set when driver torque exceeds a certain value";
+CM_ SG_ 608 STEER_TORQUE_DRIVER "driver torque";
+CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
+CM_ SG_ 835 ALLOW_LONG_PRESS "Enable Toyota's factory set speed increment behaviour, available on both metrics cars and imperial unit cars";
+CM_ SG_ 835 ACC_MALFUNCTION "display ACC fault on dash if set to 1";
+CM_ SG_ 835 RADAR_DIRTY "Display Clean Radar Sensor message on HUD";
+CM_ SG_ 835 DISTANCE "Cycle through ACC following distance from long, mid, short when set to 1";
+CM_ SG_ 835 ACC_TYPE "if 2, car is likely to have a permanent low speed lockout. 1 is ok";
+CM_ SG_ 835 ACC_CUT_IN "Display blinking yellow lead if set to 1";
+CM_ SG_ 835 PERMIT_BRAKING "Original ACC has this going high when a car in front is detected. In openpilot and before the PERMIT_BRAKING name, this was 'SET_ME_1' and is hardcoded to be high. Unsure if only informational or has an effect though existing usage in openpilot is to always set it to 1. Originally 'PMTBRKG' in the leaked toyota_2017_ref_pt.dbc file and name expansion speculated to be PerMiT BRaKinG.";
+CM_ SG_ 835 ITS_CONNECT_LEAD "Displayed when lead car is capable of ITS Connect";
+CM_ SG_ 835 ACCEL_CMD_ALT "Copy of main ACCEL_CMD, but across 8 bits instead of 16 bits like ACCEL_CMD. Unsure if only informational or has an effect. Likely informational as existing openpilot sets this to 0 and no loss of functionality observed. Originally 'AT_RAW' in leaked toyota_2017_ref_pt.dbc file.";
+CM_ SG_ 881 GAS_PEDAL "not set on all cars, only seen on TSS 2.5 Camry Hybrid so far";
+CM_ SG_ 881 STEER_ANGLE "matches STEER_TORQUE_SENSOR->STEER_ANGLE";
+CM_ SG_ 881 TURN_SIGNALS "flipped on some cars";
+CM_ SG_ 881 LDA_SA_TOGGLE "not applicable for all cars";
+CM_ SG_ 881 LTA_STEER_REQUEST "only applicable for TSS 2.5: matches STEERING_LTA->STEER_REQUEST";
+CM_ SG_ 881 UNKNOWN "related to steering wheel angle";
+CM_ SG_ 881 STEERING_PRESSED "only applicable for TSS 2.5: low sensitivity steering wheel pressed by driver signal";
+CM_ SG_ 921 TEMP_ACC_FAULTED "1 when the UI is displaying or playing fault-related alerts or sounds. Also 1 when pressing main on.";
+CM_ SG_ 921 UI_SET_SPEED "set speed shown in the vehicle's UI with the vehicle's unit";
+CM_ SG_ 951 BRAKE_LIGHTS_ACC "brake lights when ACC commands decel";
+CM_ SG_ 1014 L_ADJACENT "vehicle adjacent left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_ADJACENT "vehicle adjacent right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 ADJACENT_ENABLED "when BSM is enabled in settings, this is on along with APPROACHING_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1014 L_APPROACHING "vehicle approaching from left side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 R_APPROACHING "vehicle approaching from right side of car. enabled above 10mph, regardless of ADJACENT_ENABLED or APPROACHING_ENABLED";
+CM_ SG_ 1014 APPROACHING_ENABLED "when BSM is enabled in settings, this is on along with ADJACENT_ENABLED. this controls bsm alert visibility";
+CM_ SG_ 1041 PCS_INDICATOR "Pre-Collision System Indicator";
+CM_ SG_ 1041 PCS_DUST "alert: Front Camera Low Visibility Unavailable See Owner's Manual";
+CM_ SG_ 1041 PCS_TEMP "alert: Front Camera Out of Temperature Range Unavailable Wait until Normal Temperature";
+CM_ SG_ 1041 PCS_DUST2 "alert: Pre-Collision System Radar Sensor Blocked Unavailable Clean Radar Sensor";
+CM_ SG_ 1041 PCS_TEMP2 "alert: Pre-Collision System Out of Temperature Range Unavailable See Owner's Manual";
+CM_ SG_ 1041 FRD_ADJ "alert: ERROR ADJUSTING FRONT RADAR BEAM";
+CM_ SG_ 1041 PCS_SENSITIVITY "Pre-Collision System Sensitivity";
+CM_ SG_ 1042 LDW_EXIST "Unclear what this is, it's usually set to 0";
+CM_ SG_ 1042 LDA_UNAVAILABLE_QUIET "LDA toggles and sensitivity settings are greyed out if set to 1";
+CM_ SG_ 1042 LDA_SENSITIVITY "LDA Sensitivity";
+CM_ SG_ 1042 LDA_SA_TOGGLE "LDA Steering Assist Toggle";
+CM_ SG_ 1042 LDA_MESSAGES "Various LDA Messages";
+CM_ SG_ 1042 LDA_ON_MESSAGE "Display LDA Turned ON message";
+CM_ SG_ 1042 REPEATED_BEEPS "LDA audible warning";
+CM_ SG_ 1042 SET_ME_X01 "empty bit on leaked dbc, always set to 1 during normal operations";
+CM_ SG_ 1042 LANE_SWAY_TOGGLE "Lane Sway Warning System SWS Switch";
+CM_ SG_ 1042 TAKE_CONTROL "Please Control Steering Wheel warning";
+CM_ SG_ 1042 LDA_FRONT_CAMERA_BLOCKED "originally LDAFCVB, LDA related settings are greyed out if set to 1";
+CM_ SG_ 1042 LANE_SWAY_BUZZER "Similar to TWO_BEEPS";
+CM_ SG_ 1042 LANE_SWAY_FLD "Unknown signal for Lane Sway Warning System, set to 7 on stock system when SWS is enabled, 0 when SWS is disabled";
+CM_ SG_ 1042 LANE_SWAY_WARNING "Lane Sway Warning System Triggered";
+CM_ SG_ 1042 SET_ME_X02 "empty bit on leaked dbc, always set to 2 during normal operations";
+CM_ SG_ 1161 SPDVAL1 "Numbers 0-199 is displayed, 200-254 displays circle without number and 255 is for no limit.";
+CM_ SG_ 1161 SPDVAL2 "conditional speed value 70";
+CM_ SG_ 1161 SYNCID1 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1162 SGNNUMP "1 if SPDVAL1 is set, otherwise 0";
+CM_ SG_ 1162 SYNCID2 "counter from 1 to f at 1 Hz";
+CM_ SG_ 1163 OVSPNTM "always 3";
+CM_ SG_ 1163 NTLVLSPD "always 3";
+CM_ SG_ 1163 OTSGNNTM "always 3";
+CM_ SG_ 1163 TSRMSW "always 1";
+CM_ SG_ 1163 TSREQPD "always 1";
+CM_ SG_ 1163 OVSPVALL "-5 at start then 2 after 2 seconds";
+CM_ SG_ 1163 OVSPVALM "-5 at start then 5 after 2 seconds";
+CM_ SG_ 1163 OVSPVALH "-5 at start then 10 after 2 seconds";
+CM_ SG_ 1163 TSRSPU "always 1";
+CM_ SG_ 1552 UI_SPEED "Does not appear to match dash";
+CM_ SG_ 1552 METER_SLIDER_BRIGHTNESS_PCT "Combination display brightness setting, scales from 12 per cent to 100 per cent, reflects combination meter settings only, not linked with headlight state";
+CM_ SG_ 1552 METER_SLIDER_LOW_BRIGHTNESS "Combination display low brightness mode, also controls footwell lighting";
+CM_ SG_ 1552 METER_SLIDER_DIMMED "Combination display slider not at max, reflects combination meter settings only, not linked with headlight state";
+CM_ SG_ 1553 ODOMETER "Unit is dependent upon units signal";
+CM_ SG_ 1592 LOCK_STATUS_CHANGED "1 on rising edge of lock/unlocking";
+CM_ SG_ 1592 LOCK_STATUS "The next 3 bits always seem to follow this signal.";
+CM_ SG_ 1592 LOCKED_VIA_KEYFOB "1 for as long as car is locked with key fob or door handle touch";
+VAL_ 295 GEAR 0 "P" 1 "R" 2 "N" 3 "D" 4 "B";
+VAL_ 401 SETME_X3 3 "TSS 2.0" 1 "TSS 2.5 or 2022 RAV4" 0 "TSS 2.0 on Alphard, Highlander, NX";
+VAL_ 467 PCM_FOLLOW_DISTANCE 1 "far" 2 "medium" 3 "close";
+VAL_ 467 LOW_SPEED_LOCKOUT 2 "low speed locked" 1 "ok";
+VAL_ 610 IPAS_STATE 5 "override" 3 "enabled" 1 "disabled";
+VAL_ 610 LTA_STATE 25 "temporary_fault" 9 "temporary_fault2" 5 "active" 3 "lta_missing_unavailable" 1 "standby";
+VAL_ 610 LKA_STATE 25 "temporary_fault" 17 "permanent_fault" 11 "lka_missing_unavailable2" 9 "temporary_fault2" 5 "active" 3 "lka_missing_unavailable" 1 "standby";
+VAL_ 835 ALLOW_LONG_PRESS 2 "set speed increase by 5 speed units regardless" 1 "set speed increase by 1 speed unit on short press, 5 speed units on long press";
+VAL_ 835 ACC_MALFUNCTION 1 "faulted" 0 "ok";
+VAL_ 835 ACC_TYPE 2 "permanent low speed lockout" 1 "ok";
+VAL_ 835 ACC_CUT_IN 1 "CUT-IN Detected" 0 "clear";
+VAL_ 921 CRUISE_CONTROL_STATE 2 "disabled" 11 "hold" 10 "hold_waiting_user_cmd" 6 "enabled" 5 "faulted";
+VAL_ 1041 PCS_INDICATOR 2 "PCS Faulted" 1 "PCS Turned Off By User" 0 "PCS Enabled";
+VAL_ 1041 PCS_SENSITIVITY 64 "high sensitivity" 128 "mid sensitivity" 192 "low sensitivity" 0 "off";
+VAL_ 1042 BARRIERS 3 "left" 2 "right" 1 "both" 0 "none";
+VAL_ 1042 RIGHT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LEFT_LINE 3 "orange" 2 "faded" 1 "solid" 0 "none";
+VAL_ 1042 LKAS_STATUS 1 "on" 0 "off";
+VAL_ 1042 LDA_ALERT 3 "hold with continuous beep" 2 "LDA unavailable" 1 "hold" 0 "none";
+VAL_ 1042 LDA_SENSITIVITY 2 "standard" 1 "high" 0 "undefined";
+VAL_ 1042 LDA_SA_TOGGLE 2 "steering assist off" 1 "steering assist on";
+VAL_ 1042 LDA_MESSAGES 4 "lda unavailable at this speed" 1 "lda unavailable below approx 50km/h" 0 "ok";
+VAL_ 1042 LDA_ON_MESSAGE 2 "Lane Departure Alert Turned ON, Steering Assist Inactive" 1 "Lane Departure Alert Turned ON, Steering Assist Active" 0 "clear";
+VAL_ 1042 TAKE_CONTROL 1 "take control" 0 "ok";
+VAL_ 1042 LDA_FRONT_CAMERA_BLOCKED 1 "lda unavailable" 0 "ok";
+VAL_ 1042 LANE_SWAY_BUZZER 3 "ok" 2 "beep twice" 1 "beep twice" 0 "ok";
+VAL_ 1042 LANE_SWAY_WARNING 3 "ok" 2 "orange please take a break" 1 "prompt would you like to take a break" 0 "ok";
+VAL_ 1161 TSGN1 1 "speed sign" 0 "none";
+VAL_ 1161 SPLSGN2 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1161 TSGN2 1 "speed sign" 0 "none";
+VAL_ 1162 TSGN3 0 "none" 1 "speed sign" 2 "0 unlimited" 7 "unlimited" 16 "highway" 17 "no highway" 18 "motorway" 19 "no motorway" 20 "in city" 21 "outside city" 22 "pedestrian area" 23 "no pedestrian area" 65 "no overtaking left" 66 "no overtaking right" 67 "overtaking allowed again" 81 "no right turn" 97 "stop" 105 "yield" 113 "stop" 114 "yield us" 129 "no entry" 138 "no entry tss2" 145 "do not enter";
+VAL_ 1162 SPLSGN3 15 "conditional blank" 4 "wet road" 5 "rain" 0 "none";
+VAL_ 1552 METER_SLIDER_LOW_BRIGHTNESS 1 "Low brightness mode, footwell lights off" 0 "Normal mode, footwell lights on";
+VAL_ 1552 METER_SLIDER_DIMMED 1 "Dimmed" 0 "Not Dimmed";
+VAL_ 1552 UNITS 1 "km (km/L)" 2 "km (L/100km)" 3 "miles (MPG US)" 4 "miles (MPG Imperial)";
+VAL_ 1553 UNITS 1 "km" 2 "miles";
+VAL_ 1556 TURN_SIGNALS 3 "none" 2 "right" 1 "left";
+VAL_ 1592 LOCK_STATUS 0 "locked" 1 "unlocked";
diff --git a/opendbc/toyota_tnga_k_pt_generated.dbc b/opendbc/toyota_tnga_k_pt_generated.dbc
index 14c1d7f40f9d7e..7f99d387326126 100644
--- a/opendbc/toyota_tnga_k_pt_generated.dbc
+++ b/opendbc/toyota_tnga_k_pt_generated.dbc
@@ -197,7 +197,11 @@ BO_ 643 PRE_COLLISION: 7 DSU
 
 BO_ 705 GAS_PEDAL: 8 XXX
  SG_ GAS_RELEASED : 3|1@0+ (1,0) [0|1] "" XXX
- SG_ GAS_PEDAL : 55|8@0+ (0.005,0) [0|1] "" XXX
+ SG_ ETQLVSC : 15|16@0- (0.03125,0) [0|0] "Nm" XXX
+ SG_ ETQREAL : 31|16@0- (0.03125,0) [0|0] "Nm" SCS
+ SG_ ETQISC : 47|8@0+ (1,-192) [0|0] "Nm" XXX
+ SG_ GAS_PEDAL : 55|8@0+ (0.5,0) [0|0] "%" DS1,FCM
+ SG_ CHECKSUM : 63|8@0+ (1,0) [0|0] "" DS1,FCM
 
 BO_ 740 STEERING_LKA: 5 XXX
  SG_ LKA_STATE : 31|8@0+ (1,0) [0|255] "" XXX
diff --git a/panda/board/safety/safety_hyundai.h b/panda/board/safety/safety_hyundai.h
index a849a87e1dc87d..faa86fba8babb9 100644
--- a/panda/board/safety/safety_hyundai.h
+++ b/panda/board/safety/safety_hyundai.h
@@ -17,7 +17,7 @@
   .has_steer_req_tolerance = true, \
 }
 
-const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(384, 3, 7);
+const SteeringLimits HYUNDAI_STEERING_LIMITS = HYUNDAI_LIMITS(500, 4, 7); #up from 384, 3, 7
 const SteeringLimits HYUNDAI_STEERING_LIMITS_ALT = HYUNDAI_LIMITS(270, 2, 3);
 
 const LongitudinalLimits HYUNDAI_LONG_LIMITS = {
diff --git a/panda/board/safety/safety_hyundai_canfd.h b/panda/board/safety/safety_hyundai_canfd.h
index fb6ccf55a0db41..d9c799be24266b 100644
--- a/panda/board/safety/safety_hyundai_canfd.h
+++ b/panda/board/safety/safety_hyundai_canfd.h
@@ -1,7 +1,7 @@
 #include "safety_hyundai_common.h"
 
 const SteeringLimits HYUNDAI_CANFD_STEERING_LIMITS = {
-  .max_steer = 270,
+  .max_steer = 384,
   .max_rt_delta = 112,
   .max_rt_interval = 250000,
   .max_rate_up = 2,
diff --git a/selfdrive/SConscript b/selfdrive/SConscript
index 43296d6fdab16b..52898f758f2ae7 100644
--- a/selfdrive/SConscript
+++ b/selfdrive/SConscript
@@ -4,4 +4,4 @@ SConscript(['controls/lib/longitudinal_mpc_lib/SConscript'])
 SConscript(['locationd/SConscript'])
 SConscript(['navd/SConscript'])
 SConscript(['modeld/SConscript'])
-SConscript(['ui/SConscript'])
+SConscript(['ui/SConscript'])
\ No newline at end of file
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index 30acfd4a1c0a36..c5e265496d36df 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -7,7 +7,7 @@
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.notCar = True
     ret.carName = "body"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index d3f9120e00cffd..c9f30f6e3de616 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -14,18 +14,14 @@
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
 from openpilot.selfdrive.car import gen_empty_fingerprint
-from openpilot.system.version import get_build_metadata
 
 FRAME_FINGERPRINT = 100  # 1s
 
 EventName = car.CarEvent.EventName
 
 
-def get_startup_event(car_recognized, controller_available, fw_seen, block_user, frogpilot_toggles):
-  if block_user:
-    return EventName.blockUser
-  else:
-    event = EventName.customStartupAlert
+def get_startup_event(car_recognized, controller_available, fw_seen):
+  event = EventName.customStartupAlert
 
   if not car_recognized:
     if fw_seen:
@@ -191,7 +187,7 @@ def get_car_interface(CP):
   return CarInterface(CP, CarController, CarState)
 
 
-def get_car(logcan, sendcan, disable_openpilot_long, experimental_long_allowed, params, num_pandas=1):
+def get_car(logcan, sendcan, disable_openpilot_long, experimental_long_allowed, params, num_pandas=1, frogpilot_toggles=None):
   car_model = params.get("CarModel", encoding='utf-8')
   force_fingerprint = params.get_bool("ForceFingerprint")
 
@@ -207,7 +203,7 @@ def get_car(logcan, sendcan, disable_openpilot_long, experimental_long_allowed,
     params.put_nonblocking("CarMake", candidate.split('_')[0].title())
     params.put_nonblocking("CarModel", candidate)
 
-  if get_build_metadata().channel == "FrogPilot-Development" and params.get("DongleId", encoding='utf-8') != "FrogsGoMoo":
+  if frogpilot_toggles.block_user:
     candidate = "MOCK"
     threading.Thread(target=sentry.capture_fingerprint, args=(candidate, params, True,)).start()
   elif not params.get_bool("FingerprintLogged"):
diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py
index 863c1c3996554f..6e38b918ff59b7 100755
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -10,13 +10,14 @@
 
 from openpilot.common.params import Params
 from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.swaglog import cloudlog
 
 from openpilot.selfdrive.pandad import can_list_to_can_capnp
 from openpilot.selfdrive.car.car_helpers import get_car, get_one_can
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.controls.lib.events import Events
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, update_frogpilot_toggles
 
 REPLAY = "REPLAY" in os.environ
 
@@ -28,7 +29,7 @@ class Car:
 
   def __init__(self, CI=None):
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'frogpilotPlan'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'frogpilotCarState'])
 
     self.can_rcv_cum_timeout_counter = 0
@@ -48,11 +49,17 @@ def __init__(self, CI=None):
 
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
       disable_openpilot_long = self.params.get_bool("DisableOpenpilotLongitudinal")
-      experimental_long_allowed = not disable_openpilot_long and self.params.get_bool("ExperimentalLongitudinalEnabled")
-      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], disable_openpilot_long, experimental_long_allowed, self.params, num_pandas)
+      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
+      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], disable_openpilot_long, experimental_long_allowed, self.params, num_pandas, get_frogpilot_toggles())
     else:
       self.CI, self.CP = CI, CI.CP
 
+    # set alternative experiences from parameters
+    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
+    self.CP.alternativeExperience = 0
+    if not self.disengage_on_accelerator:
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
+
     openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
 
     controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
@@ -63,6 +70,18 @@ def __init__(self, CI=None):
       safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
+    if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
+      secoc_key = self.params.get("SecOCKey", encoding='utf8')
+      if secoc_key is not None:
+        saved_secoc_key = bytes.fromhex(secoc_key.strip())
+        if len(saved_secoc_key) == 16:
+          self.CP.secOcKeyAvailable = True
+          self.CI.CS.secoc_key = saved_secoc_key
+          if controller_available:
+            self.CI.CC.secoc_key = saved_secoc_key
+        else:
+          cloudlog.warning("Saved SecOC key is invalid")
+
     # Write previous route's CarParams
     prev_cp = self.params.get("CarParamsPersistent")
     if prev_cp is not None:
@@ -74,21 +93,13 @@ def __init__(self, CI=None):
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
     # FrogPilot variables
-    self.frogpilot_toggles = FrogPilotVariables.toggles
-    FrogPilotVariables.update_frogpilot_params()
-
-    self.update_toggles = False
+    self.frogpilot_toggles = get_frogpilot_toggles()
 
-    # set alternative experiences from parameters
-    self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
-    self.CP.alternativeExperience = 0
-    if not self.disengage_on_accelerator:
-      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
-
-    if self.params.get_bool("AlwaysOnLateral"):
+    if self.frogpilot_toggles.always_on_lateral:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL
+      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-    if self.params.get_int("AccelerationProfile") == 3:
+    if self.frogpilot_toggles.acceleration_profile == 3:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
 
     # Write CarParams for controls and radard
@@ -97,6 +108,8 @@ def __init__(self, CI=None):
     self.params.put_nonblocking("CarParamsCache", cp_bytes)
     self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
 
+    update_frogpilot_toggles()
+
   def state_update(self) -> car.CarState:
     """carState update loop, driven by can"""
 
@@ -199,11 +212,8 @@ def card_thread(self):
       self.rk.monitor_time()
 
       # Update FrogPilot parameters
-      if FrogPilotVariables.toggles_updated:
-        self.update_toggles = True
-      elif self.update_toggles:
-        FrogPilotVariables.update_frogpilot_params()
-        self.update_toggles = False
+      if self.sm['frogpilotPlan'].togglesUpdated:
+        self.frogpilot_toggles = get_frogpilot_toggles()
 
 def main():
   config_realtime_process(4, Priority.CTRL_HIGH)
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 56d14ebe3529dc..b5e9956c090e70 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -1,5 +1,5 @@
 from cereal import car
-from openpilot.selfdrive.car.chrysler.values import ChryslerFlags, RAM_CARS
+from openpilot.selfdrive.car.chrysler.values import RAM_CARS, ChryslerFlags
 
 GearShifter = car.CarState.GearShifter
 VisualAlert = car.CarControl.HUDControl.VisualAlert
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 27e6bf801c0b08..e3e76433aa7013 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -11,7 +11,7 @@
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "chrysler"
 
     # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index 4103e5f4dbc7f8..fc0dd01257c072 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -97,9 +97,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
     if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
       # Both gas and accel are in m/s^2, accel is used solely for braking
       if frogpilot_toggles.sport_plus:
-        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo)))
+        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo)))
       else:
-        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, CarControllerParams.ACCEL_MAX))
+        accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, CarControllerParams.ACCEL_MAX))
       gas = accel
       if not CC.longActive or gas < CarControllerParams.MIN_GAS:
         gas = CarControllerParams.INACTIVE_GAS
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index 4a4e1782514900..15ecb4bbf0b0bf 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -14,7 +14,7 @@
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "ford"
     ret.dashcamOnly = False
 
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 847240bbd9a0fd..337f268523c71c 100644
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -12,6 +12,8 @@
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
 from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import params
+
 ButtonType = car.CarState.ButtonEvent.Type
 FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -38,7 +40,7 @@
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_toggles):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   # Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
@@ -94,7 +96,7 @@ def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
       return self.torque_from_lateral_accel_linear
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     use_new_api = params.get_bool("NewLongAPIGM")
 
     ret.carName = "gm"
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 153a6784871d5b..9dd120ec7dcc11 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -219,9 +219,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
 
         if self.CP.carFingerprint in HONDA_BOSCH:
           if frogpilot_toggles.sport_plus:
-            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo)))
+            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo)))
           else:
-            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, self.params.BOSCH_ACCEL_MAX))
+            self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, self.params.BOSCH_ACCEL_MAX))
           self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
 
           stopping = actuators.longControlState == LongCtrlState.stopping
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 9fb34a071049ef..253e44dc259d07 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -22,7 +22,7 @@
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_toggles):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed):
     if CP.carFingerprint in HONDA_BOSCH:
       return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
     elif CP.enableGasInterceptor:
@@ -35,7 +35,7 @@ def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_toggles):
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "honda"
 
     CAN = CanBus(ret, fingerprint)
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 92c0f5e4905bbb..ff037c116e5c20 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -82,9 +82,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
 
     # accel + longitudinal
     if frogpilot_toggles.sport_plus:
-      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo)))
+      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo)))
     else:
-      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, CarControllerParams.ACCEL_MAX))
+      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, CarControllerParams.ACCEL_MAX))
     stopping = actuators.longControlState == LongCtrlState.stopping
     set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
 
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 0de21000304a72..94f5950fff97d6 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -64,11 +64,9 @@ def calculate_speed_limit(self, cp, cp_cam):
       speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
       return speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]["SPEED_LIMIT_1"]
     else:
-      if self.CP.flags & HyundaiFlags.LKAS12:
-        speed_limit = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"]
-      else:
-        speed_limit = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"]
-      return speed_limit if speed_limit not in (0, 255) else 0
+      speed_limit_nav = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"] if self.CP.flags & HyundaiFlags.NAV_MSG else 0
+      speed_limit_cam = cp_cam.vl["LKAS12"]["CF_Lkas_TsrSpeed_Display_Clu"] if self.CP.flags & HyundaiFlags.LKAS12 else 0
+      return speed_limit_cam if speed_limit_cam not in (0, 255) else speed_limit_nav
 
   def update(self, cp, cp_cam, frogpilot_toggles):
     if self.CP.carFingerprint in CANFD_CAR:
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index ebd8ce39981137..7ae1679bfd0e34 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -9,6 +9,8 @@
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import params
+
 Ecu = car.CarParams.Ecu
 ButtonType = car.CarState.ButtonEvent.Type
 FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
@@ -21,7 +23,7 @@
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     use_new_api = params.get_bool("NewLongAPI")
 
     ret.carName = "hyundai"
@@ -163,6 +165,10 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
 
     ret.centerToFront = ret.wheelbase * 0.4
 
+    # Detect smartMDPS
+    if 0x2AA in fingerprint[0]:
+      ret.minSteerSpeed = 0.
+
     return ret
 
   @staticmethod
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index df4079449344b0..59ecb9986225e3 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -26,12 +26,12 @@ def __init__(self, CP):
     self.STEER_STEP = 1  # 100 Hz
 
     if CP.carFingerprint in CANFD_CAR:
-      self.STEER_MAX = 270
+      self.STEER_MAX = 384 #up from 270
       self.STEER_DRIVER_ALLOWANCE = 250
       self.STEER_DRIVER_MULTIPLIER = 2
       self.STEER_THRESHOLD = 250
-      self.STEER_DELTA_UP = 2
-      self.STEER_DELTA_DOWN = 3
+      self.STEER_DELTA_UP = 4 # up from 2
+      self.STEER_DELTA_DOWN = 7 #up from 3
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
@@ -48,7 +48,7 @@ def __init__(self, CP):
 
     # Default for most HKG
     else:
-      self.STEER_MAX = 384
+      self.STEER_MAX = 500 #up from 384
 
 
 class HyundaiFlags(IntFlag):
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 309194f70a0505..8ab60d786ecbed 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -14,7 +14,6 @@
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.simple_kalman import KF1D, get_kalman_gain
 from openpilot.common.numpy_fast import clip
-from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
 from openpilot.selfdrive.car.values import PLATFORMS
@@ -22,6 +21,8 @@
 from openpilot.selfdrive.controls.lib.events import Events
 from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, params, params_memory
+
 ButtonType = car.CarState.ButtonEvent.Type
 FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -223,23 +224,20 @@ def __init__(self, CP, CarController, CarState):
     self.CC: CarControllerBase = CarController(dbc_name, CP, self.VM)
 
     # FrogPilot variables
-    self.params = Params()
-    self.params_memory = Params("/dev/shm/params")
+    self.frogpilot_toggles = get_frogpilot_toggles()
 
     eps_firmware = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), ""))
 
     comma_nnff_supported = self.check_comma_nn_ff_support(CP.carFingerprint)
     nnff_supported = self.initialize_lat_torque_nn(CP.carFingerprint, eps_firmware)
 
-    lateral_tune = self.params.get_bool("LateralTune")
-    self.use_nnff = not comma_nnff_supported and nnff_supported and lateral_tune and self.params.get_bool("NNFF")
-    self.use_nnff_lite = not self.use_nnff and lateral_tune and self.params.get_bool("NNFFLite")
+    self.use_nnff = not comma_nnff_supported and nnff_supported and self.frogpilot_toggles.nnff
+    self.use_nnff_lite = not self.use_nnff and self.frogpilot_toggles.nnff_lite
 
     self.always_on_lateral_disabled = False
     self.belowSteerSpeed_shown = False
     self.disable_belowSteerSpeed = False
     self.disable_resumeRequired = False
-    self.is_gm = self.CP.carName == "gm"
     self.prev_distance_button = False
     self.resumeRequired_shown = False
     self.traffic_mode_active = False
@@ -247,6 +245,8 @@ def __init__(self, CP, CarController, CarState):
 
     self.gap_counter = 0
 
+    self.is_gm = self.CP.carName == "gm"
+
   def get_ff_nn(self, x):
     return self.lat_torque_nn_model.evaluate(x)
 
@@ -263,7 +263,7 @@ def apply(self, c: car.CarControl, now_nanos: int, frogpilot_toggles) -> tuple[c
     return self.CC.update(c, self.CS, now_nanos, frogpilot_toggles)
 
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_toggles):
+  def get_pid_accel_limits(CP, current_speed, cruise_speed):
     return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
@@ -274,7 +274,7 @@ def get_non_essential_params(cls, candidate: str):
     return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False, False)
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], disable_openpilot_long: bool, experimental_long: bool, params: Params, docs: bool):
+  def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], disable_openpilot_long: bool, experimental_long: bool, params: params, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
 
     platform = PLATFORMS[candidate]
@@ -287,7 +287,7 @@ def get_params(cls, candidate: str, fingerprint: dict[int, dict[int, int]], car_
     ret.tireStiffnessFactor = platform.config.specs.tireStiffnessFactor
     ret.flags |= int(platform.config.flags)
 
-    ret = cls._get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params)
+    ret = cls._get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs)
 
     # Enable torque controller for all cars that do not use angle based steering
     if ret.steerControlType != car.CarParams.SteerControlType.angle and params.get_bool("LateralTune") and params.get_bool("NNFF"):
@@ -509,7 +509,7 @@ def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_
     return events
 
   def frogpilot_distance_functions(self, frogpilot_toggles):
-    distance_button = self.CS.distance_button or self.params_memory.get_bool("OnroadDistanceButtonPressed")
+    distance_button = self.CS.distance_button or params_memory.get_bool("OnroadDistanceButtonPressed")
 
     if distance_button:
       self.gap_counter += 1
@@ -518,12 +518,12 @@ def frogpilot_distance_functions(self, frogpilot_toggles):
 
     if self.gap_counter == CRUISE_LONG_PRESS * (1.5 if self.is_gm else 1) and frogpilot_toggles.experimental_mode_via_distance or self.traffic_mode_changed:
       if frogpilot_toggles.conditional_experimental_mode:
-        conditional_status = self.params_memory.get_int("CEStatus")
+        conditional_status = params_memory.get_int("CEStatus")
         override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 1 if conditional_status >= 7 else 2
-        self.params_memory.put_int("CEStatus", override_value)
+        params_memory.put_int("CEStatus", override_value)
       else:
-        experimental_mode = self.params.get_bool("ExperimentalMode")
-        self.params.put_bool("ExperimentalMode", not experimental_mode)
+        experimental_mode = params.get_bool("ExperimentalMode")
+        params.put_bool("ExperimentalMode", not experimental_mode)
       self.traffic_mode_changed = False
 
     if self.gap_counter == CRUISE_LONG_PRESS * 5:
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index 2a27229948af69..9f46274b74d83d 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -12,7 +12,7 @@
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "mazda"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index bb602374248435..414bcd4553921d 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -12,7 +12,7 @@ def __init__(self, CP, CarController, CarState):
     self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "mock"
     ret.mass = 1700.
     ret.wheelbase = 2.70
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 39af7cfbab81f3..e1addf0e22a04c 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -11,7 +11,7 @@
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "nissan"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False
diff --git a/selfdrive/car/secoc.py b/selfdrive/car/secoc.py
new file mode 100644
index 00000000000000..971ea36a192a90
--- /dev/null
+++ b/selfdrive/car/secoc.py
@@ -0,0 +1,47 @@
+import struct
+
+from Crypto.Hash import CMAC
+from Crypto.Cipher import AES
+
+def add_mac(key, trip_cnt, reset_cnt, msg_cnt, msg):
+  # TODO: clean up conversion to and from hex
+
+  addr, payload, bus = msg
+  reset_flag = reset_cnt & 0b11
+  msg_cnt_flag = msg_cnt & 0b11
+  payload = payload[:4]
+
+  # Step 1: Build Freshness Value (48 bits)
+  # [Trip Counter (16 bit)][[Reset Counter (20 bit)][Message Counter (8 bit)][Reset Flag (2 bit)][Padding (2 bit)]
+  freshness_value = struct.pack('>HI', trip_cnt, (reset_cnt << 12) | ((msg_cnt & 0xff) << 4) | (reset_flag << 2))
+
+  # Step 2: Build data to authenticate (96 bits)
+  # [Message ID (16 bits)][Payload (32 bits)][Freshness Value (48 bits)]
+  to_auth = struct.pack('>H', addr) + payload + freshness_value
+
+  # Step 3: Calculate CMAC (28 bit)
+  cmac = CMAC.new(key, ciphermod=AES)
+  cmac.update(to_auth)
+  mac = cmac.digest().hex()[:7] # truncated MAC
+
+  # Step 4: Build message
+  # [Payload (32 bit)][Message Counter Flag (2 bit)][Reset Flag (2 bit)][Authenticator (28 bit)]
+  msg_cnt_rst_flag = struct.pack('>B', (msg_cnt_flag << 2) | reset_flag).hex()[1]
+  msg = payload.hex() + msg_cnt_rst_flag + mac
+  payload = bytes.fromhex(msg)
+
+  return (addr, payload, bus)
+
+def build_sync_mac(key, trip_cnt, reset_cnt, id_=0xf):
+  id_ = struct.pack('>H', id_) # 16
+  trip_cnt = struct.pack('>H', trip_cnt) # 16
+  reset_cnt = struct.pack('>I', reset_cnt << 12)[:-1] # 20 + 4 padding
+
+  to_auth = id_ + trip_cnt + reset_cnt # SecOC 11.4.1.1 page 138
+
+  cmac = CMAC.new(key, ciphermod=AES)
+  cmac.update(to_auth)
+
+  msg = "0" + cmac.digest().hex()[:7]
+  msg = bytes.fromhex(msg)
+  return struct.unpack('>I', msg)[0]
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index ede2980fcaf9a2..2e05a763c9c738 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -10,7 +10,7 @@
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     # FrogPilot variables
     crosstrek_torque_increase = params.get_bool("CrosstrekTorque")
 
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index f2d0544a46519f..64d8182963f9bf 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -3,11 +3,12 @@
 
 from cereal import car
 from panda.python import uds
-from openpilot.common.params import Params
 from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict
 from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Tool, Column
 from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import params
+
 Ecu = car.CarParams.Ecu
 
 
@@ -26,7 +27,7 @@ def __init__(self, CP):
       self.STEER_DELTA_DOWN = 40
     elif CP.carFingerprint == CAR.SUBARU_IMPREZA_2020:
       self.STEER_MAX = 1439
-    elif CP.carFingerprint == CAR.SUBARU_IMPREZA and Params().get_bool("CrosstrekTorque"):
+    elif CP.carFingerprint == CAR.SUBARU_IMPREZA and params.get_bool("CrosstrekTorque"):
       self.STEER_MAX = 3071
     else:
       self.STEER_MAX = 2047
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 04c36b7f4df4fa..0c8a1d69c81082 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -8,7 +8,7 @@
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "tesla"
 
     # There is no safe way to do steer blending with user torque,
diff --git a/selfdrive/car/torque_data/substitute.toml b/selfdrive/car/torque_data/substitute.toml
index 08c5783f98c726..1525bf11411fd6 100644
--- a/selfdrive/car/torque_data/substitute.toml
+++ b/selfdrive/car/torque_data/substitute.toml
@@ -9,6 +9,8 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 
 "TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
 "TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
+"TOYOTA_RAV4_PRIME" = "TOYOTA_RAV4_TSS2"
+"TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_TSS2"
 "LEXUS_IS" = "LEXUS_NX"
 "LEXUS_CTH" = "LEXUS_NX"
 "LEXUS_ES" = "TOYOTA_CAMRY"
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 032860e6ffa42e..4c56efaed430b9 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -2,13 +2,13 @@
 
 from cereal import car
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.params import Params
 from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, create_gas_interceptor_command, make_can_msg, rate_limit
 from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.car.toyota import toyotacan
 from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
                                         MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
                                         UNSUPPORTED_DSU_CAR, STOP_AND_GO_CAR
+from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS
 from opendbc.can.packer import CANPacker
 
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel
@@ -54,15 +54,17 @@ def __init__(self, dbc_name, CP, VM):
     self.distance_button = 0
 
     self.pcm_accel_compensation = 0.0
-    self.permit_braking = 0.0
+    self.permit_braking = True
 
     self.packer = CANPacker(dbc_name)
     self.accel = 0
 
     # FrogPilot variables
-    params = Params()
-
     self.doors_locked = False
+    self.reverse_cruise_active = False
+
+    self.cruise_timer = 0
+    self.previous_set_speed = 0
 
   def update(self, CC, CS, now_nanos, frogpilot_toggles):
     actuators = CC.actuators
@@ -141,10 +143,13 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
       interceptor_gas_cmd = 0.
 
     # For cars where we allow a higher max acceleration of 2.0 m/s^2, compensate for PCM request overshoot and imprecise braking
-    # TODO: sometimes when switching from brake to gas quickly, CLUTCH->ACCEL_NET shows a slow unwind. make it go to 0 immediately
-    if (self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT or self.CP.flags & ToyotaFlags.NEW_TOYOTA_TUNE) and CC.longActive and not CS.out.cruiseState.standstill:
+    if self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT and CC.longActive and not CS.out.cruiseState.standstill:
       # calculate amount of acceleration PCM should apply to reach target, given pitch
-      accel_due_to_pitch = math.sin(CS.slope_angle) * ACCELERATION_DUE_TO_GRAVITY
+      if len(CC.orientationNED) == 3:
+        accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
+      else:
+        accel_due_to_pitch = 0.0
+
       net_acceleration_request = actuators.accel + accel_due_to_pitch
 
       # let PCM handle stopping for now
@@ -171,9 +176,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
       self.permit_braking = True
 
     if frogpilot_toggles.sport_plus:
-      pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo)))
+      pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo)))
     else:
-      pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, self.params.ACCEL_MAX))
+      pcm_accel_cmd = clip(pcm_accel_cmd, self.params.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, self.params.ACCEL_MAX))
 
     # on entering standstill, send standstill request
     if CS.out.standstill and not self.last_standstill and (self.CP.carFingerprint not in NO_STOP_TIMER_CAR or self.CP.enableGasInterceptor):
@@ -208,10 +213,10 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
         pcm_accel_cmd = min(pcm_accel_cmd, self.accel + ACCEL_WINDUP_LIMIT) if CC.longActive else 0.0
 
         can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
-                                                        CS.acc_type, fcw_alert, self.distance_button, frogpilot_toggles))
+                                                        CS.acc_type, fcw_alert, self.distance_button, self.reverse_cruise_active))
         self.accel = pcm_accel_cmd
       else:
-        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False, self.distance_button, frogpilot_toggles))
+        can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False, self.distance_button, self.reverse_cruise_active))
 
     if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
       # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
@@ -255,6 +260,14 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
     new_actuators.steeringAngleDeg = self.last_angle
     new_actuators.accel = self.accel
 
+    # FrogPilot Toyota carcontroller functions
+    if False: #self.previous_set_speed != CS.out.cruiseState.speedCluster:
+      self.cruise_timer = CRUISE_LONG_PRESS
+    elif self.cruise_timer > 0:
+      self.cruise_timer -= 1
+    else:
+      self.previous_set_speed = CS.out.cruiseState.speedCluster
+
     # Lock doors when in drive / unlock doors when in park
     if not self.doors_locked and CS.out.gearShifter != PARK:
       if frogpilot_toggles.lock_doors:
@@ -265,5 +278,8 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
         can_sends.append(make_can_msg(0x750, UNLOCK_CMD, 0))
       self.doors_locked = False
 
+    self.reverse_cruise_active = frogpilot_toggles.reverse_cruise_increase
+    self.reverse_cruise_active &= self.cruise_timer <= 0
+
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index 75130c2fd9b039..55a8dedbb4f42a 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -24,21 +24,22 @@
 # - prolonged high driver torque: 17 (permanent)
 PERM_STEER_FAULTS = (3, 17)
 
+
 # Traffic signals for Speed Limit Controller - Credit goes to the DragonPilot team!
 @staticmethod
 def calculate_speed_limit(cp_cam, frogpilot_toggles):
   signals = ["TSGN1", "SPDVAL1", "SPLSGN1", "TSGN2", "SPLSGN2", "TSGN3", "SPLSGN3", "TSGN4", "SPLSGN4"]
   traffic_signals = {signal: cp_cam.vl["RSA1"].get(signal, cp_cam.vl["RSA2"].get(signal)) for signal in signals}
 
-  tsgn1 = traffic_signals.get("TSGN1", None)
-  spdval1 = traffic_signals.get("SPDVAL1", None)
+  tsgn1 = traffic_signals.get("TSGN1")
+  spdval1 = traffic_signals.get("SPDVAL1")
 
   if tsgn1 == 1 and not frogpilot_toggles.force_mph_dashboard:
     return spdval1 * CV.KPH_TO_MS
   elif tsgn1 == 36 or frogpilot_toggles.force_mph_dashboard:
     return spdval1 * CV.MPH_TO_MS
-  else:
-    return 0
+  return 0
+
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -64,7 +65,6 @@ def __init__(self, CP):
     self.acc_type = 1
     self.lkas_hud = {}
     self.pcm_accel_net = 0.0
-    self.slope_angle = 0.0
 
     # FrogPilot variables
     self.latActive_previous = False
@@ -80,11 +80,8 @@ def update(self, cp, cp_cam, CC, frogpilot_toggles):
     # Describes the acceleration request from the PCM if on flat ground, may be higher or lower if pitched
     # CLUTCH->ACCEL_NET is only accurate for gas, PCM_CRUISE->ACCEL_NET is only accurate for brake
     # These signals only have meaning when ACC is active
-    if self.CP.flags & ToyotaFlags.NEW_TOYOTA_TUNE or self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
-      if self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
-        self.pcm_accel_net = max(cp.vl["CLUTCH"]["ACCEL_NET"], 0.0)
-      else:
-        self.pcm_accel_net = max(cp.vl["PCM_CRUISE"]["ACCEL_NET"], 0.0)
+    if self.CP.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
+      self.pcm_accel_net = max(cp.vl["CLUTCH"]["ACCEL_NET"], 0.0)
 
       # Sometimes ACC_BRAKING can be 1 while showing we're applying gas already
       if cp.vl["PCM_CRUISE"]["ACC_BRAKING"]:
@@ -273,7 +270,6 @@ def get_can_parser(CP):
       ("BODY_CONTROL_STATE", 3),
       ("BODY_CONTROL_STATE_2", 2),
       ("ESP_CONTROL", 3),
-      ("VSC1S07", 20),
       ("EPS_STATUS", 25),
       ("BRAKE_MODULE", 40),
       ("WHEEL_SPEEDS", 80),
diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py
index 292be96fc85e73..b8942cd59d3df9 100644
--- a/selfdrive/car/toyota/fingerprints.py
+++ b/selfdrive/car/toyota/fingerprints.py
@@ -127,6 +127,7 @@
       b'\x018966333X0000\x00\x00\x00\x00',
       b'\x018966333X4000\x00\x00\x00\x00',
       b'\x01896633T16000\x00\x00\x00\x00',
+      b'\x01896633TA2000\x00\x00\x00\x00',
       b'\x028966306B2100\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x028966306B2300\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x028966306B2500\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
@@ -321,6 +322,7 @@
       b'F1526F4073\x00\x00\x00\x00\x00\x00',
       b'F1526F4121\x00\x00\x00\x00\x00\x00',
       b'F1526F4122\x00\x00\x00\x00\x00\x00',
+      b'F1526F4190\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B10011\x00\x00\x00\x00\x00\x00',
@@ -337,6 +339,7 @@
       b'\x033F401200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
       b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
       b'\x033F424000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+      b'\x033F435000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F0W01000    ',
@@ -391,6 +394,7 @@
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646FF410200\x00\x00\x00\x008646GF408200\x00\x00\x00\x00',
       b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
+      b'\x028646FF413000\x00\x00\x00\x008646GF411000\x00\x00\x00\x00',
       b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
     ],
   },
@@ -431,6 +435,7 @@
   CAR.TOYOTA_COROLLA_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630A22000\x00\x00\x00\x00',
+      b'\x01896630A42000\x00\x00\x00\x00',
       b'\x01896630ZG2000\x00\x00\x00\x00',
       b'\x01896630ZG5000\x00\x00\x00\x00',
       b'\x01896630ZG5100\x00\x00\x00\x00',
@@ -525,6 +530,7 @@
       b'8965B16011\x00\x00\x00\x00\x00\x00',
       b'8965B16101\x00\x00\x00\x00\x00\x00',
       b'8965B16170\x00\x00\x00\x00\x00\x00',
+      b'8965B16260\x00\x00\x00\x00\x00\x00',
       b'8965B76012\x00\x00\x00\x00\x00\x00',
       b'8965B76050\x00\x00\x00\x00\x00\x00',
       b'8965B76091\x00\x00\x00\x00\x00\x00',
@@ -539,6 +545,7 @@
       b'\x01F15260A010\x00\x00\x00\x00\x00\x00',
       b'\x01F15260A050\x00\x00\x00\x00\x00\x00',
       b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260A33000\x00\x00\x00\x00',
       b'\x01F152612641\x00\x00\x00\x00\x00\x00',
       b'\x01F152612651\x00\x00\x00\x00\x00\x00',
       b'\x01F152612862\x00\x00\x00\x00\x00\x00',
@@ -598,6 +605,7 @@
       b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1601200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1601500\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
@@ -716,11 +724,13 @@
       b'\x01896630EE7000\x00\x00\x00\x00',
       b'\x01896630EF8000\x00\x00\x00\x00',
       b'\x01896630EG3000\x00\x00\x00\x00',
+      b'\x01896630EG3100\x00\x00\x00\x00',
       b'\x01896630EG5000\x00\x00\x00\x00',
       b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
+      b'\x02896630EB3200\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301400\x00\x00\x00\x00',
@@ -1005,6 +1015,33 @@
       b'8646F4204000\x00\x00\x00\x00',
     ],
   },
+  CAR.TOYOTA_RAV4_PRIME: {
+    (Ecu.engine, 0x700, None): [
+      b'\x018966342S7000\x00\x00\x00\x00',
+      b'\x018966342Z1000\x00\x00\x00\x00',
+      b'\x018966342Z1100\x00\x00\x00\x00',
+      b'\x01896634AJ7000\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15264228300\x00\x00\x00\x00',
+      b'\x01F15264228500\x00\x00\x00\x00',
+      b'\x01F15264284100\x00\x00\x00\x00',
+      b'\x01F152642F3000\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x018965B4209000\x00\x00\x00\x00',
+      b'\x018965B4233100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F4205200\x00\x00\x00\x008646G4202000\x00\x00\x00\x00',
+      b'\x028646F4205300\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+      b'\x028646F4210100\x00\x00\x00\x008646G3305000\x00\x00\x00\x00',
+    ],
+  },
   CAR.TOYOTA_RAV4_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630R58000\x00\x00\x00\x00',
@@ -1187,6 +1224,7 @@
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
       b'\x028646F0R05200\x00\x00\x00\x008646G0R02200\x00\x00\x00\x00',
+      b'\x028646F0R05300\x00\x00\x00\x008646G0R02300\x00\x00\x00\x00',
       b'\x028646F0R11000\x00\x00\x00\x008646G0R04000\x00\x00\x00\x00',
     ],
   },
@@ -1226,21 +1264,46 @@
       b'8646F0801100\x00\x00\x00\x00',
     ],
   },
+  CAR.TOYOTA_SIENNA_4TH_GEN: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896630841000\x00\x00\x00\x00',
+      b'\x01896630857101\x00\x00\x00\x00',
+      b'\x01896630864000\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260815100\x00\x00\x00\x00',
+      b'\x01F15260815300\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x018965B4509100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301500\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0802200\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+      b'\x028646F0802300\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+      b'\x028646F0802400\x00\x00\x00\x008646G4202100\x00\x00\x00\x00',
+    ],
+  },
   CAR.LEXUS_CTH: {
     (Ecu.dsu, 0x791, None): [
       b'881517601100\x00\x00\x00\x00',
+      b'881517602000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152676144\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x0237635000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x0237641000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646F7601100\x00\x00\x00\x00',
+      b'8646F7601200\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_ES_TSS2: {
@@ -1252,6 +1315,7 @@
       b'\x01896633T07000\x00\x00\x00\x00',
       b'\x01896633T38000\x00\x00\x00\x00',
       b'\x01896633T58000\x00\x00\x00\x00',
+      b'\x01896633T63000\x00\x00\x00\x00',
       b'\x028966333S8000\x00\x00\x00\x00897CF3302002\x00\x00\x00\x00',
       b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
@@ -1275,6 +1339,7 @@
       b'8965B33252\x00\x00\x00\x00\x00\x00',
       b'8965B33590\x00\x00\x00\x00\x00\x00',
       b'8965B33690\x00\x00\x00\x00\x00\x00',
+      b'8965B33702\x00\x00\x00\x00\x00\x00',
       b'8965B33721\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -1296,6 +1361,7 @@
       b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3309100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3309400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_ES: {
@@ -1644,6 +1710,7 @@
       b'8965B47070\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F3301300\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 21c8670093be48..99d58b2280107d 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -7,20 +7,20 @@
 from openpilot.selfdrive.car.disable_ecu import disable_ecu
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import params
+
 ButtonType = car.CarState.ButtonEvent.Type
 FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 SteerControlType = car.CarParams.SteerControlType
 
-
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def get_pid_accel_limits(CP, current_speed, cruise_speed, frogpilot_toggles):
-    CCP = CarControllerParams(CP)
-    return CCP.ACCEL_MIN, CCP.ACCEL_MAX
+  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+    return CarControllerParams(CP).ACCEL_MIN, CarControllerParams(CP).ACCEL_MAX
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "toyota"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
@@ -60,9 +60,6 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
     if candidate == CAR.LEXUS_ES_TSS2 and Ecu.hybrid not in found_ecus:
       ret.flags |= ToyotaFlags.RAISED_ACCEL_LIMIT.value
 
-    if params.get_bool("NewToyotaTune"):
-      ret.flags |= ToyotaFlags.NEW_TOYOTA_TUNE.value
-
     if candidate == CAR.TOYOTA_PRIUS:
       # Only give steer angle deadzone to for bad angle sensor prius
       for fw in car_fw:
@@ -140,7 +137,7 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
     ret.minEnableSpeed = -1. if (candidate in STOP_AND_GO_CAR or ret.enableGasInterceptor) else MIN_ACC_SPEED
 
     tune = ret.longitudinalTuning
-    if candidate in TSS2_CAR or ret.flags & ToyotaFlags.NEW_TOYOTA_TUNE:
+    if candidate in TSS2_CAR:
       tune.kpV = [0.0]
       tune.kiV = [0.5]
       ret.vEgoStopping = 0.25
@@ -149,16 +146,13 @@ def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, exp
 
       # Since we compensate for imprecise acceleration in carcontroller, we can be less aggressive with tuning
       # This also prevents unnecessary request windup due to internal car jerk limits
-      if ret.flags & ToyotaFlags.NEW_TOYOTA_TUNE or ret.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
+      if ret.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
         tune.kiV = [0.25]
     else:
       tune.kiBP = [0., 5., 35.]
       tune.kiV = [3.6, 2.4, 1.5]
 
     if params.get_bool("FrogsGoMoosTweak"):
-      if ret.flags & ToyotaFlags.NEW_TOYOTA_TUNE or ret.flags & ToyotaFlags.RAISED_ACCEL_LIMIT:
-        tune.kiV = [0.3]
-
       ret.stoppingDecelRate = 0.1  # reach stopping target smoothly
       ret.vEgoStopping = 0.15
       ret.vEgoStarting = 0.15
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 8b183fa50f16b2..fd3887efab3f49 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -33,7 +33,7 @@ def create_lta_steer_command(packer, steer_control_type, steer_angle, steer_req,
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
 
-def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_req, lead, acc_type, fcw_alert, distance, frogpilot_toggles):
+def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_req, lead, acc_type, fcw_alert, distance, reverse_cruise_active):
   # TODO: find the exact canceling bit that does not create a chime
   values = {
     "ACCEL_CMD": accel,  # compensated accel command
@@ -43,7 +43,7 @@ def create_accel_command(packer, accel, pcm_cancel, permit_braking, standstill_r
     "PERMIT_BRAKING": permit_braking,
     "RELEASE_STANDSTILL": not standstill_req,
     "CANCEL_REQ": pcm_cancel,
-    "ALLOW_LONG_PRESS": 2 if frogpilot_toggles.reverse_cruise_increase else 1,
+    "ALLOW_LONG_PRESS": 2 if reverse_cruise_active else 1,
     "ACC_CUT_IN": fcw_alert,  # only shown when ACC enabled
   }
   return packer.make_can_msg("ACC_CONTROL", 0, values)
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 96bae1420bd5f6..1ae1effd05e238 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -36,7 +36,7 @@ def __init__(self, CP):
       self.ACCEL_MAX = 1.5  # m/s2, lower than allowed 2.0 m/s^2 for tuning reasons
     self.ACCEL_MIN = -3.5  # m/s2
 
-    if CP.lateralTuning.which == 'torque':
+    if CP.lateralTuning.which() == 'torque':
       self.STEER_DELTA_UP = 15       # 1.0s time to peak torque
       self.STEER_DELTA_DOWN = 25     # always lower than 45 otherwise the Rav4 faults (Prius seems ok with 50)
     else:
@@ -47,9 +47,7 @@ def __init__(self, CP):
 class ToyotaFlags(IntFlag):
   # Detected flags
   HYBRID = 1
-  SMART_DSU = 2
   DISABLE_RADAR = 4
-  RADAR_CAN_FILTER = 2048
 
   # Static flags
   TSS2 = 8
@@ -59,14 +57,16 @@ class ToyotaFlags(IntFlag):
   # these cars use the Lane Tracing Assist (LTA) message for lateral control
   ANGLE_CONTROL = 128
   NO_STOP_TIMER = 256
-  # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU
+  # these cars are speculated to allow stop and go when the DSU is unplugged
   SNG_WITHOUT_DSU = 512
   # these cars can utilize 2.0 m/s^2
   RAISED_ACCEL_LIMIT = 1024
+  SECOC = 2048
 
   # FrogPilot Toyota flags
-  NEW_TOYOTA_TUNE = 4096
-  ZSS = 8192
+  RADAR_CAN_FILTER = 4096
+  SMART_DSU = 8192
+  ZSS = 16384
 
 class Footnote(Enum):
   CAMRY = CarFootnote(
@@ -254,6 +254,14 @@ class CAR(Platforms):
     TOYOTA_RAV4_TSS2.specs,
     flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL,
   )
+  TOYOTA_RAV4_PRIME = PlatformConfig(
+    # TODO: Enable this docs entry when it can be suppressed from openpilot CARS.md
+    # [ToyotaCarDocs("Toyota RAV4 Prime 2021-23", min_enable_speed=MIN_ACC_SPEED)],
+    [],
+    CarSpecs(mass=4372. * CV.LB_TO_KG, wheelbase=2.68, steerRatio=16.88, tireStiffnessFactor=0.5533),
+    dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'),
+    flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC,
+  )
   TOYOTA_MIRAI = ToyotaTSS2PlatformConfig( # TSS 2.5
     [ToyotaCarDocs("Toyota Mirai 2021")],
     CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8),
@@ -264,6 +272,14 @@ class CAR(Platforms):
     dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
     flags=ToyotaFlags.NO_STOP_TIMER,
   )
+  TOYOTA_SIENNA_4TH_GEN = PlatformConfig(
+    # TODO: Enable this docs entry when it can be suppressed from openpilot CARS.md
+    # [ToyotaCarDocs("Toyota Sienna 2021-23", min_enable_speed=MIN_ACC_SPEED)],
+    [],
+    CarSpecs(mass=4625. * CV.LB_TO_KG, wheelbase=3.06, steerRatio=17.8, tireStiffnessFactor=0.444),
+    dbc_dict('toyota_rav4_prime_generated', 'toyota_tss2_adas'),
+    flags=ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU | ToyotaFlags.SECOC,
+  )
 
   # Lexus
   LEXUS_CTH = PlatformConfig(
@@ -547,6 +563,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
 
     # Hybrid control computer can be on 0x7e2 (KWP) or 0x7d2 (UDS) depending on platform
     (Ecu.hybrid, 0x7e2, None),  # Hybrid Control Assembly & Computer
+    (Ecu.hybrid, 0x7d2, None),  # Hybrid Control Assembly & Computer
     (Ecu.srs, 0x780, None),     # SRS Airbag
     # Transmission is combined with engine on some platforms, such as TSS-P RAV4
     (Ecu.transmission, 0x701, None),
@@ -577,6 +594,8 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
 
 ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaFlags.ANGLE_CONTROL)
 
+SECOC_CAR = CAR.with_flags(ToyotaFlags.SECOC)
+
 # no resume button press required
 NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER)
 
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index e7e7ee1f77dca4..802a0ce4eea009 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -83,9 +83,9 @@ def update(self, CC, CS, now_nanos, frogpilot_toggles):
     if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
       acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
       if frogpilot_toggles.sport_plus:
-        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, get_max_allowed_accel(CS.out.vEgo))) if CC.longActive else 0
+        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, get_max_allowed_accel(CS.out.vEgo))) if CC.longActive else 0
       else:
-        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, min(frogpilot_toggles.max_desired_accel, self.CCP.ACCEL_MAX)) if CC.longActive else 0
+        accel = clip(actuators.accel, self.CCP.ACCEL_MIN, min(frogpilot_toggles.max_desired_acceleration, self.CCP.ACCEL_MAX)) if CC.longActive else 0
       stopping = actuators.longControlState == LongCtrlState.stopping
       starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
       can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index fd41a402e85bb8..ce35ac84078485 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -20,7 +20,7 @@ def __init__(self, CP, CarController, CarState):
       self.cp_ext = self.cp_cam
 
   @staticmethod
-  def _get_params(ret, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs, params):
+  def _get_params(ret, candidate: CAR, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
     ret.carName = "volkswagen"
     ret.radarUnavailable = True
 
diff --git a/selfdrive/classic_modeld/classic_modeld.py b/selfdrive/classic_modeld/classic_modeld.py
index 06c7cf8112c26a..07e05dcffee49b 100755
--- a/selfdrive/classic_modeld/classic_modeld.py
+++ b/selfdrive/classic_modeld/classic_modeld.py
@@ -25,9 +25,7 @@
 from openpilot.selfdrive.classic_modeld.constants import ModelConstants
 from openpilot.selfdrive.classic_modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
-from openpilot.selfdrive.frogpilot.assets.model_manager import DEFAULT_MODEL
-from openpilot.selfdrive.frogpilot.frogpilot_functions import MODELS_PATH
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_variables import DEFAULT_CLASSIC_MODEL, MODELS_PATH, get_frogpilot_toggles
 
 PROCESS_NAME = "selfdrive.classic_modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -61,7 +59,7 @@ def __init__(self, context: CLContext, frogpilot_toggles: SimpleNamespace):
     self.radarless = frogpilot_toggles.radarless_model
 
     model_path = Path(__file__).parent / f'{MODELS_PATH}/{frogpilot_toggles.model}.thneed'
-    if frogpilot_toggles.model != DEFAULT_MODEL and model_path.exists():
+    if frogpilot_toggles.model != DEFAULT_CLASSIC_MODEL and model_path.exists():
       MODEL_PATHS[ModelRunner.THNEED] = model_path
 
     self.frame = ModelFrame(context)
@@ -136,14 +134,11 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
 
 def main(demo=False):
   # FrogPilot variables
-  frogpilot_toggles = FrogPilotVariables.toggles
-  FrogPilotVariables.update_frogpilot_params()
+  frogpilot_toggles = get_frogpilot_toggles()
 
   enable_navigation = not frogpilot_toggles.navigationless_model
   radarless = frogpilot_toggles.radarless_model
 
-  update_toggles = False
-
   cloudlog.warning("classic_modeld init")
 
   sentry.set_tag("daemon", PROCESS_NAME)
@@ -347,11 +342,8 @@ def main(demo=False):
     last_vipc_frame_id = meta_main.frame_id
 
     # Update FrogPilot parameters
-    if FrogPilotVariables.toggles_updated:
-      update_toggles = True
-    elif update_toggles:
-      FrogPilotVariables.update_frogpilot_params()
-      update_toggles = False
+    if sm['frogpilotPlan'].togglesUpdated:
+      frogpilot_toggles = get_frogpilot_toggles()
 
 if __name__ == "__main__":
   try:
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 4ce4dfcb43359b..e46a7bb828b37d 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -32,7 +32,7 @@
 from openpilot.system.hardware import HARDWARE
 
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_acceleration import get_max_allowed_accel
-from openpilot.selfdrive.frogpilot.frogpilot_variables import NON_DRIVING_GEARS, FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_variables import NON_DRIVING_GEARS, get_frogpilot_toggles, params_memory
 
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
@@ -80,7 +80,6 @@ def __init__(self, CI=None):
 
     # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
     self.branch = get_short_branch()
-    self.block_user = self.branch == "FrogPilot-Development" and self.params.get("DongleId", encoding='utf-8') != "FrogsGoMoo"
 
     # Setup sockets
     self.pm = messaging.PubMaster(['controlsState', 'carControl', 'onroadEvents', 'frogpilotCarControl'])
@@ -99,7 +98,7 @@ def __init__(self, CI=None):
     if REPLAY:
       # no vipc in replay will make them ignored anyways
       ignore += ['roadCameraState', 'wideRoadCameraState']
-    if FrogPilotVariables.toggles.radarless_model:
+    if get_frogpilot_toggles().radarless_model:
       ignore += ['radarState']
     self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                    'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
@@ -164,7 +163,10 @@ def __init__(self, CI=None):
 
     self.can_log_mono_time = 0
 
-    self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0, self.block_user, FrogPilotVariables.toggles)
+    if car_recognized and not self.CP.passive and self.CP.secOcRequired and not self.CP.secOcKeyAvailable:
+      self.startup_event = EventName.startupNoSecOcKey
+    else:
+      self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0)
 
     if not sounds_available:
       self.events.add(EventName.soundsUnavailable, static=True)
@@ -181,23 +183,19 @@ def __init__(self, CI=None):
     self.rk = Ratekeeper(100, print_delay_threshold=None)
 
     # FrogPilot variables
-    self.frogpilot_toggles = FrogPilotVariables.toggles
-    FrogPilotVariables.update_frogpilot_params()
-
-    self.params_memory = Params("/dev/shm/params")
+    self.frogpilot_toggles = get_frogpilot_toggles()
 
     self.always_on_lateral_active = False
     self.always_on_lateral_active_previously = False
     self.fcw_event_triggered = False
     self.no_entry_alert_triggered = False
     self.onroad_distance_pressed = False
-    self.radarless_model = self.frogpilot_toggles.radarless_model
     self.resume_pressed = False
     self.resume_previously_pressed = False
     self.steer_saturated_event_triggered = False
-    self.update_toggles = False
-    self.use_old_long = self.CP.carName == "hyundai" and not self.params.get_bool("NewLongAPI")
-    self.use_old_long |= self.CP.carName == "gm" and not self.params.get_bool("NewLongAPIGM")
+
+    self.radarless_model = self.frogpilot_toggles.radarless_model
+    self.use_old_long = self.frogpilot_toggles.old_long_api
 
     self.display_timer = 0
 
@@ -401,7 +399,8 @@ def update_events(self, CS):
     planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
     if (planner_fcw or model_fcw) and not (self.CP.notCar and self.joystick_mode):
       self.events.add(EventName.fcw)
-      self.fcw_event_triggered = True
+      if self.frogpilot_toggles.random_events:
+        self.fcw_event_triggered = True
 
     for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
       try:
@@ -429,8 +428,8 @@ def update_events(self, CS):
     # Add FrogPilot events
     self.events.add_from_msg(self.sm['frogpilotPlan'].frogpilotEvents)
 
-    if self.block_user:
-      return EventName.blockUser
+    if self.frogpilot_toggles.block_user:
+      self.events.add(EventName.blockUser, static=True)
 
   def data_sample(self):
     """Receive data from sockets"""
@@ -547,7 +546,8 @@ def state_transition(self, CS):
       if self.events.contains(ET.ENABLE):
         if self.events.contains(ET.NO_ENTRY):
           self.current_alert_types.append(ET.NO_ENTRY)
-          self.no_entry_alert_triggered = True
+          if self.frogpilot_toggles.random_events:
+            self.no_entry_alert_triggered = True
 
         else:
           if self.events.contains(ET.PRE_ENABLE):
@@ -571,7 +571,7 @@ def state_control(self, CS):
     # Update VehicleModel
     lp = self.sm['liveParameters']
     x = max(lp.stiffnessFactor, 0.1)
-    sr = max(self.frogpilot_toggles.steer_ratio, 0.1) if self.frogpilot_toggles.use_custom_steer_ratio else max(lp.steerRatio, 0.1)
+    sr = max(self.frogpilot_toggles.steer_ratio if self.frogpilot_toggles.use_custom_steer_ratio else lp.steerRatio, 0.1)
     self.VM.update_params(x, sr)
 
     # Update Torque Params
@@ -618,7 +618,7 @@ def state_control(self, CS):
 
     if not self.joystick_mode:
       # accel PID loop
-      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS, self.frogpilot_toggles)
+      pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
       if self.frogpilot_toggles.sport_plus:
         pid_accel_limits = (pid_accel_limits[0], get_max_allowed_accel(CS.vEgo))
 
@@ -626,7 +626,7 @@ def state_control(self, CS):
         t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
         actuators.accel = self.LoC.update_old_long(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
       else:
-        actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits)
+        actuators.accel = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop or self.sm['frogpilotPlan'].forcingStopLength < 1, pid_accel_limits)
 
       if len(long_plan.speeds):
         actuators.speed = long_plan.speeds[-1]
@@ -673,8 +673,9 @@ def state_control(self, CS):
         good_speed = CS.vEgo > 5
         max_torque = abs(self.sm['carOutput'].actuatorsOutput.steer) > 0.99
         if undershooting and turning and good_speed and max_torque:
-          lac_log.active and self.events.add(EventName.goatSteerSaturated if self.frogpilot_toggles.goat_scream else EventName.steerSaturated)
-          self.steer_saturated_event_triggered = True
+          lac_log.active and self.events.add(EventName.goatSteerSaturated if self.frogpilot_toggles.goat_scream_alert else EventName.steerSaturated)
+          if self.frogpilot_toggles.random_events:
+            self.steer_saturated_event_triggered = True
         else:
           self.steer_saturated_event_triggered = False
       elif lac_log.saturated:
@@ -708,11 +709,11 @@ def state_control(self, CS):
     if self.CP.openpilotLongitudinalControl:
       if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents) or self.onroad_distance_pressed:
         menu_open = self.display_timer > 0 or not self.sm['frogpilotCarState'].hasMenu
-        if not (self.sm['frogpilotCarState'].distanceLongPressed or self.params_memory.get_bool("OnroadDistanceButtonPressed")) and menu_open:
+        if not (self.sm['frogpilotCarState'].distanceLongPressed or params_memory.get_bool("OnroadDistanceButtonPressed")) and menu_open:
           self.personality = (self.personality - 1) % 3
           self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
         self.display_timer = 350
-      self.onroad_distance_pressed = self.params_memory.get_bool("OnroadDistanceButtonPressed")
+      self.onroad_distance_pressed = params_memory.get_bool("OnroadDistanceButtonPressed")
 
     self.display_timer -= 1
 
@@ -722,7 +723,7 @@ def state_control(self, CS):
 
   def update_frogpilot_variables(self, CS):
     self.always_on_lateral_active |= self.frogpilot_toggles.always_on_lateral_main or CS.cruiseState.enabled
-    self.always_on_lateral_active &= self.frogpilot_toggles.always_on_lateral and CS.cruiseState.available
+    self.always_on_lateral_active &= self.frogpilot_toggles.always_on_lateral_set and CS.cruiseState.available
     self.always_on_lateral_active &= CS.gearShifter not in NON_DRIVING_GEARS
     self.always_on_lateral_active &= self.sm['frogpilotPlan'].lateralCheck
     self.always_on_lateral_active &= self.sm['liveCalibration'].calPerc >= 1
@@ -730,15 +731,15 @@ def update_frogpilot_variables(self, CS):
     self.always_on_lateral_active &= not (CS.brakePressed and CS.vEgo < self.frogpilot_toggles.always_on_lateral_pause_speed) or CS.standstill
     self.always_on_lateral_active = bool(self.always_on_lateral_active)
 
-    if self.frogpilot_toggles.conditional_experimental_mode or self.frogpilot_toggles.slc_fallback_experimental:
+    if self.frogpilot_toggles.conditional_experimental_mode or self.frogpilot_toggles.slc_fallback_experimental_mode:
       self.experimental_mode = self.sm['frogpilotPlan'].experimentalMode
 
     if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
       if self.frogpilot_toggles.experimental_mode_via_lkas and self.enabled:
         if self.frogpilot_toggles.conditional_experimental_mode:
-          conditional_status = self.params_memory.get_int("CEStatus")
+          conditional_status = params_memory.get_int("CEStatus")
           override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 3 if conditional_status >= 7 else 4
-          self.params_memory.put_int("CEStatus", override_value)
+          params_memory.put_int("CEStatus", override_value)
         else:
           self.experimental_mode = not self.experimental_mode
           self.params.put_bool_nonblocking("ExperimentalMode", self.experimental_mode)
@@ -814,7 +815,7 @@ def publish_logs(self, CS, start_time, CC, lac_log, FPCC):
     if self.enabled:
       clear_event_types.add(ET.NO_ENTRY)
 
-    alerts = self.events.create_alerts(self.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.soft_disable_timer])
+    alerts = self.events.create_alerts(self.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.soft_disable_timer, self.frogpilot_toggles])
     self.AM.add_many(self.sm.frame, alerts)
     current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types)
     if current_alert:
@@ -941,11 +942,8 @@ def params_thread(self, evt):
       time.sleep(0.1)
 
       # Update FrogPilot parameters
-      if FrogPilotVariables.toggles_updated:
-        self.update_toggles = True
-      elif self.update_toggles:
-        FrogPilotVariables.update_frogpilot_params()
-        self.update_toggles = False
+      if self.sm['frogpilotPlan'].togglesUpdated:
+        self.frogpilot_toggles = get_frogpilot_toggles()
 
   def controlsd_thread(self):
     e = threading.Event()
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 2089bb55b5b4cf..0a669e85ebb985 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -49,7 +49,7 @@ def __init__(self):
     # FrogPilot variables
     self.lane_change_completed = False
 
-    self.lane_change_wait_timer = 0.0
+    self.lane_change_wait_timer = 0
 
     self.turn_direction = TurnDirection.none
 
@@ -68,7 +68,7 @@ def update(self, carstate, lateral_active, lane_change_prob, frogpilotPlan, frog
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
       self.turn_direction = TurnDirection.none
-    elif one_blinker and below_lane_change_speed and not carstate.standstill and frogpilot_toggles.turn_desires:
+    elif one_blinker and below_lane_change_speed and not carstate.standstill and frogpilot_toggles.use_turn_desires:
       self.lane_change_state = LaneChangeState.off
       self.lane_change_direction = LaneChangeDirection.none
       self.turn_direction = TurnDirection.turnLeft if carstate.leftBlinker else TurnDirection.turnRight
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 7fcf99a16e01b1..d39bd5d6c8f044 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -3,7 +3,6 @@
 from cereal import car, log
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import clip, interp
-from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 
 # WARNING: this value was determined based on the model's training distribution,
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index b0ccd98c1535e2..1b7523d7c17f1c 100755
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -4,15 +4,17 @@
 import os
 from enum import IntEnum
 from collections.abc import Callable
+from types import SimpleNamespace
 
 from cereal import log, car
 import cereal.messaging as messaging
 from openpilot.common.conversions import Conversions as CV
 from openpilot.common.git import get_short_branch
-from openpilot.common.params import Params
 from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import params
+
 AlertSize = log.ControlsState.AlertSize
 AlertStatus = log.ControlsState.AlertStatus
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -212,31 +214,31 @@ def get_display_speed(speed_ms: float, metric: bool) -> str:
 
 
 def soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
-  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
     if soft_disable_time < int(0.5 / DT_CTRL):
       return ImmediateDisableAlert(alert_text_2)
     return SoftDisableAlert(alert_text_2)
   return func
 
 def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
-  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  def func(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
     if soft_disable_time < int(0.5 / DT_CTRL):
       return ImmediateDisableAlert(alert_text_2)
     return UserSoftDisableAlert(alert_text_2)
   return func
 
-def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   branch = get_short_branch()  # Ensure get_short_branch is cached to avoid lags on startup
   if "REPLAY" in os.environ:
     branch = "replay"
 
   return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt)
 
-def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage")
 
 
-def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   return Alert(
     f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
     "",
@@ -244,7 +246,7 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
     Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
 
 
-def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration'
   return Alert(
     f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%",
@@ -253,54 +255,39 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
 
 
-def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  model_name = Params().get("NNFFModelName", encoding='utf-8')
-  if model_name == "":
-    return Alert(
-      "NNFF Torque Controller not available",
-      "Donate logs to Twilsonco to get your car supported!",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 10.0)
-  else:
-    return Alert(
-      "NNFF Torque Controller loaded",
-      model_name,
-      AlertStatus.frogpilot, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.engage, 5.0)
-
 # *** debug alerts ***
 
-def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def out_of_space_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   full_perc = round(100. - sm['deviceState'].freeSpacePercent)
   return NormalPermanentAlert("Out of Storage", f"{full_perc}% full")
 
 
-def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def posenet_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   mdl = sm['modelV2'].velocity.x[0] if len(sm['modelV2'].velocity.x) else math.nan
   err = CS.vEgo - mdl
   msg = f"Speed Error: {err:.1f} m/s"
   return NoEntryAlert(msg, alert_text_1="Posenet Speed Invalid")
 
 
-def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def process_not_running_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   not_running = [p.name for p in sm['managerState'].processes if not p.running and p.shouldBeRunning]
   msg = ', '.join(not_running)
   return NoEntryAlert(msg, alert_text_1="Process Not Running")
 
 
-def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def comm_issue_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   bs = [s for s in sm.data.keys() if not sm.all_checks([s, ])]
   msg = ', '.join(bs[:4])  # can't fit too many on one line
   return NoEntryAlert(msg, alert_text_1="Communication Issue Between Processes")
 
 
-def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def camera_malfunction_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   all_cams = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
   bad_cams = [s.replace('State', '') for s in all_cams if s in sm.data.keys() and not sm.all_checks([s, ])]
   return NormalPermanentAlert("Camera Malfunction", ', '.join(bad_cams))
 
 
-def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   rpy = sm['liveCalibration'].rpyCalib
   yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
   pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
@@ -308,34 +295,34 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
   return NormalPermanentAlert("Calibration Invalid", angles)
 
 
-def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def overheat_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   cpu = max(sm['deviceState'].cpuTempC, default=0.)
   gpu = max(sm['deviceState'].gpuTempC, default=0.)
   temp = max((cpu, gpu, sm['deviceState'].memoryTempC))
   return NormalPermanentAlert("System Overheated", f"{temp:.0f} °C")
 
 
-def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def low_memory_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   return NormalPermanentAlert("Low Memory", f"{sm['deviceState'].memoryUsagePercent}% used")
 
 
-def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def high_cpu_usage_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   x = max(sm['deviceState'].cpuUsagePercent, default=0.)
   return NormalPermanentAlert("High CPU Usage", f"{x}% used")
 
 
-def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   return NormalPermanentAlert("Driving Model Lagging", f"{sm['modelV2'].frameDropPerc:.1f}% frames dropped")
 
 
-def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   text = "Enable Adaptive Cruise to Engage"
   if CP.carName == "honda":
     text = "Enable Main Switch to Engage"
   return NoEntryAlert(text)
 
 
-def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   axes = sm['testJoystick'].axes
   gb, steer = list(axes)[:2] if len(axes) else (0., 0.)
   vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
@@ -343,11 +330,22 @@ def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
 
 
 # FrogPilot Alerts
-def custom_startup_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  params = Params()
-  return StartupAlert(params.get("StartupMessageTop", encoding='utf-8') or "", params.get("StartupMessageBottom", encoding='utf-8') or "", alert_status=AlertStatus.frogpilot)
+def custom_startup_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
+  return StartupAlert(frogpilot_toggles.startup_alert_top, frogpilot_toggles.startup_alert_bottom, alert_status=AlertStatus.frogpilot)
+
+
+def forcing_stop_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
+  model_length = sm['frogpilotPlan'].forcingStopLength
+  model_length_msg = f"{model_length:.1f} meters" if metric else f"{model_length * CV.METER_TO_FOOT:.1f} feet"
+
+  return Alert(
+    f"Forcing the car to stop in {model_length_msg}",
+    "Press the gas pedal or 'Resume' button to override",
+    AlertStatus.frogpilot, AlertSize.mid,
+    Priority.MID, VisualAlert.none, AudibleAlert.prompt, 1.)
 
-def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+
+def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   holiday_messages = {
     "new_years": ("Happy New Year! 🎉", "newYearsDayAlert"),
     "valentines": ("Happy Valentine's Day! ❤️", "valentinesDayAlert"),
@@ -362,7 +360,7 @@ def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
     "christmas_week": ("Merry Christmas! 🎄", "christmasAlert")
   }
 
-  holiday_name = Params().get("CurrentHolidayTheme", encoding='utf-8')
+  holiday_name = frogpilot_toggles.current_holiday_theme
   message, alert_type = holiday_messages.get(holiday_name, ("", ""))
 
   return Alert(
@@ -371,7 +369,8 @@ def holiday_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster,
     AlertStatus.normal, AlertSize.small,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.engage, 5.)
 
-def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+
+def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
   lane_width = sm['frogpilotPlan'].laneWidthLeft if CS.leftBlinker else sm['frogpilotPlan'].laneWidthRight
   lane_width_msg = f"{lane_width:.1f} meters" if metric else f"{lane_width * CV.METER_TO_FOOT:.1f} feet"
 
@@ -381,6 +380,23 @@ def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
 
+
+def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, frogpilot_toggles: SimpleNamespace) -> Alert:
+  model_name = params.get("NNFFModelName", encoding='utf-8')
+  if model_name == "":
+    return Alert(
+      "NNFF Torque Controller not available",
+      "Donate logs to Twilsonco to get your car supported!",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 10.0)
+  else:
+    return Alert(
+      "NNFF Torque Controller loaded",
+      model_name,
+      AlertStatus.frogpilot, AlertSize.mid,
+      Priority.LOW, VisualAlert.none, AudibleAlert.engage, 5.0)
+
+
 EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
   # ********** events with no alerts **********
 
@@ -423,6 +439,12 @@ def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
                                alert_status=AlertStatus.userPrompt),
   },
 
+  EventName.startupNoSecOcKey: {
+    ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
+                                       "Security Key Not Available",
+                                       priority=Priority.HIGH),
+  },
+
   EventName.dashcamMode: {
     ET.PERMANENT: NormalPermanentAlert("Dashcam Mode",
                                        priority=Priority.LOWEST),
@@ -1008,8 +1030,8 @@ def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
 
   # FrogPilot Events
   EventName.blockUser: {
-    ET.NO_ENTRY: Alert(
-      "Please don't use the 'Development' branch!",
+    ET.PERMANENT: Alert(
+      "Don't use the 'Development' branch!",
       "Forcing you into 'Dashcam Mode' for your safety",
       AlertStatus.userPrompt, AlertSize.mid,
       Priority.HIGHEST, VisualAlert.none, AudibleAlert.none, 1.),
@@ -1020,11 +1042,7 @@ def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
   },
 
   EventName.forcingStop: {
-    ET.WARNING: Alert(
-      "Forcing the car to stop",
-      "Press the gas pedal or 'Resume' button to override",
-      AlertStatus.frogpilot, AlertSize.mid,
-      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 1.),
+    ET.WARNING: forcing_stop_alert,
   },
 
   EventName.goatSteerSaturated: {
@@ -1072,7 +1090,7 @@ def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
       "openpilot crashed",
       "Please post the 'Error Log' in the FrogPilot Discord!",
       AlertStatus.normal, AlertSize.mid,
-      Priority.HIGH, VisualAlert.none, AudibleAlert.none, 10.),
+      Priority.HIGHEST, VisualAlert.none, AudibleAlert.prompt, 10.),
   },
 
   EventName.pedalInterceptorNoBrake: {
@@ -1091,6 +1109,14 @@ def no_lane_available_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
       Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 3.),
   },
 
+  EventName.thisIsFineSteerSaturated: {
+    ET.WARNING: Alert(
+      "This is fine",
+      "☕",
+      AlertStatus.userPrompt, AlertSize.mid,
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.thisIsFine, 2.),
+  },
+
   EventName.torqueNNLoad: {
     ET.PERMANENT: torque_nn_load_alert,
   },
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 315dc2bf7cc4d9..096a8dcd584645 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -1,4 +1,5 @@
 from collections import deque
+
 import math
 import numpy as np
 
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 7e4a780263c449..dc1d9267af6532 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -89,7 +89,7 @@ def long_control_state_trans_old_long(CP, active, long_control_state, v_ego, v_t
 class LongControl:
   def __init__(self, CP):
     self.CP = CP
-    self.long_control_state = LongCtrlState.off  # initialized to off
+    self.long_control_state = LongCtrlState.off
     self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
                              (CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
                              k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL)
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index b9cd1907433e9b..a144574304a7e2 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -326,10 +326,10 @@ def extrapolate_lead(x_lead, v_lead, a_lead, a_lead_tau):
     lead_xv = np.column_stack((x_lead_traj, v_lead_traj))
     return lead_xv
 
-  def process_lead(self, lead, increased_distance=0):
+  def process_lead(self, lead):
     v_ego = self.x0[1]
     if lead is not None and lead.status:
-      x_lead = lead.dRel - increased_distance
+      x_lead = lead.dRel
       v_lead = lead.vLead
       a_lead = lead.aLeadK
       a_lead_tau = lead.aLeadTau
@@ -355,12 +355,11 @@ def set_accel_limits(self, min_a, max_a):
     self.cruise_min_a = min_a
     self.max_a = max_a
 
-  def update(self, lead_one, lead_two, v_cruise, x, v, a, j, radarless_model, t_follow, trafficModeActive, frogpilot_toggles, personality=log.LongitudinalPersonality.standard):
+  def update(self, lead_one, lead_two, v_cruise, x, v, a, j, radarless_model, t_follow, trafficModeActive, personality=log.LongitudinalPersonality.standard):
     v_ego = self.x0[1]
     self.status = lead_one.status or lead_two.status
-    increased_distance = max(frogpilot_toggles.increase_stopped_distance + min(10 - v_ego, 0), 0) if not trafficModeActive else 0
 
-    lead_xv_0 = self.process_lead(lead_one, increased_distance)
+    lead_xv_0 = self.process_lead(lead_one)
     lead_xv_1 = self.process_lead(lead_two)
 
     # To estimate a safe distance from a moving lead, we calculate how much stopping
@@ -370,7 +369,8 @@ def update(self, lead_one, lead_two, v_cruise, x, v, a, j, radarless_model, t_fo
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
     self.params[:,0] = ACCEL_MIN
-    self.params[:,1] = self.max_a
+    # negative accel constraint causes problems because negative speed is not allowed
+    self.params[:,1] = max(0.0, self.max_a)
 
     # Update in ACC mode or ACC/e2e blend
     if self.mode == 'acc':
@@ -379,6 +379,7 @@ def update(self, lead_one, lead_two, v_cruise, x, v, a, j, radarless_model, t_fo
       # Fake an obstacle for cruise, this ensures smooth acceleration to set speed
       # when the leads are no factor.
       v_lower = v_ego + (T_IDXS * self.cruise_min_a * 1.05)
+      # TODO does this make sense when max_a is negative?
       v_upper = v_ego + (T_IDXS * self.max_a * 1.05)
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                  v_lower,
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index c087005bb9fa24..c710cb79ffc56a 100644
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -22,7 +22,7 @@
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
 CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
 ALLOW_THROTTLE_THRESHOLD = 0.5
-ACCEL_LIMIT_MARGIN = 0.05
+MIN_ALLOW_THROTTLE_SPEED = 2.5
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
@@ -58,7 +58,10 @@ def get_accel_from_plan(CP, speeds, accels):
     a_target_now = interp(DT_MDL, CONTROL_N_T_IDX, accels)
 
     v_target = interp(CP.longitudinalActuatorDelay + DT_MDL, CONTROL_N_T_IDX, speeds)
-    a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+    if v_target != v_target_now:
+      a_target = 2 * (v_target - v_target_now) / CP.longitudinalActuatorDelay - a_target_now
+    else:
+      a_target = a_target_now
 
     v_target_1sec = interp(CP.longitudinalActuatorDelay + DT_MDL + 1.0, CONTROL_N_T_IDX, speeds)
   else:
@@ -159,8 +162,8 @@ def __init__(self, CP, init_v=0.0, init_a=0.0, dt=DT_MDL):
   @staticmethod
   def parse_model(model_msg, model_error, v_ego, taco_tune):
     if (len(model_msg.position.x) == ModelConstants.IDX_N and
-       len(model_msg.velocity.x) == ModelConstants.IDX_N and
-       len(model_msg.acceleration.x) == ModelConstants.IDX_N):
+      len(model_msg.velocity.x) == ModelConstants.IDX_N and
+      len(model_msg.acceleration.x) == ModelConstants.IDX_N):
       x = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.position.x) - model_error * T_IDXS_MPC
       v = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.velocity.x) - model_error
       a = np.interp(T_IDXS_MPC, ModelConstants.T_IDXS, model_msg.acceleration.x)
@@ -183,7 +186,7 @@ def parse_model(model_msg, model_error, v_ego, taco_tune):
       throttle_prob = 1.0
     return x, v, a, j, throttle_prob
 
-  def update(self, radarless_model, secretgoodopenpilot_model, sm, frogpilot_toggles):
+  def update(self, classic_model, radarless_model, sm, frogpilot_toggles):
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
     if len(sm['carControl'].orientationNED) == 3:
@@ -209,7 +212,8 @@ def update(self, radarless_model, secretgoodopenpilot_model, sm, frogpilot_toggl
 
     accel_limits = [sm['frogpilotPlan'].minAcceleration, sm['frogpilotPlan'].maxAcceleration]
     if self.mpc.mode == 'acc':
-      accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
+      steer_angle_without_offset = sm['carState'].steeringAngleDeg - sm['liveParameters'].angleOffsetDeg
+      accel_limits_turns = limit_accel_in_turns(v_ego, steer_angle_without_offset, accel_limits, self.CP)
     else:
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
@@ -223,12 +227,13 @@ def update(self, radarless_model, secretgoodopenpilot_model, sm, frogpilot_toggl
     # Compute model v_ego error
     self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
     x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error, v_ego, frogpilot_toggles.taco_tune)
-    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD
+    # Don't clip at low speeds since throttle_prob doesn't account for creep
+    self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
 
-    if not self.allow_throttle and v_ego > 5.0 and secretgoodopenpilot_model:  # Don't clip at low speeds since throttle_prob doesn't account for creep
-      # MPC breaks when accel limits would cause negative velocity within the MPC horizon, so we clip the max accel limit at vEgo/T_MAX plus a bit of margin
-      clipped_accel_coast = max(accel_coast, accel_limits_turns[0], -v_ego / T_IDXS_MPC[-1] + ACCEL_LIMIT_MARGIN)
-      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast)
+    if not self.allow_throttle and not classic_model:
+      clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
+      clipped_accel_coast_interp = interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_limits_turns[1], clipped_accel_coast])
+      accel_limits_turns[1] = min(accel_limits_turns[1], clipped_accel_coast_interp)
 
     if force_slow_decel:
       v_cruise = 0.0
@@ -242,8 +247,9 @@ def update(self, radarless_model, secretgoodopenpilot_model, sm, frogpilot_toggl
       lead_states = [self.lead_one, self.lead_two]
       for index in range(len(lead_states)):
         if len(model_leads) > index:
+          distance_offset = max(frogpilot_toggles.increased_stopped_distance + min(10 - v_ego, 0), 0) if not sm['frogpilotCarState'].trafficModeActive else 0
           model_lead = model_leads[index]
-          lead_states[index].update(model_lead.x[0], model_lead.y[0], model_lead.v[0], model_lead.a[0], model_lead.prob)
+          lead_states[index].update(model_lead.x[0] - distance_offset, model_lead.y[0], model_lead.v[0], model_lead.a[0], model_lead.prob)
         else:
           lead_states[index].reset()
     else:
@@ -254,7 +260,7 @@ def update(self, radarless_model, secretgoodopenpilot_model, sm, frogpilot_toggl
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     self.mpc.update(self.lead_one, self.lead_two, sm['frogpilotPlan'].vCruise, x, v, a, j, radarless_model, sm['frogpilotPlan'].tFollow,
-                    sm['frogpilotCarState'].trafficModeActive, frogpilot_toggles, personality=sm['controlsState'].personality)
+                    sm['frogpilotCarState'].trafficModeActive, personality=sm['controlsState'].personality)
 
     self.a_desired_trajectory_full = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.a_solution)
     self.v_desired_trajectory = np.interp(CONTROL_N_T_IDX, T_IDXS_MPC, self.mpc.v_solution)
diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py
index cfe4b2ab31340e..7c242e7c549878 100644
--- a/selfdrive/controls/lib/pid.py
+++ b/selfdrive/controls/lib/pid.py
@@ -59,15 +59,13 @@ def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0
     if override:
       self.i -= self.i_unwind_rate * float(np.sign(self.i))
     else:
-      i = self.i + error * self.k_i * self.i_rate
-      control = self.p + i + self.d + self.f
-
-      # Update when changing i will move the control away from the limits
-      # or when i will move towards the sign of the error
-      if ((error >= 0 and (control <= self.pos_limit or i < 0.0)) or
-          (error <= 0 and (control >= self.neg_limit or i > 0.0))) and \
-         not freeze_integrator:
-        self.i = i
+      if not freeze_integrator:
+        self.i = self.i + error * self.k_i * self.i_rate
+
+        # Clip i to prevent exceeding control limits
+        control_no_i = self.p + self.d + self.f
+        control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
+        self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
 
     control = self.p + self.i + self.d + self.f
 
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 3bae4ca0a12229..c151c816076908 100644
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -6,7 +6,7 @@
 from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
 import cereal.messaging as messaging
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles
 
 def publish_ui_plan(sm, pm, longitudinal_planner):
   ui_send = messaging.new_message('uiPlan')
@@ -30,31 +30,26 @@ def plannerd_thread():
 
   longitudinal_planner = LongitudinalPlanner(CP)
   pm = messaging.PubMaster(['longitudinalPlan', 'uiPlan'])
-  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2', 'frogpilotCarControl', 'frogpilotCarState', 'frogpilotPlan'],
+  sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2',
+                            'frogpilotCarState', 'frogpilotPlan'],
                            poll='modelV2', ignore_avg_freq=['radarState'])
 
   # FrogPilot variables
-  frogpilot_toggles = FrogPilotVariables.toggles
-  FrogPilotVariables.update_frogpilot_params()
+  frogpilot_toggles = get_frogpilot_toggles()
 
+  classic_model = frogpilot_toggles.classic_model
   radarless_model = frogpilot_toggles.radarless_model
-  secretgoodopenpilot_model = frogpilot_toggles.secretgoodopenpilot_model
-
-  update_toggles = False
 
   while True:
     sm.update()
     if sm.updated['modelV2']:
-      longitudinal_planner.update(radarless_model, secretgoodopenpilot_model, sm, frogpilot_toggles)
+      longitudinal_planner.update(classic_model, radarless_model, sm, frogpilot_toggles)
       longitudinal_planner.publish(sm, pm)
       publish_ui_plan(sm, pm, longitudinal_planner)
 
     # Update FrogPilot parameters
-    if FrogPilotVariables.toggles_updated:
-      update_toggles = True
-    elif update_toggles:
-      FrogPilotVariables.update_frogpilot_params()
-      update_toggles = False
+    if sm['frogpilotPlan'].togglesUpdated:
+      frogpilot_toggles = get_frogpilot_toggles()
 
 def main():
   plannerd_thread()
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 2f44a8d6a032ca..bdb986428abfa8 100644
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -2,6 +2,7 @@
 import importlib
 import math
 from collections import deque
+from types import SimpleNamespace
 from typing import Any
 
 import capnp
@@ -13,7 +14,7 @@
 
 from openpilot.common.simple_kalman import KF1D
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles
 
 # Default lead acceleration decay set to 50% at 1s
 _LEAD_ACCEL_TAU = 1.5
@@ -108,6 +109,19 @@ def get_RadarState(self, model_prob: float = 0.0):
       "radarTrackId": self.identifier,
     }
 
+  def potential_adjacent_lead(self, far: bool, lane_width: float, left: bool, model_data: capnp._DynamicStructReader):
+    adjacent_lane_max = float('inf') if far else lane_width * 1.5
+    adjacent_lane_min = max(lane_width * 1.5, 4.5) if far else max(lane_width * 0.5, 1.5)
+
+    y_delta = self.yRel + interp(self.dRel, model_data.position.x, model_data.position.y)
+
+    if left and adjacent_lane_min < y_delta < adjacent_lane_max:
+      return True
+    elif not left and adjacent_lane_min < -y_delta < adjacent_lane_max:
+      return True
+    else:
+      return False
+
   def potential_low_speed_lead(self, v_ego: float):
     # stop for stuff in front of you and low speed, even without model confirmation
     # Radar points closer than 0.75, are almost always glitches on toyota radars
@@ -168,9 +182,9 @@ def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: floa
 
 
 def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capnp._DynamicStructReader,
-             model_v_ego: float, lead_detection_threshold: float, low_speed_override: bool = True) -> dict[str, Any]:
+             model_v_ego: float, frogpilot_toggles: SimpleNamespace, frogpilotCarState: capnp._DynamicStructReader, low_speed_override: bool = True) -> dict[str, Any]:
   # Determine leads, this is where the essential logic happens
-  if len(tracks) > 0 and ready and lead_msg.prob > lead_detection_threshold:
+  if len(tracks) > 0 and ready and lead_msg.prob > frogpilot_toggles.lead_detection_probability:
     track = match_vision_to_track(v_ego, lead_msg, tracks)
   else:
     track = None
@@ -178,7 +192,7 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
   lead_dict = {'status': False}
   if track is not None:
     lead_dict = track.get_RadarState(lead_msg.prob)
-  elif (track is None) and ready and (lead_msg.prob > lead_detection_threshold):
+  elif (track is None) and ready and (lead_msg.prob > frogpilot_toggles.lead_detection_probability):
     lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
 
   if low_speed_override:
@@ -190,11 +204,25 @@ def get_lead(v_ego: float, ready: bool, tracks: dict[int, Track], lead_msg: capn
       if (not lead_dict['status']) or (closest_track.dRel < lead_dict['dRel']):
         lead_dict = closest_track.get_RadarState()
 
+  if 'dRel' in lead_dict:
+    lead_dict['dRel'] -= frogpilot_toggles.increased_stopped_distance if not frogpilotCarState.trafficModeActive else 0
+
+  return lead_dict
+
+
+def get_lead_adjacent(tracks: dict[int, Track], model_data: capnp._DynamicStructReader, lane_width: float, left: bool = True, far: bool = False) -> dict[str, Any]:
+  lead_dict = {'status': False}
+
+  adjacent_tracks = [c for c in tracks.values() if c.vLead > 1 and c.potential_adjacent_lead(far, lane_width, left, model_data)]
+  if len(adjacent_tracks) > 0:
+    closest_track = min(adjacent_tracks, key=lambda c: c.dRel)
+    lead_dict = closest_track.get_RadarState()
+
   return lead_dict
 
 
 class RadarD:
-  def __init__(self, radar_ts: float, delay: int = 0):
+  def __init__(self, frogpilot_toggles, radar_ts: float, delay: int = 0):
     self.points: dict[int, tuple[float, float, float]] = {}
 
     self.current_time = 0.0
@@ -213,12 +241,9 @@ def __init__(self, radar_ts: float, delay: int = 0):
     self.ready = False
 
     # FrogPilot variables
-    self.frogpilot_toggles = FrogPilotVariables.toggles
-    FrogPilotVariables.update_frogpilot_params()
-
-    self.velocity_model = self.frogpilot_toggles.velocity_model
+    self.frogpilot_toggles = frogpilot_toggles
 
-    self.update_toggles = False
+    self.classic_model = self.frogpilot_toggles.classic_model
 
   def update(self, sm: messaging.SubMaster, rr):
     self.ready = sm.seen['modelV2']
@@ -263,23 +288,26 @@ def update(self, sm: messaging.SubMaster, rr):
     self.radar_state.radarErrors = list(radar_errors)
     self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
 
-    if self.velocity_model and len(sm['modelV2'].velocity.x):
-      model_v_ego = sm['modelV2'].velocity.x[0]
-    elif len(sm['modelV2'].temporalPose.trans):
+    if self.classic_model and len(sm['modelV2'].temporalPose.trans):
       model_v_ego = sm['modelV2'].temporalPose.trans[0]
+    elif len(sm['modelV2'].velocity.x):
+      model_v_ego = sm['modelV2'].velocity.x[0]
     else:
       model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.frogpilot_toggles.lead_detection_threshold, low_speed_override=True)
-      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.frogpilot_toggles.lead_detection_threshold, low_speed_override=False)
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, self.frogpilot_toggles, sm['frogpilotCarState'], low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, self.frogpilot_toggles, sm['frogpilotCarState'], low_speed_override=False)
+
+    if self.frogpilot_toggles.adjacent_lead_tracking and self.ready:
+      self.radar_state.leadLeft = get_lead_adjacent(self.tracks, sm['modelV2'], sm['frogpilotPlan'].laneWidthLeft, left=True)
+      self.radar_state.leadLeftFar = get_lead_adjacent(self.tracks, sm['modelV2'], sm['frogpilotPlan'].laneWidthLeft, left=True, far=True)
+      self.radar_state.leadRight = get_lead_adjacent(self.tracks, sm['modelV2'], sm['frogpilotPlan'].laneWidthRight, left=False)
+      self.radar_state.leadRightFar = get_lead_adjacent(self.tracks, sm['modelV2'], sm['frogpilotPlan'].laneWidthRight, left=False, far=True)
 
     # Update FrogPilot parameters
-    if FrogPilotVariables.toggles_updated:
-      self.update_toggles = True
-    elif self.update_toggles:
-      FrogPilotVariables.update_frogpilot_params()
-      self.update_toggles = False
+    if sm['frogpilotPlan'].togglesUpdated:
+      self.frogpilot_toggles = get_frogpilot_toggles()
 
   def publish(self, pm: messaging.PubMaster, lag_ms: float):
     assert self.radar_state is not None
@@ -348,14 +376,14 @@ def main():
   RI = RadarInterface(CP)
 
   rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None)
-  RD = RadarD(CP.radarTimeStep, RI.delay)
 
   # FrogPilot variables
-  frogpilot_toggles = FrogPilotVariables.toggles
-  FrogPilotVariables.update_frogpilot_params()
+  frogpilot_toggles = get_frogpilot_toggles()
+
+  RD = RadarD(frogpilot_toggles, CP.radarTimeStep, RI.delay)
 
   if not frogpilot_toggles.radarless_model:
-    sm = messaging.SubMaster(['modelV2', 'carState'], frequency=int(1./DT_CTRL))
+    sm = messaging.SubMaster(['modelV2', 'carState', 'frogpilotCarState', 'frogpilotPlan'], frequency=int(1./DT_CTRL))
     pm = messaging.PubMaster(['radarState', 'liveTracks'])
     while 1:
       can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
diff --git a/selfdrive/frogpilot/assets/active_theme/colors/colors.json b/selfdrive/frogpilot/assets/active_theme/colors/colors.json
index 80e70f351c2180..bf527d51eb243e 100644
--- a/selfdrive/frogpilot/assets/active_theme/colors/colors.json
+++ b/selfdrive/frogpilot/assets/active_theme/colors/colors.json
@@ -23,12 +23,6 @@
     "blue": 54,
     "alpha": 242
   },
-  "RoadEdges": {
-    "red": 23,
-    "green": 134,
-    "blue": 68,
-    "alpha": 242
-  },
   "Sidebar1": {
     "red": 23,
     "green": 134,
diff --git a/selfdrive/frogpilot/assets/download_functions.py b/selfdrive/frogpilot/assets/download_functions.py
index 9057c2dbce593d..7ae574fc1d1870 100644
--- a/selfdrive/frogpilot/assets/download_functions.py
+++ b/selfdrive/frogpilot/assets/download_functions.py
@@ -1,12 +1,12 @@
 import os
 import requests
 
-from openpilot.selfdrive.frogpilot.frogpilot_functions import delete_file, is_url_pingable
+from openpilot.selfdrive.frogpilot.frogpilot_utilities import delete_file, is_url_pingable
 
 GITHUB_URL = "https://raw.githubusercontent.com/FrogAi/FrogPilot-Resources/"
 GITLAB_URL = "https://gitlab.com/FrogAi/FrogPilot-Resources/-/raw/"
 
-def download_file(cancel_param, destination, progress_param, url, download_param, params_memory):
+def download_file(cancel_param, destination, temp_destination, progress_param, url, download_param, params_memory):
   try:
     os.makedirs(os.path.dirname(destination), exist_ok=True)
     total_size = get_remote_file_size(url)
@@ -14,11 +14,11 @@ def download_file(cancel_param, destination, progress_param, url, download_param
       return
 
     downloaded_size = 0
-    with requests.get(url, stream=True, timeout=5) as response, open(destination, 'wb') as file:
+    with requests.get(url, stream=True, timeout=5) as response, open(temp_destination, 'wb') as file:
       response.raise_for_status()
       for chunk in response.iter_content(chunk_size=8192):
         if params_memory.get_bool(cancel_param):
-          handle_error(destination, "Download cancelled.", "Download cancelled.", download_param, progress_param, params_memory)
+          handle_error(temp_destination, "Download cancelled", "Download cancelled", download_param, progress_param, params_memory)
           return
 
         if chunk:
@@ -31,29 +31,28 @@ def download_file(cancel_param, destination, progress_param, url, download_param
           else:
             params_memory.put(progress_param, "Verifying authenticity...")
   except Exception as e:
-    handle_request_error(e, destination, download_param, progress_param, params_memory)
+    handle_request_error(e, temp_destination, download_param, progress_param, params_memory)
 
 def handle_error(destination, error_message, error, download_param, progress_param, params_memory):
-  print(f"Error occurred: {error}")
   if destination:
     delete_file(destination)
+
   if download_param:
     params_memory.remove(download_param)
-  if progress_param:
+
+  if progress_param and "404" not in error_message:
+    print(f"Error occurred: {error}")
     params_memory.put(progress_param, error_message)
 
 def handle_request_error(error, destination, download_param, progress_param, params_memory):
   error_map = {
-    requests.HTTPError: lambda e: f"Server error ({e.response.status_code})" if e.response else "Server error.",
-    requests.ConnectionError: "Connection dropped.",
-    requests.Timeout: "Download timed out.",
-    requests.RequestException: "Network request error. Check connection."
+    requests.ConnectionError: "Connection dropped",
+    requests.HTTPError: lambda e: f"Server error ({e.response.status_code})" if e.response else "Server error",
+    requests.RequestException: "Network request error. Check connection",
+    requests.Timeout: "Download timed out"
   }
 
-  error_message = error_map.get(type(error), "Unexpected error.")
-  if isinstance(error, requests.HTTPError) and error.response and error.response.status_code == 404:
-    return
-
+  error_message = error_map.get(type(error), "Unexpected error")
   handle_error(destination, f"Failed: {error_message}", error, download_param, progress_param, params_memory)
 
 def get_remote_file_size(url):
@@ -61,12 +60,18 @@ def get_remote_file_size(url):
     response = requests.head(url, headers={'Accept-Encoding': 'identity'}, timeout=5)
     if response.status_code == 404:
       print(f"URL not found: {url}")
-      return None
+      return 0
     response.raise_for_status()
     return int(response.headers.get('Content-Length', 0))
+  except requests.HTTPError as e:
+    if e.response and e.response.status_code == 404:
+      print(f"URL not found: {url}")
+      return 0
+    handle_request_error(e, None, None, None, None)
+    return 0
   except Exception as e:
     handle_request_error(e, None, None, None, None)
-    return None
+    return 0
 
 def get_repository_url():
   if is_url_pingable("https://github.com"):
@@ -75,35 +80,23 @@ def get_repository_url():
     return GITLAB_URL
   return None
 
-def link_valid(url):
-  try:
-    response = requests.head(url, allow_redirects=True, timeout=5)
-    response.raise_for_status()
-    return True
-  except requests.HTTPError as e:
-    if e.response.status_code != 404:
-      handle_request_error(e, None, None, None, None)
-    return False
-  except Exception as e:
-    handle_request_error(e, None, None, None, None)
-    return False
-
-def verify_download(file_path, url, initial_download=True):
+def verify_download(file_path, temp_file_path, url, initial_download=True):
   remote_file_size = get_remote_file_size(url)
   if remote_file_size is None:
     print(f"Error fetching remote size for {file_path}")
     return False if initial_download else True
 
-  if not os.path.isfile(file_path):
-    print(f"File not found: {file_path}")
+  if not os.path.isfile(temp_file_path):
+    print(f"File not found: {temp_file_path}")
     return False
 
   try:
-    if remote_file_size != os.path.getsize(file_path):
-      print(f"File size mismatch for {file_path}")
+    if remote_file_size != os.path.getsize(temp_file_path):
+      print(f"File size mismatch for {temp_file_path}")
       return False
   except Exception as e:
-    print(f"An unexpected error occurred while trying to verify the {file_path} download: {e}")
+    print(f"An unexpected error occurred while trying to verify the {temp_file_path} download: {e}")
     return False
 
+  os.rename(temp_file_path, file_path)
   return True
diff --git a/selfdrive/frogpilot/assets/holiday_themes/halloween_week/colors/colors.json b/selfdrive/frogpilot/assets/holiday_themes/halloween_week/colors/colors.json
index 9fca352351cac6..91690ba0b21a35 100644
--- a/selfdrive/frogpilot/assets/holiday_themes/halloween_week/colors/colors.json
+++ b/selfdrive/frogpilot/assets/holiday_themes/halloween_week/colors/colors.json
@@ -23,12 +23,6 @@
     "blue": 255,
     "alpha": 255
   },
-  "RoadEdges": {
-    "red": 242,
-    "green": 117,
-    "blue": 3,
-    "alpha": 255
-  },
   "Sidebar1": {
     "red": 134,
     "green": 47,
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/colors/colors.json b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/colors/colors.json
new file mode 100644
index 00000000000000..6a91eb709410e1
--- /dev/null
+++ b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/colors/colors.json
@@ -0,0 +1,44 @@
+{
+  "LaneLines": {
+    "red": 237,
+    "green": 116,
+    "blue": 46,
+    "alpha": 255
+  },
+  "LeadMarker": {
+    "red": 237,
+    "green": 116,
+    "blue": 46,
+    "alpha": 255
+  },
+  "Path": {
+    "red": 248,
+    "green": 177,
+    "blue": 44,
+    "alpha": 255
+  },
+  "PathEdge": {
+    "red": 198,
+    "green": 142,
+    "blue": 35,
+    "alpha": 255
+  },
+  "Sidebar1": {
+    "red": 153,
+    "green": 99,
+    "blue": 54,
+    "alpha": 255
+  },
+  "Sidebar2": {
+    "red": 248,
+    "green": 177,
+    "blue": 44,
+    "alpha": 255
+  },
+  "Sidebar3": {
+    "red": 237,
+    "green": 116,
+    "blue": 46,
+    "alpha": 255
+  }
+}
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_flag.gif b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_flag.gif
new file mode 100644
index 00000000000000..2ff77fb021fb95
Binary files /dev/null and b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_flag.gif differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_flag.png b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_flag.png
deleted file mode 100644
index 627af8aff329cd..00000000000000
Binary files a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_flag.png and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_home.gif b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_home.gif
new file mode 100644
index 00000000000000..2ff77fb021fb95
Binary files /dev/null and b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_home.gif differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_home.png b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_home.png
deleted file mode 100644
index 627af8aff329cd..00000000000000
Binary files a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_home.png and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_settings.png b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_settings.png
index 55927599758a9b..c6e453c1f0deff 100644
Binary files a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_settings.png and b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/icons/button_settings.png differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/disengage.wav b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/disengage.wav
index ba583c41f362d3..b7ab60e075466d 100644
Binary files a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/disengage.wav and b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/disengage.wav differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/engage.wav b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/engage.wav
index 41e9b2d588d4aa..5a1395feb3e49c 100644
Binary files a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/engage.wav and b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/engage.wav differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/prompt.wav b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/prompt.wav
deleted file mode 100644
index 1ae77051eb5722..00000000000000
Binary files a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/prompt.wav and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/prompt_distracted.wav b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/prompt_distracted.wav
deleted file mode 100644
index c3d4475caa70ce..00000000000000
Binary files a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/prompt_distracted.wav and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/refuse.wav b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/refuse.wav
deleted file mode 100644
index 0e80f7d127dcd4..00000000000000
Binary files a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/refuse.wav and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/warning_immediate.wav b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/warning_immediate.wav
deleted file mode 100644
index b1815a95867b9e..00000000000000
Binary files a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/warning_immediate.wav and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/warning_soft.wav b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/warning_soft.wav
deleted file mode 100644
index 261c7e1376c672..00000000000000
Binary files a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/sounds/warning_soft.wav and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/steering_wheel/wheel.png b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/steering_wheel/wheel.png
new file mode 100644
index 00000000000000..32c30aacfc333d
Binary files /dev/null and b/selfdrive/frogpilot/assets/holiday_themes/thanksgiving_week/steering_wheel/wheel.png differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/colors/colors.json b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/colors/colors.json
new file mode 100644
index 00000000000000..bf527d51eb243e
--- /dev/null
+++ b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/colors/colors.json
@@ -0,0 +1,44 @@
+{
+  "LaneLines": {
+    "red": 23,
+    "green": 134,
+    "blue": 68,
+    "alpha": 242
+  },
+  "LeadMarker": {
+    "red": 23,
+    "green": 134,
+    "blue": 68,
+    "alpha": 242
+  },
+  "Path": {
+    "red": 23,
+    "green": 134,
+    "blue": 68,
+    "alpha": 242
+  },
+  "PathEdge": {
+    "red": 18,
+    "green": 107,
+    "blue": 54,
+    "alpha": 242
+  },
+  "Sidebar1": {
+    "red": 23,
+    "green": 134,
+    "blue": 68,
+    "alpha": 242
+  },
+  "Sidebar2": {
+    "red": 23,
+    "green": 134,
+    "blue": 68,
+    "alpha": 242
+  },
+  "Sidebar3": {
+    "red": 23,
+    "green": 134,
+    "blue": 68,
+    "alpha": 242
+  }
+}
diff --git a/selfdrive/frogpilot/assets/holiday_themes/halloween_week/distance_icons/aggressive.gif b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/distance_icons/aggressive.gif
similarity index 100%
rename from selfdrive/frogpilot/assets/holiday_themes/halloween_week/distance_icons/aggressive.gif
rename to selfdrive/frogpilot/assets/holiday_themes/world_frog_day/distance_icons/aggressive.gif
diff --git a/selfdrive/frogpilot/assets/holiday_themes/halloween_week/distance_icons/relaxed.gif b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/distance_icons/relaxed.gif
similarity index 100%
rename from selfdrive/frogpilot/assets/holiday_themes/halloween_week/distance_icons/relaxed.gif
rename to selfdrive/frogpilot/assets/holiday_themes/world_frog_day/distance_icons/relaxed.gif
diff --git a/selfdrive/frogpilot/assets/holiday_themes/halloween_week/distance_icons/standard.gif b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/distance_icons/standard.gif
similarity index 100%
rename from selfdrive/frogpilot/assets/holiday_themes/halloween_week/distance_icons/standard.gif
rename to selfdrive/frogpilot/assets/holiday_themes/world_frog_day/distance_icons/standard.gif
diff --git a/selfdrive/frogpilot/assets/holiday_themes/halloween_week/distance_icons/traffic.gif b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/distance_icons/traffic.gif
similarity index 100%
rename from selfdrive/frogpilot/assets/holiday_themes/halloween_week/distance_icons/traffic.gif
rename to selfdrive/frogpilot/assets/holiday_themes/world_frog_day/distance_icons/traffic.gif
diff --git a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/icons/button_home.gif b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/icons/button_home.gif
index 6b20a726e4ce2f..133d8d34ed1c00 100644
Binary files a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/icons/button_home.gif and b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/icons/button_home.gif differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/traditional_100 b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/traditional_100
new file mode 100644
index 00000000000000..e69de29bb2d1d6
diff --git a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_1.png b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_1.png
index 43e0b446f8ea9d..8c2f7a54ed26a3 100644
Binary files a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_1.png and b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_1.png differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_2.png b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_2.png
index e8e147976b7330..3c7d2d9eb8a0ad 100644
Binary files a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_2.png and b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_2.png differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_3.png b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_3.png
index b59b003f95eb2f..b495eeae190cbc 100644
Binary files a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_3.png and b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_3.png differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_4.png b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_4.png
index c3c1d204e68375..024a0b03ea6c08 100644
Binary files a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_4.png and b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_4.png differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_5.png b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_5.png
new file mode 100644
index 00000000000000..91eb05f12f4579
Binary files /dev/null and b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_5.png differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_6.png b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_6.png
new file mode 100644
index 00000000000000..3c7d2d9eb8a0ad
Binary files /dev/null and b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_6.png differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_blindspot.png b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_blindspot.png
new file mode 100644
index 00000000000000..b721266fb2f1b1
Binary files /dev/null and b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/signals/turn_signal_blindspot.png differ
diff --git a/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/steering_wheel/wheel.png b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/steering_wheel/wheel.png
new file mode 100644
index 00000000000000..712255984600c0
Binary files /dev/null and b/selfdrive/frogpilot/assets/holiday_themes/world_frog_day/steering_wheel/wheel.png differ
diff --git a/selfdrive/frogpilot/assets/model_manager.py b/selfdrive/frogpilot/assets/model_manager.py
index b4913ac61d347b..62a96ee860d8f1 100644
--- a/selfdrive/frogpilot/assets/model_manager.py
+++ b/selfdrive/frogpilot/assets/model_manager.py
@@ -1,25 +1,20 @@
 import json
 import os
 import re
+import requests
 import shutil
 import time
+import urllib.parse
 import urllib.request
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params, UnknownKeyName
+from openpilot.common.params import Params
 
-from openpilot.selfdrive.frogpilot.assets.download_functions import GITHUB_URL, GITLAB_URL, download_file, get_remote_file_size, get_repository_url, handle_error, handle_request_error, verify_download
-from openpilot.selfdrive.frogpilot.frogpilot_functions import MODELS_PATH, delete_file
+from openpilot.selfdrive.frogpilot.assets.download_functions import GITHUB_URL, GITLAB_URL, download_file, get_repository_url, handle_error, handle_request_error, verify_download
+from openpilot.selfdrive.frogpilot.frogpilot_utilities import delete_file
+from openpilot.selfdrive.frogpilot.frogpilot_variables import DEFAULT_MODEL, DEFAULT_MODEL_NAME, DEFAULT_CLASSIC_MODEL, DEFAULT_CLASSIC_MODEL_NAME, MODELS_PATH
 
-VERSION = "v9"
-
-DEFAULT_MODEL = "north-dakota"
-DEFAULT_MODEL_NAME = "North Dakota (Default)"
-
-def process_model_name(model_name):
-  cleaned_name = re.sub(r'[🗺️👀📡]', '', model_name)
-  cleaned_name = re.sub(r'[^a-zA-Z0-9()-]', '', cleaned_name)
-  return cleaned_name.replace(' ', '').replace('(Default)', '').replace('-', '')
+VERSION = "v10"
 
 class ModelManager:
   def __init__(self):
@@ -30,100 +25,148 @@ def __init__(self):
     self.download_param = "ModelToDownload"
     self.download_progress_param = "ModelDownloadProgress"
 
-  def handle_verification_failure(self, model, model_path):
+  @staticmethod
+  def fetch_models(url):
+    try:
+      with urllib.request.urlopen(url, timeout=10) as response:
+        return json.loads(response.read().decode('utf-8'))['models']
+    except Exception as error:
+      handle_request_error(error, None, None, None, None)
+      return []
+
+  @staticmethod
+  def fetch_all_model_sizes(repo_url):
+    project_path = "FrogAi/FrogPilot-Resources"
+    branch = "Models"
+
+    if "github" in repo_url:
+      api_url = f"https://api.github.com/repos/{project_path}/contents?ref={branch}"
+    elif "gitlab" in repo_url:
+      api_url = f"https://gitlab.com/api/v4/projects/{urllib.parse.quote_plus(project_path)}/repository/tree?ref={branch}"
+    else:
+      return {}
+
+    try:
+      response = requests.get(api_url)
+      response.raise_for_status()
+      thneed_files = [file for file in response.json() if file['name'].endswith('.thneed')]
+
+      if "gitlab" in repo_url:
+        model_sizes = {}
+        for file in thneed_files:
+          file_path = file['path']
+          metadata_url = f"https://gitlab.com/api/v4/projects/{urllib.parse.quote_plus(project_path)}/repository/files/{urllib.parse.quote_plus(file_path)}/raw?ref={branch}"
+          metadata_response = requests.head(metadata_url)
+          metadata_response.raise_for_status()
+          model_sizes[file['name'].replace('.thneed', '')] = int(metadata_response.headers.get('content-length', 0))
+        return model_sizes
+      else:
+        return {file['name'].replace('.thneed', ''): file['size'] for file in thneed_files if 'size' in file}
+    except Exception as e:
+      handle_request_error(f"Failed to fetch model sizes from {'GitHub' if 'github' in repo_url else 'GitLab'}: {e}", None, None, None, None)
+      return {}
+
+  @staticmethod
+  def copy_default_model():
+    classic_default_model_path = os.path.join(MODELS_PATH, f"{DEFAULT_CLASSIC_MODEL}.thneed")
+    source_path = os.path.join(BASEDIR, "selfdrive", "classic_modeld", "models", "supercombo.thneed")
+
+    if os.path.isfile(source_path):
+      shutil.copyfile(source_path, classic_default_model_path)
+      print(f"Copied the classic default model from {source_path} to {classic_default_model_path}")
+
+    default_model_path = os.path.join(MODELS_PATH, f"{DEFAULT_MODEL}.thneed")
+    source_path = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "supercombo.thneed")
+
+    if os.path.isfile(source_path):
+      shutil.copyfile(source_path, default_model_path)
+      print(f"Copied the default model from {source_path} to {default_model_path}")
+
+  def handle_verification_failure(self, model, model_path, temp_model_path):
     if self.params_memory.get_bool(self.cancel_download_param):
       return
 
     print(f"Verification failed for model {model}. Retrying from GitLab...")
     model_url = f"{GITLAB_URL}Models/{model}.thneed"
-    download_file(self.cancel_download_param, model_path, self.download_progress_param, model_url, self.download_param, self.params_memory)
+    download_file(self.cancel_download_param, model_path, temp_model_path, self.download_progress_param, model_url, self.download_param, self.params_memory)
 
-    if verify_download(model_path, model_url):
-      print(f"Model {model} redownloaded and verified successfully from GitLab.")
+    if verify_download(model_path, temp_model_path, model_url):
+      print(f"Model {model} redownloaded and verified successfully from GitLab")
     else:
       handle_error(model_path, "GitLab verification failed", "Verification failed", self.download_param, self.download_progress_param, self.params_memory)
 
   def download_model(self, model_to_download):
     model_path = os.path.join(MODELS_PATH, f"{model_to_download}.thneed")
+    temp_model_path = f"{os.path.splitext(model_path)[0]}_temp.thneed"
     if os.path.isfile(model_path):
       handle_error(model_path, "Model already exists...", "Model already exists...", self.download_param, self.download_progress_param, self.params_memory)
       return
 
     repo_url = get_repository_url()
     if not repo_url:
-      handle_error(model_path, "GitHub and GitLab are offline...", "Repository unavailable", self.download_param, self.download_progress_param, self.params_memory)
+      handle_error(temp_model_path, "GitHub and GitLab are offline...", "Repository unavailable", self.download_param, self.download_progress_param, self.params_memory)
       return
 
     model_url = f"{repo_url}Models/{model_to_download}.thneed"
     print(f"Downloading model: {model_to_download}")
-    download_file(self.cancel_download_param, model_path, self.download_progress_param, model_url, self.download_param, self.params_memory)
+    download_file(self.cancel_download_param, model_path, temp_model_path, self.download_progress_param, model_url, self.download_param, self.params_memory)
 
-    if verify_download(model_path, model_url):
+    if verify_download(model_path, temp_model_path, model_url):
       print(f"Model {model_to_download} downloaded and verified successfully!")
       self.params_memory.put(self.download_progress_param, "Downloaded!")
       self.params_memory.remove(self.download_param)
     else:
-      self.handle_verification_failure(model_to_download, model_path)
+      self.handle_verification_failure(model_to_download, model_path, temp_model_path)
 
-  def fetch_models(self, url):
-    try:
-      with urllib.request.urlopen(url, timeout=10) as response:
-        return json.loads(response.read().decode('utf-8'))['models']
-    except Exception as error:
-      handle_request_error(error, None, None, None, None)
-      return []
+  def queue_model_download(self, model, model_name=None):
+    while self.params_memory.get(self.download_param, encoding='utf-8'):
+      time.sleep(1)
 
-  def update_model_params(self, model_info, repo_url):
-    available_models, available_model_names, experimental_models, navigation_models, radarless_models, velocity_models = [], [], [], [], [], []
+    self.params_memory.put(self.download_param, model)
+    if model_name:
+      self.params_memory.put(self.download_progress_param, f"Downloading {model_name}...")
 
+  def update_model_params(self, model_info, repo_url):
+    available_models = []
     for model in model_info:
       available_models.append(model['id'])
-      available_model_names.append(model['name'])
-
-      if model.get("e2e_longitudinal", False):
-        e2e_longitudinal_models.append(model['id'])
-      if model.get("experimental", False):
-        experimental_models.append(model['id'])
-      if model.get("gas_brake", False):
-        gas_brake_models.append(model['id'])
-      if model.get("velocity", False):
-        velocity_models.append(model['id'])
-      if "🗺️" in model['name']:
-        navigation_models.append(model['id'])
-      if "📡" not in model['name']:
-        radarless_models.append(model['id'])
 
     self.params.put_nonblocking("AvailableModels", ','.join(available_models))
-    self.params.put_nonblocking("AvailableModelsNames", ','.join(available_model_names))
-    self.params.put_nonblocking("ExperimentalModels", ','.join(experimental_models))
-    self.params.put_nonblocking("NavigationModels", ','.join(navigation_models))
-    self.params.put_nonblocking("RadarlessModels", ','.join(radarless_models))
-    self.params.put_nonblocking("VelocityModels", ','.join(velocity_models))
-    print("Models list updated successfully.")
+    self.params.put_nonblocking("AvailableModelsNames", ','.join([model['name'] for model in model_info]))
+    self.params.put_nonblocking("ClassicModels", ','.join([model['id'] for model in model_info if model.get("classic_model", False)]))
+    self.params.put_nonblocking("ExperimentalModels", ','.join([model['id'] for model in model_info if model.get("experimental", False)]))
+    self.params.put_nonblocking("NavigationModels", ','.join([model['id'] for model in model_info if "🗺️" in model['name']]))
+    self.params.put_nonblocking("RadarlessModels", ','.join([model['id'] for model in model_info if "📡" not in model['name']]))
+    print("Models list updated successfully")
 
     if available_models:
-      models_downloaded = self.are_all_models_downloaded(available_models, available_model_names, repo_url)
+      models_downloaded = self.are_all_models_downloaded(available_models, repo_url)
       self.params.put_bool_nonblocking("ModelsDownloaded", models_downloaded)
 
-  def are_all_models_downloaded(self, available_models, available_model_names, repo_url):
+  def are_all_models_downloaded(self, available_models, repo_url):
+    available_models = set(available_models) - {DEFAULT_MODEL, DEFAULT_CLASSIC_MODEL}
+
     automatically_update_models = self.params.get_bool("AutomaticallyUpdateModels")
     all_models_downloaded = True
 
+    model_sizes = self.fetch_all_model_sizes(repo_url)
     download_queue = []
+
     for model in available_models:
       model_path = os.path.join(MODELS_PATH, f"{model}.thneed")
-      model_url = f"{repo_url}Models/{model}.thneed"
+      expected_size = model_sizes.get(model)
+
+      if expected_size is None:
+        print(f"Size data for {model} not available.")
+        continue
 
       if os.path.isfile(model_path):
-        if automatically_update_models:
-          verify_result = verify_download(model_path, model_url, False)
-          if verify_result is None:
-            all_models_downloaded = False
-          elif not verify_result:
-            print(f"Model {model} is outdated. Re-downloading...")
-            delete_file(model_path)
-            download_queue.append(model)
-            all_models_downloaded = False
+        local_size = os.path.getsize(model_path)
+        if automatically_update_models and local_size != expected_size:
+          print(f"Model {model} is outdated. Re-downloading...")
+          delete_file(model_path)
+          download_queue.append(model)
+          all_models_downloaded = False
       else:
         if automatically_update_models:
           print(f"Model {model} isn't downloaded. Downloading...")
@@ -135,19 +178,11 @@ def are_all_models_downloaded(self, available_models, available_model_names, rep
 
     return all_models_downloaded
 
-  def queue_model_download(self, model, model_name=None):
-    while self.params_memory.get(self.download_param, encoding='utf-8'):
-      time.sleep(1)
-
-    self.params_memory.put(self.download_param, model)
-    if model_name:
-      self.params_memory.put(self.download_progress_param, f"Downloading {model_name}...")
-
   def validate_models(self):
     current_model = self.params.get("Model", encoding='utf-8')
     current_model_name = self.params.get("ModelName", encoding='utf-8')
 
-    if "(Default)" in current_model_name and current_model_name != DEFAULT_MODEL_NAME:
+    if "(Default)" in current_model_name and current_model_name != DEFAULT_CLASSIC_MODEL_NAME:
       self.params.put_nonblocking("ModelName", current_model_name.replace(" (Default)", ""))
 
     available_models = self.params.get("AvailableModels", encoding='utf-8')
@@ -162,31 +197,11 @@ def validate_models(self):
     for model_file in os.listdir(MODELS_PATH):
       model_name = model_file.replace(".thneed", "")
       if model_name not in available_models.split(','):
-        reason = "Model is not in the list of available models"
         if model_name == current_model:
-          self.params.put_nonblocking("Model", DEFAULT_MODEL)
-          self.params.put_nonblocking("ModelName", DEFAULT_MODEL_NAME)
+          self.params.put_nonblocking("Model", DEFAULT_CLASSIC_MODEL)
+          self.params.put_nonblocking("ModelName", DEFAULT_CLASSIC_MODEL_NAME)
         delete_file(os.path.join(MODELS_PATH, model_file))
-        print(f"Deleted model file: {model_file} - Reason: {reason}")
-
-  def copy_default_model(self):
-    default_model_path = os.path.join(MODELS_PATH, f"{DEFAULT_MODEL}.thneed")
-    source_path = os.path.join(BASEDIR, "selfdrive", "classic_modeld", "models", "supercombo.thneed")
-
-    if os.path.isfile(source_path) and not os.path.isfile(default_model_path):
-      shutil.copyfile(source_path, default_model_path)
-      print(f"Copied default model from {source_path} to {default_model_path}")
-    else:
-      print(f"Source default model not found at {source_path}. Exiting...")
-
-    sgo_model_path = os.path.join(MODELS_PATH, "secret-good-openpilot.thneed")
-    source_path = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "supercombo.thneed")
-
-    if os.path.isfile(source_path) and not os.path.isfile(sgo_model_path):
-      shutil.copyfile(source_path, sgo_model_path)
-      print(f"Copied 'secret-good-openpilot' model from {source_path} to {sgo_model_path}")
-    else:
-      print(f"Source 'secret-good-openpilot' model not found at {source_path}. Exiting...")
+        print(f"Deleted model file: {model_file} - Reason: Model is not in the list of available models")
 
   def update_models(self, boot_run=False):
     if boot_run:
@@ -197,12 +212,12 @@ def update_models(self, boot_run=False):
       print("GitHub and GitLab are offline...")
       return
 
+    model_info = self.fetch_models(f"{repo_url}Versions/model_names_{VERSION}.json")
+    if model_info:
+      self.update_model_params(model_info, repo_url)
+
     if boot_run:
       self.validate_models()
-    else:
-      model_info = self.fetch_models(f"{repo_url}Versions/model_names_{VERSION}.json")
-      if model_info:
-        self.update_model_params(model_info, repo_url)
 
   def download_all_models(self):
     repo_url = get_repository_url()
@@ -230,10 +245,8 @@ def download_all_models(self):
       if not os.path.isfile(os.path.join(MODELS_PATH, f"{model}.thneed")):
         model_index = available_models.index(model)
         model_name = available_model_names[model_index]
-
         cleaned_model_name = re.sub(r'[🗺️👀📡]', '', model_name).strip()
         print(f"Downloading model: {cleaned_model_name}")
-
         self.queue_model_download(model, cleaned_model_name)
 
         while self.params_memory.get(self.download_param, encoding='utf-8'):
diff --git a/selfdrive/frogpilot/assets/random_events/icons/this_is_fine.gif b/selfdrive/frogpilot/assets/random_events/icons/this_is_fine.gif
new file mode 100644
index 00000000000000..3cc427f760cb64
Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/icons/this_is_fine.gif differ
diff --git a/selfdrive/frogpilot/assets/random_events/sounds/this_is_fine.wav b/selfdrive/frogpilot/assets/random_events/sounds/this_is_fine.wav
new file mode 100644
index 00000000000000..e43f4e59ccf6a8
Binary files /dev/null and b/selfdrive/frogpilot/assets/random_events/sounds/this_is_fine.wav differ
diff --git a/selfdrive/frogpilot/assets/theme_manager.py b/selfdrive/frogpilot/assets/theme_manager.py
index dabf060885eb6d..c5b9a874e97a99 100644
--- a/selfdrive/frogpilot/assets/theme_manager.py
+++ b/selfdrive/frogpilot/assets/theme_manager.py
@@ -1,4 +1,5 @@
 import glob
+import json
 import os
 import re
 import requests
@@ -9,15 +10,15 @@
 from dateutil import easter
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.params import Params
 
-from openpilot.selfdrive.frogpilot.assets.download_functions import GITHUB_URL, GITLAB_URL, download_file, get_repository_url, handle_error, handle_request_error, link_valid, verify_download
-from openpilot.selfdrive.frogpilot.frogpilot_functions import ACTIVE_THEME_PATH, THEME_SAVE_PATH, update_frogpilot_toggles
+from openpilot.selfdrive.frogpilot.assets.download_functions import GITHUB_URL, GITLAB_URL, download_file, get_repository_url, handle_error, handle_request_error, verify_download
+from openpilot.selfdrive.frogpilot.frogpilot_variables import ACTIVE_THEME_PATH, THEME_SAVE_PATH, params, params_memory, update_frogpilot_toggles
 
 CANCEL_DOWNLOAD_PARAM = "CancelThemeDownload"
 DOWNLOAD_PROGRESS_PARAM = "ThemeDownloadProgress"
 
-def update_theme_asset(asset_type, theme, holiday_theme, params):
+
+def update_theme_asset(asset_type, theme, holiday_theme):
   save_location = os.path.join(ACTIVE_THEME_PATH, asset_type)
 
   if holiday_theme:
@@ -49,6 +50,7 @@ def update_theme_asset(asset_type, theme, holiday_theme, params):
   shutil.copytree(asset_location, save_location)
   print(f"Copied {asset_location} to {save_location}")
 
+
 def update_wheel_image(image, holiday_theme=None, random_event=True):
   wheel_save_location = os.path.join(ACTIVE_THEME_PATH, "steering_wheel")
 
@@ -74,24 +76,99 @@ def update_wheel_image(image, holiday_theme=None, random_event=True):
       print(f"Copied {source_file} to {destination_file}")
       break
 
+
 class ThemeManager:
   def __init__(self):
-    self.params = Params()
-    self.params_memory = Params("/dev/shm/params")
-
     self.previous_assets = {}
 
   @staticmethod
   def calculate_thanksgiving(year):
     november_first = date(year, 11, 1)
-    day_of_week = november_first.weekday()
-    return november_first + timedelta(days=(3 - day_of_week + 21) % 7 + 21)
+    days_to_thursday = (3 - november_first.weekday()) % 7
+    first_thursday = november_first + timedelta(days=days_to_thursday)
+    thanksgiving_date = first_thursday + timedelta(days=21)
+    return thanksgiving_date
 
   @staticmethod
   def is_within_week_of(target_date, now):
     start_of_week = target_date - timedelta(days=target_date.weekday())
-    end_of_week = start_of_week + timedelta(days=6)
-    return start_of_week <= now <= end_of_week
+    return start_of_week <= now < target_date
+
+  @staticmethod
+  def fetch_files(url):
+    try:
+      response = requests.get(url, timeout=10)
+      response.raise_for_status()
+      return [name for name in re.findall(r'href="[^"]*\/blob\/[^"]*\/([^"]*)"', response.text) if name.lower() != "license"]
+    except Exception as error:
+      handle_request_error(error, None, None, None, None)
+      return []
+
+  @staticmethod
+  def fetch_assets(repo_url):
+    repo = "FrogAi/FrogPilot-Resources"
+    branches = ["Themes", "Distance-Icons", "Steering-Wheels"]
+
+    assets = {
+      "themes": {},
+      "distance_icons": [],
+      "wheels": []
+    }
+
+    if "github" in repo_url:
+      base_api_url = "https://api.github.com/repos"
+    elif "gitlab" in repo_url:
+      base_api_url = "https://gitlab.com/api/v4/projects"
+      repo = repo.replace("/", "%2F")
+    else:
+      print(f"Unsupported repository URL: {repo_url}")
+      return assets
+
+    for branch in branches:
+      if "github" in repo_url:
+        api_url = f"{base_api_url}/{repo}/git/trees/{branch}?recursive=1"
+      elif "gitlab" in repo_url:
+        api_url = f"{base_api_url}/{repo}/repository/tree?ref={branch}&recursive=true"
+
+      try:
+        print(f"Fetching assets from branch '{branch}': {api_url}")
+        response = requests.get(api_url, timeout=10)
+        response.raise_for_status()
+        content = response.json()
+
+        if "github" in repo_url:
+          items = content.get('tree', [])
+        elif "gitlab" in repo_url:
+          items = content
+
+        for item in items:
+          if item["type"] != "blob":
+            continue
+
+          item_path = item["path"].lower()
+          if branch == "Themes":
+            theme_name = item["path"].split('/')[0]
+            assets["themes"].setdefault(theme_name, set())
+            if "icons" in item_path:
+              assets["themes"][theme_name].add("icons")
+            elif "signals" in item_path:
+              assets["themes"][theme_name].add("signals")
+            elif "sounds" in item_path:
+              assets["themes"][theme_name].add("sounds")
+            else:
+              assets["themes"][theme_name].add("colors")
+
+          elif branch == "Distance-Icons":
+            assets["distance_icons"].append(item["path"])
+
+          elif branch == "Steering-Wheels":
+            assets["wheels"].append(item["path"])
+
+      except requests.exceptions.RequestException as error:
+        print(f"Error occurred when fetching from branch '{branch}': {error}")
+
+    assets["themes"] = {k: list(v) for k, v in assets["themes"].items()}
+    return assets
 
   def update_holiday(self):
     now = date.today()
@@ -115,30 +192,30 @@ def update_holiday(self):
     for holiday, holiday_date in holidays.items():
       if (holiday.endswith("_week") and self.is_within_week_of(holiday_date, now)) or (now == holiday_date):
         if holiday != self.previous_assets.get("holiday_theme"):
-          self.params.put("CurrentHolidayTheme", holiday)
-          self.params_memory.put_bool("UpdateTheme", True)
+          params.put("CurrentHolidayTheme", holiday)
+          params_memory.put_bool("UpdateTheme", True)
         return
 
     if "holiday_theme" in self.previous_assets:
-      self.params.remove("CurrentHolidayTheme")
-      self.params_memory.put_bool("UpdateTheme", True)
+      params.remove("CurrentHolidayTheme")
+      params_memory.put_bool("UpdateTheme", True)
       self.previous_assets.pop("holiday_theme")
 
   def update_active_theme(self):
     if not os.path.exists(THEME_SAVE_PATH):
       return
 
-    holiday_themes = self.params.get_bool("HolidayThemes")
-    current_holiday_theme = self.params.get("CurrentHolidayTheme", encoding='utf-8') if holiday_themes else None
+    holiday_themes = params.get_bool("HolidayThemes")
+    current_holiday_theme = params.get("CurrentHolidayTheme", encoding='utf-8') if holiday_themes else None
 
-    if not current_holiday_theme and self.params.get_bool("PersonalizeOpenpilot"):
+    if not current_holiday_theme and params.get_bool("PersonalizeOpenpilot"):
       asset_mappings = {
-        "color_scheme": ("colors", self.params.get("CustomColors", encoding='utf-8')),
-        "distance_icons": ("distance_icons", self.params.get("CustomDistanceIcons", encoding='utf-8')),
-        "icon_pack": ("icons", self.params.get("CustomIcons", encoding='utf-8')),
-        "sound_pack": ("sounds", self.params.get("CustomSounds", encoding='utf-8')),
-        "turn_signal_pack": ("signals", self.params.get("CustomSignals", encoding='utf-8')),
-        "wheel_image": ("wheel_image", self.params.get("WheelIcon", encoding='utf-8'))
+        "color_scheme": ("colors", params.get("CustomColors", encoding='utf-8')),
+        "distance_icons": ("distance_icons", params.get("CustomDistanceIcons", encoding='utf-8')),
+        "icon_pack": ("icons", params.get("CustomIcons", encoding='utf-8')),
+        "sound_pack": ("sounds", params.get("CustomSounds", encoding='utf-8')),
+        "turn_signal_pack": ("signals", params.get("CustomSignals", encoding='utf-8')),
+        "wheel_image": ("wheel_image", params.get("WheelIcon", encoding='utf-8'))
       }
     else:
       asset_mappings = {
@@ -150,6 +227,7 @@ def update_active_theme(self):
         "wheel_image": ("wheel_image", "stock")
       }
 
+    theme_changed = False
     for asset, (asset_type, current_value) in asset_mappings.items():
       if current_value != self.previous_assets.get(asset) or current_holiday_theme != self.previous_assets.get("holiday_theme"):
         print(f"Updating {asset}: {asset_type} with value {current_holiday_theme if current_holiday_theme else current_value}")
@@ -157,26 +235,29 @@ def update_active_theme(self):
         if asset_type == "wheel_image":
           update_wheel_image(current_value, current_holiday_theme, random_event=False)
         else:
-          update_theme_asset(asset_type, current_value, current_holiday_theme, self.params)
+          update_theme_asset(asset_type, current_value, current_holiday_theme)
 
         self.previous_assets[asset] = current_value
+        theme_changed = True
 
-    self.previous_assets["holiday_theme"] = current_holiday_theme
-    update_frogpilot_toggles()
+    if theme_changed:
+      if current_holiday_theme:
+        self.previous_assets["holiday_theme"] = current_holiday_theme
+      update_frogpilot_toggles()
 
   def extract_zip(self, zip_file, extract_path):
     print(f"Extracting {zip_file} to {extract_path}")
     with zipfile.ZipFile(zip_file, 'r') as zip_ref:
       zip_ref.extractall(extract_path)
     os.remove(zip_file)
-    print(f"Extraction completed and zip file deleted.")
+    print(f"Extraction completed and zip file deleted")
 
   def handle_existing_theme(self, theme_name, theme_param):
     print(f"Theme {theme_name} already exists, skipping download...")
-    self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Theme already exists...")
-    self.params_memory.remove(theme_param)
+    params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Theme already exists...")
+    params_memory.remove(theme_param)
 
-  def handle_verification_failure(self, extentions, theme_component, theme_name, theme_param, download_path):
+  def handle_verification_failure(self, extensions, theme_component, theme_name, theme_param, download_path):
     if theme_component == "distance_icons":
       download_link = f"{GITLAB_URL}Distance-Icons/{theme_name}"
     elif theme_component == "steering_wheels":
@@ -184,83 +265,66 @@ def handle_verification_failure(self, extentions, theme_component, theme_name, t
     else:
       download_link = f"{GITLAB_URL}Themes/{theme_name}/{theme_component}"
 
-    for ext in extentions:
+    for ext in extensions:
       theme_path = download_path + ext
+      temp_theme_path = f"{os.path.splitext(theme_path)[0]}_temp{ext}"
       theme_url = download_link + ext
       print(f"Downloading theme from GitLab: {theme_name}")
-      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, theme_param, self.params_memory)
+      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, temp_theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, theme_param, params_memory)
 
-      if verify_download(theme_path, theme_url):
+      if verify_download(theme_path, temp_theme_path, theme_url):
         print(f"Theme {theme_name} downloaded and verified successfully from GitLab!")
         if ext == ".zip":
-          self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
+          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
           self.extract_zip(theme_path, os.path.join(THEME_SAVE_PATH, theme_name))
-        self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-        self.params_memory.remove(theme_param)
+        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+        params_memory.remove(theme_param)
         return True
 
-    handle_error(download_path, "GitLab verification failed", "Verification failed", theme_param, DOWNLOAD_PROGRESS_PARAM, self.params_memory)
+    handle_error(download_path, "GitLab verification failed", "Verification failed", theme_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
     return False
 
   def download_theme(self, theme_component, theme_name, theme_param):
     repo_url = get_repository_url()
     if not repo_url:
-      handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", theme_param, DOWNLOAD_PROGRESS_PARAM, self.params_memory)
+      handle_error(None, "GitHub and GitLab are offline...", "Repository unavailable", theme_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
       return
 
     if theme_component == "distance_icons":
       download_link = f"{repo_url}Distance-Icons/{theme_name}"
       download_path = os.path.join(THEME_SAVE_PATH, theme_component, theme_name)
-      extentions = [".zip"]
+      extensions = [".zip"]
     elif theme_component == "steering_wheels":
       download_link = f"{repo_url}Steering-Wheels/{theme_name}"
       download_path = os.path.join(THEME_SAVE_PATH, theme_component, theme_name)
-      extentions = [".gif", ".png"]
+      extensions = [".gif", ".png"]
     else:
       download_link = f"{repo_url}Themes/{theme_name}/{theme_component}"
       download_path = os.path.join(THEME_SAVE_PATH, "theme_packs", theme_name, theme_component)
-      extentions = [".zip"]
+      extensions = [".zip"]
 
-    for ext in extentions:
+    for ext in extensions:
       theme_path = download_path + ext
+      temp_theme_path = f"{os.path.splitext(theme_path)[0]}_temp{ext}"
+
       if os.path.isfile(theme_path):
-        handle_error(theme_path, "Theme already exists...", "Theme already exists...", theme_param, DOWNLOAD_PROGRESS_PARAM, self.params_memory)
+        handle_error(theme_path, "Theme already exists...", "Theme already exists...", theme_param, DOWNLOAD_PROGRESS_PARAM, params_memory)
         return
 
       theme_url = download_link + ext
       print(f"Downloading theme from GitHub: {theme_name}")
-      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, theme_param, self.params_memory)
+      download_file(CANCEL_DOWNLOAD_PARAM, theme_path, temp_theme_path, DOWNLOAD_PROGRESS_PARAM, theme_url, theme_param, params_memory)
 
-      if verify_download(theme_path, theme_url):
+      if verify_download(theme_path, temp_theme_path, theme_url):
         print(f"Theme {theme_name} downloaded and verified successfully from GitHub!")
         if ext == ".zip":
-          self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
+          params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Unpacking theme...")
           self.extract_zip(theme_path, download_path)
-        self.params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
-        self.params_memory.remove(theme_param)
+        params_memory.put(DOWNLOAD_PROGRESS_PARAM, "Downloaded!")
+        params_memory.remove(theme_param)
         return
 
-    self.handle_verification_failure(extentions, theme_component, theme_name, theme_param, download_path)
-
-  @staticmethod
-  def fetch_files(url):
-    try:
-      response = requests.get(url, timeout=10)
-      response.raise_for_status()
-      return [name for name in re.findall(r'href="[^"]*\/blob\/[^"]*\/([^"]*)"', response.text) if name.lower() != "license"]
-    except Exception as error:
-      handle_request_error(error, None, None, None, None)
-      return []
-
-  @staticmethod
-  def fetch_folders(url):
-    try:
-      response = requests.get(url, timeout=10)
-      response.raise_for_status()
-      return re.findall(r'href="[^"]*\/tree\/[^"]*\/([^"]*)"', response.text)
-    except Exception as error:
-      handle_request_error(error, None, None, None, None)
-      return []
+    self.handle_verification_failure(extensions, theme_component, theme_name, theme_param, download_path)
 
   def update_theme_params(self, downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels):
     def filter_existing_assets(assets, subfolder):
@@ -271,27 +335,27 @@ def filter_existing_assets(assets, subfolder):
       }
       return sorted(set(assets) - existing_themes)
 
-    self.params.put("DownloadableColors", ','.join(filter_existing_assets(downloadable_colors, "colors")))
-    print("Colors list updated successfully.")
+    params.put("DownloadableColors", ','.join(filter_existing_assets(downloadable_colors, "colors")))
+    print("Colors list updated successfully")
 
     distance_icons_directory = os.path.join(THEME_SAVE_PATH, "distance_icons")
-    self.params.put("DownloadableDistanceIcons", ','.join(sorted(set(downloadable_distance_icons) - {
+    params.put("DownloadableDistanceIcons", ','.join(sorted(set(downloadable_distance_icons) - {
         distance_icons.replace('_', ' ').split('.')[0].title()
         for distance_icons in os.listdir(distance_icons_directory)
       }))
     )
 
-    self.params.put("DownloadableIcons", ','.join(filter_existing_assets(downloadable_icons, "icons")))
-    print("Icons list updated successfully.")
+    params.put("DownloadableIcons", ','.join(filter_existing_assets(downloadable_icons, "icons")))
+    print("Icons list updated successfully")
 
-    self.params.put("DownloadableSignals", ','.join(filter_existing_assets(downloadable_signals, "signals")))
-    print("Signals list updated successfully.")
+    params.put("DownloadableSignals", ','.join(filter_existing_assets(downloadable_signals, "signals")))
+    print("Signals list updated successfully")
 
-    self.params.put("DownloadableSounds", ','.join(filter_existing_assets(downloadable_sounds, "sounds")))
-    print("Sounds list updated successfully.")
+    params.put("DownloadableSounds", ','.join(filter_existing_assets(downloadable_sounds, "sounds")))
+    print("Sounds list updated successfully")
 
     wheel_directory = os.path.join(THEME_SAVE_PATH, "steering_wheels")
-    self.params.put("DownloadableWheels", ','.join(sorted(set(downloadable_wheels) - {
+    params.put("DownloadableWheels", ','.join(sorted(set(downloadable_wheels) - {
         wheel.replace('_', ' ').split('.')[0].title()
         for wheel in os.listdir(wheel_directory) if wheel != "img_chffr_wheel.png"
       }))
@@ -308,7 +372,7 @@ def validate_themes(self):
     }
 
     for theme_param, theme_component in asset_mappings.items():
-      theme_name = self.params.get(theme_param, encoding='utf-8')
+      theme_name = params.get(theme_param, encoding='utf-8')
       if not theme_name or theme_name == "stock":
         continue
 
@@ -333,6 +397,7 @@ def validate_themes(self):
 
   def update_themes(self, boot_run=False):
     if not os.path.exists(THEME_SAVE_PATH):
+      print(f"Theme save path does not exist: {THEME_SAVE_PATH}")
       return
 
     repo_url = get_repository_url()
@@ -343,34 +408,34 @@ def update_themes(self, boot_run=False):
     if boot_run:
       self.validate_themes()
 
-    if repo_url == GITHUB_URL:
-      base_url = "https://github.com/FrogAi/FrogPilot-Resources/blob/Themes/"
-      distance_icons_files = self.fetch_files("https://github.com/FrogAi/FrogPilot-Resources/blob/Distance-Icons")
-      wheel_files = self.fetch_files("https://github.com/FrogAi/FrogPilot-Resources/blob/Steering-Wheels")
-    else:
-      base_url = "https://gitlab.com/FrogAi/FrogPilot-Resources/-/blob/Themes/"
-      distance_icons_files = self.fetch_files("https://github.com/FrogAi/FrogPilot-Resources/blob/Distance-Icons")
-      wheel_files = self.fetch_files("https://gitlab.com/FrogAi/FrogPilot-Resources/-/blob/Steering-Wheels")
+    assets = self.fetch_assets(repo_url)
 
-    theme_folders = self.fetch_folders(base_url)
     downloadable_colors = []
     downloadable_icons = []
     downloadable_signals = []
     downloadable_sounds = []
 
-    for theme in theme_folders:
+    for theme, available_assets in assets["themes"].items():
       theme_name = theme.replace('_', ' ').split('.')[0].title()
+      print(f"Checking theme: {theme_name}")
 
-      if link_valid(f"{base_url}{theme}/colors.zip"):
+      if "colors" in available_assets:
         downloadable_colors.append(theme_name)
-      if link_valid(f"{base_url}{theme}/icons.zip"):
+      if "icons" in available_assets:
         downloadable_icons.append(theme_name)
-      if link_valid(f"{base_url}{theme}/signals.zip"):
+      if "signals" in available_assets:
         downloadable_signals.append(theme_name)
-      if link_valid(f"{base_url}{theme}/sounds.zip"):
+      if "sounds" in available_assets:
         downloadable_sounds.append(theme_name)
 
-    downloadable_distance_icons = [distance_icons.replace('_', ' ').split('.')[0].title() for distance_icons in distance_icons_files]
-    downloadable_wheels = [wheel.replace('_', ' ').split('.')[0].title() for wheel in wheel_files]
+    downloadable_distance_icons = [distance_icon.replace('_', ' ').split('.')[0].title() for distance_icon in assets["distance_icons"]]
+    downloadable_wheels = [wheel.replace('_', ' ').split('.')[0].title() for wheel in assets["wheels"]]
+
+    print(f"Downloadable Colors: {downloadable_colors}")
+    print(f"Downloadable Icons: {downloadable_icons}")
+    print(f"Downloadable Signals: {downloadable_signals}")
+    print(f"Downloadable Sounds: {downloadable_sounds}")
+    print(f"Downloadable Distance Icons: {downloadable_distance_icons}")
+    print(f"Downloadable Wheels: {downloadable_wheels}")
 
     self.update_theme_params(downloadable_colors, downloadable_distance_icons, downloadable_icons, downloadable_signals, downloadable_sounds, downloadable_wheels)
diff --git a/selfdrive/frogpilot/assets/toggle_icons/advanced_quality_of_life.png b/selfdrive/frogpilot/assets/toggle_icons/advanced_quality_of_life.png
deleted file mode 100644
index e84f90ac0e939c..00000000000000
Binary files a/selfdrive/frogpilot/assets/toggle_icons/advanced_quality_of_life.png and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_accessibility.png b/selfdrive/frogpilot/assets/toggle_icons/icon_accessibility.png
new file mode 100644
index 00000000000000..cf80f5ef96b4b9
Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_accessibility.png differ
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced.png
deleted file mode 100644
index 1b3c52390d8c6a..00000000000000
Binary files a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced.png and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_calibration.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_calibration.png
deleted file mode 100644
index 25e9f247c6e5e0..00000000000000
Binary files a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_calibration.png and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_device.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_device.png
index 6d577060820f17..f849ec1324c716 100644
Binary files a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_device.png and b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_device.png differ
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_longitudinal_tune.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_longitudinal_tune.png
deleted file mode 100644
index 72a7e4057ac14e..00000000000000
Binary files a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_longitudinal_tune.png and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_model.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_model.png
deleted file mode 100644
index c299a1e793e24f..00000000000000
Binary files a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_model.png and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_personality.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_personality.png
deleted file mode 100644
index 2ce09a567a1c7b..00000000000000
Binary files a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_personality.png and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_road.png b/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_road.png
deleted file mode 100644
index 76513344845127..00000000000000
Binary files a/selfdrive/frogpilot/assets/toggle_icons/icon_advanced_road.png and /dev/null differ
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_customization.png b/selfdrive/frogpilot/assets/toggle_icons/icon_customization.png
new file mode 100644
index 00000000000000..8c2fa95ca96586
Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_customization.png differ
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_green_light.png b/selfdrive/frogpilot/assets/toggle_icons/icon_green_light.png
index cb47d7a81d4d58..b0c06f82134287 100644
Binary files a/selfdrive/frogpilot/assets/toggle_icons/icon_green_light.png and b/selfdrive/frogpilot/assets/toggle_icons/icon_green_light.png differ
diff --git a/selfdrive/frogpilot/assets/toggle_icons/icon_personality.png b/selfdrive/frogpilot/assets/toggle_icons/icon_personality.png
new file mode 100644
index 00000000000000..4f552c59b4752b
Binary files /dev/null and b/selfdrive/frogpilot/assets/toggle_icons/icon_personality.png differ
diff --git a/selfdrive/frogpilot/controls/frogpilot_planner.py b/selfdrive/frogpilot/controls/frogpilot_planner.py
index 53789076f6756b..313b3bf6fbbccd 100644
--- a/selfdrive/frogpilot/controls/frogpilot_planner.py
+++ b/selfdrive/frogpilot/controls/frogpilot_planner.py
@@ -1,7 +1,6 @@
 import cereal.messaging as messaging
 
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.params import Params
 
 from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_UNSET
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHANGE_COST, DANGER_ZONE_COST, J_EGO_COST, STOP_DISTANCE
@@ -12,13 +11,11 @@
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_events import FrogPilotEvents
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_following import FrogPilotFollowing
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_vcruise import FrogPilotVCruise
-from openpilot.selfdrive.frogpilot.frogpilot_functions import MovingAverageCalculator, calculate_lane_width, calculate_road_curvature, update_frogpilot_toggles
+from openpilot.selfdrive.frogpilot.frogpilot_utilities import MovingAverageCalculator, calculate_lane_width, calculate_road_curvature
 from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, MODEL_LENGTH, NON_DRIVING_GEARS, PLANNER_TIME, THRESHOLD
 
 class FrogPilotPlanner:
   def __init__(self):
-    self.params_memory = Params("/dev/shm/params")
-
     self.cem = ConditionalExperimentalMode(self)
     self.frogpilot_acceleration = FrogPilotAcceleration(self)
     self.frogpilot_events = FrogPilotEvents(self)
@@ -29,23 +26,21 @@ def __init__(self):
     self.tracking_lead_mac = MovingAverageCalculator()
 
     self.lateral_check = False
-    self.lead_departing = False
     self.model_stopped = False
     self.slower_lead = False
-    self.taking_curve_quickly = False
     self.tracking_lead = False
 
     self.model_length = 0
     self.road_curvature = 1
-    self.tracking_lead_distance = 0
     self.v_cruise = 0
 
   def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, modelData, radarless_model, radarState, frogpilot_toggles):
     if radarless_model:
       model_leads = list(modelData.leadsV3)
       if len(model_leads) > 0:
+        distance_offset = frogpilot_toggles.increased_stopped_distance if not frogpilotCarState.trafficModeActive else 0
         model_lead = model_leads[0]
-        self.lead_one.update(model_lead.x[0], model_lead.y[0], model_lead.v[0], model_lead.a[0], model_lead.prob)
+        self.lead_one.update(model_lead.x[0] - distance_offset, model_lead.y[0], model_lead.v[0], model_lead.a[0], model_lead.prob)
       else:
         self.lead_one.reset()
     else:
@@ -55,41 +50,25 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
     v_ego = max(carState.vEgo, 0)
     v_lead = self.lead_one.vLead
 
-    driving_gear = carState.gearShifter not in NON_DRIVING_GEARS
-
-    distance_offset = max(frogpilot_toggles.increase_stopped_distance + min(10 - v_ego, 0), 0) if not frogpilotCarState.trafficModeActive else 0
-    lead_distance = self.lead_one.dRel - distance_offset
-    stopping_distance = STOP_DISTANCE + distance_offset
-
     self.frogpilot_acceleration.update(controlsState, frogpilotCarState, v_cruise, v_ego, frogpilot_toggles)
 
     run_cem = frogpilot_toggles.conditional_experimental_mode or frogpilot_toggles.force_stops or frogpilot_toggles.green_light_alert or frogpilot_toggles.show_stopping_point
-    if run_cem and (controlsState.enabled or frogpilotCarControl.alwaysOnLateralActive) and driving_gear:
-      self.cem.update(carState, frogpilotNavigation, modelData, v_ego, v_lead, frogpilot_toggles)
+    if run_cem and (controlsState.enabled or frogpilotCarControl.alwaysOnLateralActive) and carState.gearShifter not in NON_DRIVING_GEARS:
+      self.cem.update(carState, frogpilotCarState, frogpilotNavigation, modelData, v_ego, v_lead, frogpilot_toggles)
     else:
       self.cem.stop_light_detected = False
 
-    self.frogpilot_events.update(carState, controlsState, frogpilotCarControl, frogpilotCarState, modelData, frogpilot_toggles)
-    self.frogpilot_following.update(carState.aEgo, controlsState, frogpilotCarState, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles)
+    self.frogpilot_events.update(carState, controlsState, frogpilotCarControl, frogpilotCarState, self.lead_one.dRel, modelData, v_lead, frogpilot_toggles)
+    self.frogpilot_following.update(carState.aEgo, controlsState, frogpilotCarState, self.lead_one.dRel, v_ego, v_lead, frogpilot_toggles)
 
-    check_lane_width = frogpilot_toggles.adjacent_lanes or frogpilot_toggles.adjacent_path_metrics or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection
-    if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed:
+    check_lane_width = frogpilot_toggles.adjacent_paths or frogpilot_toggles.adjacent_path_metrics or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection
+    if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed or frogpilot_toggles.adjacent_lead_tracking:
       self.lane_width_left = calculate_lane_width(modelData.laneLines[0], modelData.laneLines[1], modelData.roadEdges[0])
       self.lane_width_right = calculate_lane_width(modelData.laneLines[3], modelData.laneLines[2], modelData.roadEdges[1])
     else:
       self.lane_width_left = 0
       self.lane_width_right = 0
 
-    if frogpilot_toggles.lead_departing_alert and self.tracking_lead and driving_gear and carState.standstill:
-      if self.tracking_lead_distance == 0:
-        self.tracking_lead_distance = lead_distance
-
-      self.lead_departing = lead_distance - self.tracking_lead_distance > 1
-      self.lead_departing &= v_lead > 1
-    else:
-      self.lead_departing = False
-      self.tracking_lead_distance = 0
-
     self.lateral_check = v_ego >= frogpilot_toggles.pause_lateral_below_speed
     self.lateral_check |= frogpilot_toggles.pause_lateral_below_signal and not (carState.leftBlinker or carState.rightBlinker)
     self.lateral_check |= carState.standstill
@@ -100,26 +79,20 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
 
     self.road_curvature = calculate_road_curvature(modelData, v_ego) if not carState.standstill else 1
 
-    if frogpilot_toggles.random_events and v_ego > CRUISING_SPEED and driving_gear:
-      self.taking_curve_quickly = v_ego > (1 / self.road_curvature)**0.75 * 2 > CRUISING_SPEED * 2 and abs(carState.steeringAngleDeg) > 30
-    else:
-      self.taking_curve_quickly = False
-
-    self.tracking_lead = self.set_lead_status(lead_distance, stopping_distance, v_ego)
+    self.tracking_lead = self.set_lead_status(frogpilotCarState, v_ego, frogpilot_toggles)
     self.v_cruise = self.frogpilot_vcruise.update(carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, modelData, v_cruise, v_ego, frogpilot_toggles)
 
-    if self.frogpilot_events.frame == 1:  # Force update to check the current state of "Always On Lateral" and holiday theme
-      update_frogpilot_toggles()
+  def set_lead_status(self, frogpilotCarState, v_ego, frogpilot_toggles):
+    distance_offset = frogpilot_toggles.increased_stopped_distance if not frogpilotCarState.trafficModeActive else 0
 
-  def set_lead_status(self, lead_distance, stopping_distance, v_ego):
     following_lead = self.lead_one.status
-    following_lead &= 1 < lead_distance < self.model_length + stopping_distance
+    following_lead &= 1 < self.lead_one.dRel < self.model_length + STOP_DISTANCE + distance_offset
     following_lead &= v_ego > CRUISING_SPEED or self.tracking_lead
 
     self.tracking_lead_mac.add_data(following_lead)
     return self.tracking_lead_mac.get_moving_average() >= THRESHOLD
 
-  def publish(self, sm, pm, frogpilot_toggles):
+  def publish(self, sm, pm, frogpilot_toggles, toggles_updated):
     frogpilot_plan_send = messaging.new_message('frogpilotPlan')
     frogpilot_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
     frogpilotPlan = frogpilot_plan_send.frogpilotPlan
@@ -142,6 +115,7 @@ def publish(self, sm, pm, frogpilot_toggles):
     frogpilotPlan.experimentalMode = self.cem.experimental_mode or self.frogpilot_vcruise.slc.experimental_mode
 
     frogpilotPlan.forcingStop = self.frogpilot_vcruise.forcing_stop
+    frogpilotPlan.forcingStopLength = self.frogpilot_vcruise.tracked_model_length
 
     frogpilotPlan.frogpilotEvents = self.frogpilot_events.events.to_msg()
 
@@ -162,6 +136,8 @@ def publish(self, sm, pm, frogpilot_toggles):
     frogpilotPlan.speedLimitChanged = self.frogpilot_vcruise.speed_limit_changed
     frogpilotPlan.unconfirmedSlcSpeedLimit = self.frogpilot_vcruise.slc.desired_speed_limit
 
+    frogpilotPlan.togglesUpdated = toggles_updated
+
     frogpilotPlan.vCruise = self.v_cruise
 
     pm.send('frogpilotPlan', frogpilot_plan_send)
diff --git a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
index 4930774b3b66dc..2a1e292bde444d 100644
--- a/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
+++ b/selfdrive/frogpilot/controls/lib/conditional_experimental_mode.py
@@ -1,31 +1,28 @@
-from openpilot.common.params import Params
-
-from openpilot.selfdrive.frogpilot.frogpilot_functions import MovingAverageCalculator
-from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, THRESHOLD
+from openpilot.selfdrive.frogpilot.frogpilot_utilities import MovingAverageCalculator
+from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED, THRESHOLD, params_memory
 
 class ConditionalExperimentalMode:
   def __init__(self, FrogPilotPlanner):
     self.frogpilot_planner = FrogPilotPlanner
 
-    self.params_memory = Params("/dev/shm/params")
-
     self.curvature_mac = MovingAverageCalculator()
+    self.slow_lead_mac = MovingAverageCalculator()
     self.stop_light_mac = MovingAverageCalculator()
 
     self.curve_detected = False
     self.experimental_mode = False
     self.stop_light_detected = False
 
-  def update(self, carState, frogpilotNavigation, modelData, v_ego, v_lead, frogpilot_toggles):
+  def update(self, carState, frogpilotCarState, frogpilotNavigation, modelData, v_ego, v_lead, frogpilot_toggles):
     if frogpilot_toggles.experimental_mode_via_press:
-      self.status_value = self.params_memory.get_int("CEStatus")
+      self.status_value = params_memory.get_int("CEStatus")
     else:
       self.status_value = 0
 
     if self.status_value not in {1, 2, 3, 4, 5, 6} and not carState.standstill:
-      self.update_conditions(self.frogpilot_planner.tracking_lead, v_ego, v_lead, frogpilot_toggles)
+      self.update_conditions(frogpilotCarState, self.frogpilot_planner.tracking_lead, v_ego, v_lead, frogpilot_toggles)
       self.experimental_mode = self.check_conditions(carState, frogpilotNavigation, modelData, self.frogpilot_planner.frogpilot_following.following_lead, v_ego, v_lead, frogpilot_toggles)
-      self.params_memory.put_int("CEStatus", self.status_value if self.experimental_mode else 0)
+      params_memory.put_int("CEStatus", self.status_value if self.experimental_mode else 0)
     else:
       self.experimental_mode = self.status_value in {2, 4, 6} or carState.standstill and self.experimental_mode
       self.stop_light_detected &= self.status_value not in {1, 2, 3, 4, 5, 6}
@@ -63,32 +60,37 @@ def check_conditions(self, carState, frogpilotNavigation, modelData, following_l
     if self.frogpilot_planner.frogpilot_vcruise.slc.experimental_mode:
       self.status_value = 17
       return True
-
     return False
 
-  def update_conditions(self, tracking_lead, v_ego, v_lead, frogpilot_toggles):
+  def update_conditions(self, frogpilotCarState, tracking_lead, v_ego, v_lead, frogpilot_toggles):
     self.curve_detection(tracking_lead, v_ego, frogpilot_toggles)
     self.slow_lead(tracking_lead, v_lead, frogpilot_toggles)
-    self.stop_sign_and_light(tracking_lead, v_ego, frogpilot_toggles)
+    self.stop_sign_and_light(frogpilotCarState, tracking_lead, v_ego, frogpilot_toggles)
 
   def curve_detection(self, tracking_lead, v_ego, frogpilot_toggles):
-    curve_detected = (1 / self.frogpilot_planner.road_curvature)**0.5 < v_ego
-    curve_active = (0.9 / self.frogpilot_planner.road_curvature)**0.5 < v_ego and self.curve_detected
+    if v_ego > CRUISING_SPEED:
+      curve_detected = (1 / self.frogpilot_planner.road_curvature)**0.5 < v_ego
+      curve_active = (0.9 / self.frogpilot_planner.road_curvature)**0.5 < v_ego and self.curve_detected
 
-    self.curvature_mac.add_data(curve_detected or curve_active)
-    self.curve_detected = self.curvature_mac.get_moving_average() >= THRESHOLD
+      self.curvature_mac.add_data(curve_detected or curve_active)
+      self.curve_detected = self.curvature_mac.get_moving_average() >= THRESHOLD
+    else:
+      self.curvature_mac.reset_data()
+      self.curve_detected = False
 
   def slow_lead(self, tracking_lead, v_lead, frogpilot_toggles):
     if tracking_lead:
-      slower_lead = self.frogpilot_planner.frogpilot_following.slower_lead and frogpilot_toggles.conditional_slower_lead
+      slower_lead = frogpilot_toggles.conditional_slower_lead and self.frogpilot_planner.frogpilot_following.slower_lead
       stopped_lead = frogpilot_toggles.conditional_stopped_lead and v_lead < 1
 
-      self.slow_lead_detected = slower_lead or stopped_lead
+      self.slow_lead_mac.add_data(slower_lead or stopped_lead)
+      self.slow_lead_detected = self.slow_lead_mac.get_moving_average() >= THRESHOLD
     else:
+      self.slow_lead_mac.reset_data()
       self.slow_lead_detected = False
 
-  def stop_sign_and_light(self, tracking_lead, v_ego, frogpilot_toggles):
-    if not (self.curve_detected or tracking_lead):
+  def stop_sign_and_light(self, frogpilotCarState, tracking_lead, v_ego, frogpilot_toggles):
+    if not (self.curve_detected or tracking_lead or frogpilotCarState.trafficModeActive):
       model_stopping = self.frogpilot_planner.model_length < v_ego * frogpilot_toggles.conditional_model_stop_time
 
       self.stop_light_mac.add_data(self.frogpilot_planner.model_stopped or model_stopping)
diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_acceleration.py b/selfdrive/frogpilot/controls/lib/frogpilot_acceleration.py
index e3d7c70b5d0e74..a81afdf242cbdb 100644
--- a/selfdrive/frogpilot/controls/lib/frogpilot_acceleration.py
+++ b/selfdrive/frogpilot/controls/lib/frogpilot_acceleration.py
@@ -3,16 +3,16 @@
 from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
 from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED
+from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT
 
-A_CRUISE_MIN_ECO = A_CRUISE_MIN / 4
-A_CRUISE_MIN_SPORT = A_CRUISE_MIN / 2
+A_CRUISE_MIN_ECO =   A_CRUISE_MIN / 2
+A_CRUISE_MIN_SPORT = A_CRUISE_MIN * 2
 
-                       # MPH = [ 0.,  11,  22,  34,  45,  56,  89]
-A_CRUISE_MAX_BP_CUSTOM =       [ 0.,  5., 10., 15., 20., 25., 40.]
+                       # MPH = [0.0,  11,  22,  34,  45,  56,  89]
+A_CRUISE_MAX_BP_CUSTOM =       [0.0,  5., 10., 15., 20., 25., 40.]
 A_CRUISE_MAX_VALS_ECO =        [2.0, 1.5, 1.0, 0.8, 0.6, 0.4, 0.2]
 A_CRUISE_MAX_VALS_SPORT =      [3.0, 2.5, 2.0, 1.5, 1.0, 0.8, 0.6]
-A_CRUISE_MAX_VALS_SPORT_PLUS = [4.0, 3.5, 3.0, 2.0, 1.0, 0.8, 0.6]
+A_CRUISE_MAX_VALS_SPORT_PLUS = [4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0]
 
 def get_max_accel_eco(v_ego):
   return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_ECO)
@@ -23,11 +23,11 @@ def get_max_accel_sport(v_ego):
 def get_max_accel_sport_plus(v_ego):
   return interp(v_ego, A_CRUISE_MAX_BP_CUSTOM, A_CRUISE_MAX_VALS_SPORT_PLUS)
 
-def get_max_accel_ramp_off(max_accel, v_cruise, v_ego):
-  return interp(v_ego, [0., v_cruise * 0.5, v_cruise * 0.75, v_cruise], [max_accel, max_accel, max_accel / 2, max_accel / 4])
+def get_max_accel_low_speeds(max_accel, v_cruise):
+  return interp(v_cruise, [0., CITY_SPEED_LIMIT / 2, CITY_SPEED_LIMIT], [max_accel / 4, max_accel / 2, max_accel])
 
-def get_max_accel_ramp_off_highway(max_accel, v_cruise, v_ego):
-  return interp(v_ego, [0., v_cruise * 0.75, v_cruise], [max_accel, max_accel, max_accel / 2])
+def get_max_accel_ramp_off(max_accel, v_cruise, v_ego):
+  return interp(v_cruise - v_ego, [0., 1., 5., 10.], [0., 0.5, 1.0, max_accel])
 
 def get_max_allowed_accel(v_ego):
   return interp(v_ego, [0., 5., 20.], [4.0, 4.0, 2.0])  # ISO 15622:2018
@@ -36,17 +36,8 @@ class FrogPilotAcceleration:
   def __init__(self, FrogPilotPlanner):
     self.frogpilot_planner = FrogPilotPlanner
 
-    self.acceleration_jerk = 0
-    self.base_acceleration_jerk = 0
-    self.base_speed_jerk = 0
-    self.danger_jerk = 0
     self.max_accel = 0
     self.min_accel = 0
-    self.safe_obstacle_distance = 0
-    self.safe_obstacle_distance_stock = 0
-    self.speed_jerk = 0
-    self.stopped_equivalence_factor = 0
-    self.t_follow = 0
 
   def update(self, controlsState, frogpilotCarState, v_cruise, v_ego, frogpilot_toggles):
     eco_gear = frogpilotCarState.ecoGear
@@ -77,17 +68,11 @@ def update(self, controlsState, frogpilotCarState, v_cruise, v_ego, frogpilot_to
     if frogpilot_toggles.human_acceleration:
       if self.frogpilot_planner.frogpilot_following.following_lead and not frogpilotCarState.trafficModeActive:
         self.max_accel = clip(self.frogpilot_planner.lead_one.aLeadK, get_max_accel_sport_plus(v_ego), get_max_allowed_accel(v_ego))
-      if self.frogpilot_planner.v_cruise < CITY_SPEED_LIMIT:
-        self.max_accel = get_max_accel_ramp_off(self.max_accel, self.frogpilot_planner.v_cruise, v_ego)
-      else:
-        self.max_accel = get_max_accel_ramp_off_highway(self.max_accel, self.frogpilot_planner.v_cruise, v_ego)
-
-    self.max_accel = min(self.max_accel, frogpilot_toggles.max_desired_accel)
+      self.max_accel = min(get_max_accel_low_speeds(self.max_accel, self.frogpilot_planner.v_cruise), self.max_accel)
+      self.max_accel = min(get_max_accel_ramp_off(self.max_accel, self.frogpilot_planner.v_cruise, v_ego), self.max_accel)
 
     if controlsState.experimentalMode:
       self.min_accel = ACCEL_MIN
-    elif min(self.frogpilot_planner.frogpilot_vcruise.mtsc_target, self.frogpilot_planner.frogpilot_vcruise.vtsc_target) < v_cruise:
-      self.min_accel = A_CRUISE_MIN
     elif frogpilot_toggles.map_deceleration and (eco_gear or sport_gear):
       if eco_gear:
         self.min_accel = A_CRUISE_MIN_ECO
diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_events.py b/selfdrive/frogpilot/controls/lib/frogpilot_events.py
index 3793ed7c6bd0dc..d20c3d3db74299 100644
--- a/selfdrive/frogpilot/controls/lib/frogpilot_events.py
+++ b/selfdrive/frogpilot/controls/lib/frogpilot_events.py
@@ -4,25 +4,22 @@
 import openpilot.system.sentry as sentry
 
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.controls.controlsd import Desire
 from openpilot.selfdrive.controls.lib.events import EventName, Events
 
 from openpilot.selfdrive.frogpilot.assets.theme_manager import update_wheel_image
-from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED
+from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, params, params_memory
 
 class FrogPilotEvents:
   def __init__(self, FrogPilotPlanner):
-    self.params = Params()
-    self.params_memory = Params("/dev/shm/params")
-
     self.events = Events()
     self.frogpilot_planner = FrogPilotPlanner
 
     self.accel30_played = False
     self.accel35_played = False
     self.accel40_played = False
+    self.always_on_lateral_active_previously = False
     self.dejaVu_played = False
     self.fcw_played = False
     self.firefox_played = False
@@ -33,23 +30,23 @@ def __init__(self, FrogPilotPlanner):
     self.previous_traffic_mode = False
     self.random_event_played = False
     self.stopped_for_light = False
+    self.this_is_fine_played = False
     self.vCruise69_played = False
     self.youveGotMail_played = False
 
     self.frame = 0
     self.max_acceleration = 0
     self.random_event_timer = 0
+    self.tracking_lead_distance = 0
 
-  def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, modelData, frogpilot_toggles):
-    v_cruise = max(controlsState.vCruise, controlsState.vCruiseCluster)
-
+  def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, lead_distance, modelData, v_lead, frogpilot_toggles):
     self.events.clear()
 
     if self.random_event_played:
       self.random_event_timer += DT_MDL
       if self.random_event_timer >= 4:
         update_wheel_image(frogpilot_toggles.wheel_image, frogpilot_toggles.current_holiday_theme, False)
-        self.params_memory.put_bool("UpdateWheelImage", True)
+        params_memory.put_bool("UpdateWheelImage", True)
         self.random_event_played = False
         self.random_event_timer = 0
 
@@ -63,12 +60,21 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
     else:
       self.stopped_for_light = False
 
-    if not self.holiday_theme_played and frogpilot_toggles.current_holiday_theme != None and self.frame >= 10:
+    if not self.holiday_theme_played and frogpilot_toggles.current_holiday_theme is not None and self.frame >= 10:
       self.events.add(EventName.holidayActive)
       self.holiday_theme_played = True
 
-    if self.frogpilot_planner.lead_departing:
-      self.events.add(EventName.leadDeparting)
+    if frogpilot_toggles.lead_departing_alert and self.frogpilot_planner.tracking_lead and carState.standstill:
+      if self.tracking_lead_distance == 0:
+        self.tracking_lead_distance = lead_distance
+
+      lead_departing = lead_distance - self.tracking_lead_distance > 1
+      lead_departing &= v_lead > 1
+
+      if lead_departing:
+        self.events.add(EventName.leadDeparting)
+    else:
+      self.tracking_lead_distance = 0
 
     if not self.openpilot_crashed_played and os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')):
       if frogpilot_toggles.random_events:
@@ -88,7 +94,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
       if not self.accel30_played and 3.5 > self.max_acceleration >= 3.0 and acceleration < 1.5:
         self.events.add(EventName.accel30)
         update_wheel_image("weeb_wheel")
-        self.params_memory.put_bool("UpdateWheelImage", True)
+        params_memory.put_bool("UpdateWheelImage", True)
         self.accel30_played = True
         self.random_event_played = True
         self.max_acceleration = 0
@@ -96,7 +102,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
       elif not self.accel35_played and 4.0 > self.max_acceleration >= 3.5 and acceleration < 1.5:
         self.events.add(EventName.accel35)
         update_wheel_image("tree_fiddy")
-        self.params_memory.put_bool("UpdateWheelImage", True)
+        params_memory.put_bool("UpdateWheelImage", True)
         self.accel35_played = True
         self.random_event_played = True
         self.max_acceleration = 0
@@ -104,15 +110,16 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
       elif not self.accel40_played and self.max_acceleration >= 4.0 and acceleration < 1.5:
         self.events.add(EventName.accel40)
         update_wheel_image("great_scott")
-        self.params_memory.put_bool("UpdateWheelImage", True)
+        params_memory.put_bool("UpdateWheelImage", True)
         self.accel40_played = True
         self.random_event_played = True
         self.max_acceleration = 0
 
-      if not self.dejaVu_played and self.frogpilot_planner.taking_curve_quickly:
-        self.events.add(EventName.dejaVuCurve)
-        self.dejaVu_played = True
-        self.random_event_played = True
+      if not self.dejaVu_played and carState.vEgo > CRUISING_SPEED * 2:
+        if carState.vEgo > (1 / self.frogpilot_planner.road_curvature)**0.75 * 2 > CRUISING_SPEED * 2 and abs(carState.steeringAngleDeg) > 30:
+          self.events.add(EventName.dejaVuCurve)
+          self.dejaVu_played = True
+          self.random_event_played = True
 
       if not self.no_entry_alert_played and frogpilotCarControl.noEntryEventTriggered:
         self.events.add(EventName.hal9000)
@@ -125,22 +132,29 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
           event_choices.append("firefoxSteerSaturated")
         if not self.goat_played:
           event_choices.append("goatSteerSaturated")
+        if not self.this_is_fine_played:
+          event_choices.append("thisIsFineSteerSaturated")
 
         if self.frame % 100 == 0 and event_choices:
           event_choice = random.choice(event_choices)
           if event_choice == "firefoxSteerSaturated":
             self.events.add(EventName.firefoxSteerSaturated)
             update_wheel_image("firefox")
-            self.params_memory.put_bool("UpdateWheelImage", True)
+            params_memory.put_bool("UpdateWheelImage", True)
             self.firefox_played = True
           elif event_choice == "goatSteerSaturated":
             self.events.add(EventName.goatSteerSaturated)
             update_wheel_image("goat")
-            self.params_memory.put_bool("UpdateWheelImage", True)
+            params_memory.put_bool("UpdateWheelImage", True)
             self.goat_played = True
+          elif event_choice == "thisIsFineSteerSaturated":
+            self.events.add(EventName.thisIsFineSteerSaturated)
+            update_wheel_image("this_is_fine")
+            params_memory.put_bool("UpdateWheelImage", True)
+            self.this_is_fine_played = True
           self.random_event_played = True
 
-      if not self.vCruise69_played and 70 > v_cruise * (1 if frogpilot_toggles.is_metric else CV.KPH_TO_MPH) >= 69:
+      if not self.vCruise69_played and 70 > max(controlsState.vCruise, controlsState.vCruiseCluster) * (1 if frogpilot_toggles.is_metric else CV.KPH_TO_MPH) >= 69:
         self.events.add(EventName.vCruise69)
         self.vCruise69_played = True
         self.random_event_played = True
@@ -157,10 +171,10 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
           self.random_event_played = True
       self.always_on_lateral_active_previously = frogpilotCarControl.alwaysOnLateralActive
 
-    if frogpilot_toggles.speed_limit_alert and self.frogpilot_planner.frogpilot_vcruise.speed_limit_changed:
+    if frogpilot_toggles.speed_limit_changed_alert and self.frogpilot_planner.frogpilot_vcruise.speed_limit_changed:
       self.events.add(EventName.speedLimitChanged)
 
-    if self.frame == 4 and self.params.get("NNFFModelName", encoding='utf-8') is not None:
+    if self.frame == 4 and params.get("NNFFModelName", encoding='utf-8') is not None:
       self.events.add(EventName.torqueNNLoad)
 
     if frogpilotCarState.trafficModeActive != self.previous_traffic_mode:
diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_following.py b/selfdrive/frogpilot/controls/lib/frogpilot_following.py
index 2be1a0b9056522..28619a2b5e6a77 100644
--- a/selfdrive/frogpilot/controls/lib/frogpilot_following.py
+++ b/selfdrive/frogpilot/controls/lib/frogpilot_following.py
@@ -1,6 +1,5 @@
 from openpilot.common.numpy_fast import clip, interp
-
-from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, get_jerk_factor, get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import COMFORT_BRAKE, STOP_DISTANCE, get_jerk_factor, get_safe_obstacle_distance, get_stopped_equivalence_factor, get_T_FOLLOW
 
 from openpilot.selfdrive.frogpilot.frogpilot_variables import CITY_SPEED_LIMIT, CRUISING_SPEED
 
@@ -23,7 +22,7 @@ def __init__(self, FrogPilotPlanner):
     self.stopped_equivalence_factor = 0
     self.t_follow = 0
 
-  def update(self, aEgo, controlsState, frogpilotCarState, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles):
+  def update(self, aEgo, controlsState, frogpilotCarState, lead_distance, v_ego, v_lead, frogpilot_toggles):
     if frogpilotCarState.trafficModeActive:
       if aEgo >= 0:
         self.base_acceleration_jerk = interp(v_ego, TRAFFIC_MODE_BP, frogpilot_toggles.traffic_mode_jerk_acceleration)
@@ -68,17 +67,17 @@ def update(self, aEgo, controlsState, frogpilotCarState, lead_distance, stopping
       self.safe_obstacle_distance = int(get_safe_obstacle_distance(v_ego, self.t_follow))
       self.safe_obstacle_distance_stock = self.safe_obstacle_distance
       self.stopped_equivalence_factor = int(get_stopped_equivalence_factor(v_lead))
-      self.update_follow_values(lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles)
+      self.update_follow_values(lead_distance, v_ego, v_lead, frogpilot_toggles)
     else:
       self.safe_obstacle_distance = 0
       self.safe_obstacle_distance_stock = 0
       self.stopped_equivalence_factor = 0
 
-  def update_follow_values(self, lead_distance, stopping_distance, v_ego, v_lead, frogpilot_toggles):
+  def update_follow_values(self, lead_distance, v_ego, v_lead, frogpilot_toggles):
     # Offset by FrogAi for FrogPilot for a more natural approach to a faster lead
     if frogpilot_toggles.human_following and v_lead > v_ego:
       distance_factor = max(lead_distance - (v_ego * self.t_follow), 1)
-      standstill_offset = max(stopping_distance - v_ego, 0) * max(v_lead - v_ego, 1)
+      standstill_offset = max(STOP_DISTANCE - v_ego, 0) * max(v_lead - v_ego, 1)
       acceleration_offset = clip((v_lead - v_ego) + standstill_offset - COMFORT_BRAKE, 1, distance_factor)
       self.acceleration_jerk /= acceleration_offset
       self.speed_jerk /= acceleration_offset
@@ -87,10 +86,10 @@ def update_follow_values(self, lead_distance, stopping_distance, v_ego, v_lead,
     # Offset by FrogAi for FrogPilot for a more natural approach to a slower lead
     if (frogpilot_toggles.conditional_slower_lead or frogpilot_toggles.human_following) and v_lead < v_ego:
       distance_factor = max(lead_distance - (v_lead * self.t_follow), 1)
-      far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - stopping_distance + (v_lead - CITY_SPEED_LIMIT), 0)
+      far_lead_offset = max(lead_distance - (v_ego * self.t_follow) - STOP_DISTANCE + (v_lead - CITY_SPEED_LIMIT), 0)
       braking_offset = clip((v_ego - v_lead) + far_lead_offset - COMFORT_BRAKE, 1, distance_factor)
       if frogpilot_toggles.human_following:
-        self.acceleration_jerk *= braking_offset
-        self.speed_jerk *= braking_offset
+        self.acceleration_jerk *= braking_offset if far_lead_offset != 0 else max(braking_offset / COMFORT_BRAKE, 1)
+        self.speed_jerk *= braking_offset if far_lead_offset != 0 else max(braking_offset / COMFORT_BRAKE, 1)
         self.t_follow /= braking_offset
       self.slower_lead = braking_offset - far_lead_offset > 1
diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_tracking.py b/selfdrive/frogpilot/controls/lib/frogpilot_tracking.py
index d23ce9665241c5..8feb61079eaa24 100644
--- a/selfdrive/frogpilot/controls/lib/frogpilot_tracking.py
+++ b/selfdrive/frogpilot/controls/lib/frogpilot_tracking.py
@@ -10,16 +10,18 @@ def __init__(self):
     self.total_minutes = self.params_tracking.get_float("FrogPilotMinutes")
 
     self.drive_added = False
+    self.enabled = False
 
     self.drive_distance = 0
     self.drive_time = 0
-    self.starting_total_minutes = self.total_minutes
 
-  def update(self, carState):
+  def update(self, carState, controlsState, frogpilotCarControl):
+    self.enabled |= controlsState.enabled or frogpilotCarControl.alwaysOnLateralActive
+
     self.drive_distance += carState.vEgo * DT_MDL
     self.drive_time += DT_MDL
 
-    if self.drive_time > 60 and carState.standstill:
+    if self.drive_time > 60 and carState.standstill and self.enabled:
       self.total_kilometers += self.drive_distance / 1000
       self.params_tracking.put_float_nonblocking("FrogPilotKilometers", self.total_kilometers)
       self.drive_distance = 0
@@ -28,7 +30,7 @@ def update(self, carState):
       self.params_tracking.put_float_nonblocking("FrogPilotMinutes", self.total_minutes)
       self.drive_time = 0
 
-      if not self.drive_added and (self.total_minutes - self.starting_total_minutes > 15):
+      if not self.drive_added:
         self.total_drives += 1
         self.params_tracking.put_int_nonblocking("FrogPilotDrives", self.total_drives)
         self.drive_added = True
diff --git a/selfdrive/frogpilot/controls/lib/frogpilot_vcruise.py b/selfdrive/frogpilot/controls/lib/frogpilot_vcruise.py
index cc1b4a56169030..49a386038c82a4 100644
--- a/selfdrive/frogpilot/controls/lib/frogpilot_vcruise.py
+++ b/selfdrive/frogpilot/controls/lib/frogpilot_vcruise.py
@@ -7,7 +7,7 @@
 
 from openpilot.selfdrive.frogpilot.controls.lib.map_turn_speed_controller import MapTurnSpeedController
 from openpilot.selfdrive.frogpilot.controls.lib.speed_limit_controller import SpeedLimitController
-from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, PLANNER_TIME
+from openpilot.selfdrive.frogpilot.frogpilot_variables import CRUISING_SPEED, PLANNER_TIME, params_memory
 
 TARGET_LAT_A = 1.9
 
@@ -15,8 +15,6 @@ class FrogPilotVCruise:
   def __init__(self, FrogPilotPlanner):
     self.frogpilot_planner = FrogPilotPlanner
 
-    self.params_memory = self.frogpilot_planner.params_memory
-
     self.mtsc = MapTurnSpeedController()
     self.slc = SpeedLimitController()
 
@@ -36,16 +34,18 @@ def __init__(self, FrogPilotPlanner):
     self.vtsc_target = 0
 
   def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState, frogpilotNavigation, modelData, v_cruise, v_ego, frogpilot_toggles):
-    force_stop_enabled = frogpilot_toggles.force_stops and self.frogpilot_planner.cem.stop_light_detected and controlsState.enabled
-    force_stop_enabled &= self.frogpilot_planner.model_length < 100
-    force_stop_enabled &= self.override_force_stop_timer <= 0
+    force_stop = frogpilot_toggles.force_stops and self.frogpilot_planner.cem.stop_light_detected and controlsState.enabled
+    force_stop &= self.frogpilot_planner.model_length < 100
+    force_stop &= self.override_force_stop_timer <= 0
+
+    self.force_stop_timer = self.force_stop_timer + DT_MDL if force_stop else 0
 
-    self.force_stop_timer = self.force_stop_timer + DT_MDL if force_stop_enabled else 0
+    force_stop_enabled = self.force_stop_timer >= 1
 
     self.override_force_stop |= not frogpilot_toggles.force_standstill and carState.standstill and self.frogpilot_planner.tracking_lead
     self.override_force_stop |= carState.gasPressed
     self.override_force_stop |= frogpilotCarControl.resumePressed
-    self.override_force_stop &= self.force_stop_timer >= 1
+    self.override_force_stop &= force_stop_enabled
 
     if self.override_force_stop:
       self.override_force_stop_timer = 10
@@ -79,22 +79,22 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
       self.slc.update(frogpilotCarState.dashboardSpeedLimit, controlsState.enabled, frogpilotNavigation.navigationSpeedLimit, v_cruise, v_ego, frogpilot_toggles)
       unconfirmed_slc_target = self.slc.desired_speed_limit
 
-      if (frogpilot_toggles.speed_limit_alert or frogpilot_toggles.speed_limit_confirmation_lower or frogpilot_toggles.speed_limit_confirmation_higher) and self.slc_target != 0:
-        self.speed_limit_changed = unconfirmed_slc_target != self.previous_speed_limit and abs(self.slc_target - unconfirmed_slc_target) > 1
+      if (frogpilot_toggles.speed_limit_changed_alert or frogpilot_toggles.speed_limit_confirmation) and self.slc_target != 0:
+        self.speed_limit_changed = unconfirmed_slc_target != self.previous_speed_limit and abs(self.slc_target - unconfirmed_slc_target) > 1 and unconfirmed_slc_target > 1
 
         speed_limit_decreased = self.speed_limit_changed and self.slc_target > unconfirmed_slc_target
         speed_limit_increased = self.speed_limit_changed and self.slc_target < unconfirmed_slc_target
 
-        accepted_via_ui = self.params_memory.get_bool("SLCConfirmedPressed") and self.params_memory.get_bool("SLCConfirmed")
-        denied_via_ui = self.params_memory.get_bool("SLCConfirmedPressed") and not self.params_memory.get_bool("SLCConfirmed")
+        accepted_via_ui = params_memory.get_bool("SLCConfirmedPressed") and params_memory.get_bool("SLCConfirmed")
+        denied_via_ui = params_memory.get_bool("SLCConfirmedPressed") and not params_memory.get_bool("SLCConfirmed")
 
-        speed_limit_accepted = frogpilotCarControl.resumePressed or accepted_via_ui
-        speed_limit_denied = any(be.type == ButtonType.decelCruise for be in carState.buttonEvents) or denied_via_ui or self.speed_limit_timer >= 10
+        speed_limit_accepted = frogpilotCarControl.resumePressed and controlsState.enabled or accepted_via_ui
+        speed_limit_denied = any(be.type == ButtonType.decelCruise for be in carState.buttonEvents) and controlsState.enabled or denied_via_ui or self.speed_limit_timer >= 10
 
         if speed_limit_accepted or speed_limit_denied:
           self.previous_speed_limit = unconfirmed_slc_target
-          self.params_memory.put_bool("SLCConfirmed", False)
-          self.params_memory.put_bool("SLCConfirmedPressed", False)
+          params_memory.put_bool("SLCConfirmed", False)
+          params_memory.put_bool("SLCConfirmedPressed", False)
 
         if speed_limit_decreased:
           speed_limit_confirmed = not frogpilot_toggles.speed_limit_confirmation_lower or speed_limit_accepted
@@ -142,13 +142,10 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
       self.forcing_stop = True
       v_cruise = -1
 
-    elif self.force_stop_timer >= 1 and not self.override_force_stop:
-      if self.tracked_model_length == 0:
-        self.tracked_model_length = self.frogpilot_planner.model_length
-
-      self.forcing_stop = True
-      self.tracked_model_length -= v_ego * DT_MDL
-      v_cruise = min((self.tracked_model_length / PLANNER_TIME) - 1, v_cruise)
+    elif force_stop_enabled and not self.override_force_stop:
+      self.forcing_stop |= not carState.standstill
+      self.tracked_model_length = max(self.tracked_model_length - v_ego * DT_MDL, 0)
+      v_cruise = min((self.tracked_model_length // PLANNER_TIME), v_cruise)
 
     else:
       if not self.frogpilot_planner.cem.stop_light_detected:
@@ -156,7 +153,7 @@ def update(self, carState, controlsState, frogpilotCarControl, frogpilotCarState
 
       self.forcing_stop = False
 
-      self.tracked_model_length = 0
+      self.tracked_model_length = self.frogpilot_planner.model_length
 
       targets = [self.mtsc_target, max(self.overridden_speed, self.slc_target) - v_ego_diff, self.vtsc_target]
       v_cruise = float(min([target if target > CRUISING_SPEED else v_cruise for target in targets]))
diff --git a/selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py b/selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py
index a29e9108047730..38623843fdfa17 100644
--- a/selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py
+++ b/selfdrive/frogpilot/controls/lib/map_turn_speed_controller.py
@@ -2,14 +2,11 @@
 import json
 import math
 
-from openpilot.common.conversions import Conversions as CV
 from openpilot.common.numpy_fast import interp
-from openpilot.common.params import Params
 
-params_memory = Params("/dev/shm/params")
+from openpilot.selfdrive.frogpilot.frogpilot_utilities import calculate_distance_to_point
+from openpilot.selfdrive.frogpilot.frogpilot_variables import TO_RADIANS, params_memory
 
-R = 6373000.0 # approximate radius of earth in meters
-TO_RADIANS = math.pi / 180
 TARGET_JERK = -0.6   # m/s^3 should match up with the long planner
 TARGET_ACCEL = -1.2  # m/s^2 should match up with the long planner
 TARGET_OFFSET = 1.0  # seconds - This controls how soon before the curve you reach the target velocity. It also helps
@@ -25,15 +22,6 @@ def calculate_velocity(t, target_jerk, a_ego, v_ego):
 def calculate_distance(t, target_jerk, a_ego, v_ego):
   return t * v_ego + a_ego/2 * (t ** 2) + target_jerk/6 * (t ** 3)
 
-
-# points should be in radians
-# output is meters
-def distance_to_point(ax, ay, bx, by):
-  a = math.sin((bx-ax)/2)*math.sin((bx-ax)/2) + math.cos(ax) * math.cos(bx)*math.sin((by-ay)/2)*math.sin((by-ay)/2)
-  c = 2 * math.atan2(math.sqrt(a), math.sqrt(1-a))
-
-  return R * c  # in meters
-
 class MapTurnSpeedController:
   def __init__(self):
     self.target_lat = 0.0
@@ -62,7 +50,7 @@ def target_speed(self, v_ego, a_ego, frogpilot_toggles) -> float:
       target_velocity = target_velocities[i]
       tlat = target_velocity["latitude"]
       tlon = target_velocity["longitude"]
-      d = distance_to_point(lat * TO_RADIANS, lon * TO_RADIANS, tlat * TO_RADIANS, tlon * TO_RADIANS)
+      d = calculate_distance_to_point(lat * TO_RADIANS, lon * TO_RADIANS, tlat * TO_RADIANS, tlon * TO_RADIANS)
       distances.append(d)
       if d < min_dist:
         min_dist = d
diff --git a/selfdrive/frogpilot/controls/lib/speed_limit_controller.py b/selfdrive/frogpilot/controls/lib/speed_limit_controller.py
index 1e9dab502ea31c..c7044ded094ffd 100644
--- a/selfdrive/frogpilot/controls/lib/speed_limit_controller.py
+++ b/selfdrive/frogpilot/controls/lib/speed_limit_controller.py
@@ -1,128 +1,98 @@
 # PFEIFER - SLC - Modified by FrogAi for FrogPilot
 import json
-import math
 
-from openpilot.common.conversions import Conversions as CV
-from openpilot.common.params import Params
-
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
-
-R = 6373000.0  # approximate radius of earth in meters
-TO_RADIANS = math.pi / 180
-
-# points should be in radians
-# output is meters
-def distance_to_point(ax, ay, bx, by):
-  a = math.sin((bx - ax) / 2) * math.sin((bx - ax) / 2) + math.cos(ax) * math.cos(bx) * math.sin((by - ay) / 2) * math.sin((by - ay) / 2)
-  c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
-  return R * c  # in meters
+from openpilot.selfdrive.frogpilot.frogpilot_utilities import calculate_distance_to_point
+from openpilot.selfdrive.frogpilot.frogpilot_variables import TO_RADIANS, params, params_memory
 
 class SpeedLimitController:
   def __init__(self):
-    self.frogpilot_toggles = FrogPilotVariables.toggles
-    FrogPilotVariables.update_frogpilot_params()
-
-    self.params = Params()
-    self.params_memory = Params("/dev/shm/params")
+    self.experimental_mode = False
 
-    self.car_speed_limit = 0  # m/s
-    self.map_speed_limit = 0  # m/s
-    self.max_speed_limit = 0  # m/s
-    self.nav_speed_limit = 0  # m/s
-    self.prv_speed_limit = self.params.get_float("PreviousSpeedLimit")
+    self.desired_speed_limit = 0
+    self.offset = 0
+    self.speed_limit = 0
 
-  def get_param_memory(self, key, is_json=False):
-    param_value = self.params_memory.get(key)
-    if param_value is None:
-      return {} if is_json else 0.0
-    return json.loads(param_value) if is_json else float(param_value)
+    self.previous_speed_limit = params.get_float("PreviousSpeedLimit")
 
-  def update_previous_limit(self, speed_limit):
-    if self.prv_speed_limit != speed_limit:
-      self.params.put_float_nonblocking("PreviousSpeedLimit", speed_limit)
-      self.prv_speed_limit = speed_limit
+  def update(self, dashboard_speed_limit, enabled, navigation_speed_limit, v_cruise, v_ego, frogpilot_toggles):
+    map_speed_limit = self.get_map_speed_limit(v_ego, frogpilot_toggles)
+    max_speed_limit = v_cruise if enabled else 0
 
-  def update(self, dashboardSpeedLimit, enabled, navigationSpeedLimit, v_cruise, v_ego, frogpilot_toggles):
-    self.car_speed_limit = dashboardSpeedLimit
-    self.write_map_state(v_ego)
-    self.nav_speed_limit = navigationSpeedLimit
+    self.speed_limit = self.get_speed_limit(dashboard_speed_limit, map_speed_limit, max_speed_limit, navigation_speed_limit, frogpilot_toggles)
+    self.offset = self.get_offset(frogpilot_toggles)
+    self.desired_speed_limit = self.get_desired_speed_limit()
 
-    self.max_speed_limit = v_cruise if enabled else 0
+    self.experimental_mode = self.speed_limit == 0 and frogpilot_toggles.slc_fallback_experimental_mode
 
-    self.frogpilot_toggles = frogpilot_toggles
+  def get_desired_speed_limit(self):
+    if self.speed_limit > 1:
+      if self.previous_speed_limit != self.speed_limit:
+        params.put_float_nonblocking("PreviousSpeedLimit", self.speed_limit)
+        self.previous_speed_limit = self.speed_limit
+      return self.speed_limit + self.offset
+    return 0
 
-  def write_map_state(self, v_ego):
-    self.map_speed_limit = self.get_param_memory("MapSpeedLimit")
+  def get_map_speed_limit(self, v_ego, frogpilot_toggles):
+    map_speed_limit = params_memory.get_float("MapSpeedLimit")
 
-    next_map_speed_limit = self.get_param_memory("NextMapSpeedLimit", is_json=True)
-    next_map_speed_limit_value = next_map_speed_limit.get("speedlimit", 0)
+    next_map_speed_limit = json.loads(params_memory.get("NextMapSpeedLimit", "{}"))
     next_map_speed_limit_lat = next_map_speed_limit.get("latitude", 0)
     next_map_speed_limit_lon = next_map_speed_limit.get("longitude", 0)
+    next_map_speed_limit_value = next_map_speed_limit.get("speedlimit", 0)
 
-    position = self.get_param_memory("LastGPSPosition", is_json=True)
+    position = json.loads(params_memory.get("LastGPSPosition", "{}"))
     lat = position.get("latitude", 0)
     lon = position.get("longitude", 0)
 
     if next_map_speed_limit_value > 1:
-      d = distance_to_point(lat * TO_RADIANS, lon * TO_RADIANS, next_map_speed_limit_lat * TO_RADIANS, next_map_speed_limit_lon * TO_RADIANS)
+      d = calculate_distance_to_point(lat * TO_RADIANS, lon * TO_RADIANS, next_map_speed_limit_lat * TO_RADIANS, next_map_speed_limit_lon * TO_RADIANS)
 
-      if self.prv_speed_limit < next_map_speed_limit_value:
-        max_d = self.frogpilot_toggles.map_speed_lookahead_higher * v_ego
+      if self.previous_speed_limit < next_map_speed_limit_value:
+        max_d = frogpilot_toggles.map_speed_lookahead_higher * v_ego
       else:
-        max_d = self.frogpilot_toggles.map_speed_lookahead_lower * v_ego
+        max_d = frogpilot_toggles.map_speed_lookahead_lower * v_ego
 
       if d < max_d:
-        self.map_speed_limit = next_map_speed_limit_value
-
-  @property
-  def experimental_mode(self):
-    return self.speed_limit == 0 and self.frogpilot_toggles.slc_fallback_experimental
+        map_speed_limit = next_map_speed_limit_value
 
-  @property
-  def desired_speed_limit(self):
-    if self.speed_limit > 1:
-      self.update_previous_limit(self.speed_limit)
-      return self.speed_limit + self.offset
-    return 0
+    return map_speed_limit
 
-  @property
-  def offset(self):
+  def get_offset(self, frogpilot_toggles):
     if self.speed_limit < 13.5:
-      return self.frogpilot_toggles.offset1
+      return frogpilot_toggles.speed_limit_offset1
     if self.speed_limit < 24:
-      return self.frogpilot_toggles.offset2
+      return frogpilot_toggles.speed_limit_offset2
     if self.speed_limit < 29:
-      return self.frogpilot_toggles.offset3
-    return self.frogpilot_toggles.offset4
+      return frogpilot_toggles.speed_limit_offset3
+    return frogpilot_toggles.speed_limit_offset4
 
-  @property
-  def speed_limit(self):
-    limits = [self.car_speed_limit, self.map_speed_limit, self.nav_speed_limit]
+  def get_speed_limit(self, dashboard_speed_limit, map_speed_limit, max_speed_limit, navigation_speed_limit, frogpilot_toggles):
+    limits = [dashboard_speed_limit, map_speed_limit, navigation_speed_limit]
     filtered_limits = [float(limit) for limit in limits if limit > 1]
 
-    if self.frogpilot_toggles.speed_limit_priority_highest and filtered_limits:
+    if frogpilot_toggles.speed_limit_priority_highest and filtered_limits:
       return max(filtered_limits)
-    if self.frogpilot_toggles.speed_limit_priority_lowest and filtered_limits:
+    if frogpilot_toggles.speed_limit_priority_lowest and filtered_limits:
       return min(filtered_limits)
 
     speed_limits = {
-      "Dashboard": self.car_speed_limit,
-      "Offline Maps": self.map_speed_limit,
-      "Navigation": self.nav_speed_limit,
+      "Dashboard": dashboard_speed_limit,
+      "Offline Maps": map_speed_limit,
+      "Navigation": navigation_speed_limit,
     }
 
     for priority in [
-      self.frogpilot_toggles.speed_limit_priority1,
-      self.frogpilot_toggles.speed_limit_priority2,
-      self.frogpilot_toggles.speed_limit_priority3,
+      frogpilot_toggles.speed_limit_priority1,
+      frogpilot_toggles.speed_limit_priority2,
+      frogpilot_toggles.speed_limit_priority3,
     ]:
-      if speed_limits.get(priority, 0) in filtered_limits:
+      if speed_limits.get(priority) in filtered_limits:
         return speed_limits[priority]
 
-    if self.frogpilot_toggles.slc_fallback_previous:
-      return self.prv_speed_limit
+    if frogpilot_toggles.slc_fallback_previous_speed_limit:
+      return self.previous_speed_limit
 
-    if self.frogpilot_toggles.use_set_speed:
-      return self.max_speed_limit
+    if frogpilot_toggles.slc_fallback_set_speed:
+      return max_speed_limit
 
     return 0
diff --git a/selfdrive/frogpilot/fleetmanager/fleet_manager.py b/selfdrive/frogpilot/fleetmanager/fleet_manager.py
index 34aff472bed086..38f7535ecd5ef4 100644
--- a/selfdrive/frogpilot/fleetmanager/fleet_manager.py
+++ b/selfdrive/frogpilot/fleetmanager/fleet_manager.py
@@ -35,7 +35,7 @@
 from openpilot.common.swaglog import cloudlog
 from openpilot.system.hardware.hw import Paths
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_variables import has_prime
 
 app = Flask(__name__)
 
@@ -190,7 +190,7 @@ def addr_input():
       return redirect(url_for('nav_confirmation', addr=addr, lon=lon, lat=lat))
     else:
       return render_template("error.html")
-  elif FrogPilotVariables.has_prime:
+  elif has_prime():
     return render_template("prime.html")
   # amap stuff
   elif SearchInput == 1:
diff --git a/selfdrive/frogpilot/fleetmanager/helpers.py b/selfdrive/frogpilot/fleetmanager/helpers.py
index b0bfd7c6d3c637..0745ce6ec8dacd 100644
--- a/selfdrive/frogpilot/fleetmanager/helpers.py
+++ b/selfdrive/frogpilot/fleetmanager/helpers.py
@@ -20,6 +20,7 @@
 # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 # THE SOFTWARE.
+import base64
 import json
 import math
 import os
@@ -43,13 +44,15 @@
 from urllib.parse import parse_qs, quote
 import openpilot.system.sentry as sentry
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import params, update_frogpilot_toggles
+
+XOR_KEY = "s8#pL3*Xj!aZ@dWq"
+
 pi = 3.1415926535897932384626
 x_pi = 3.14159265358979324 * 3000.0 / 180.0
 a = 6378245.0
 ee = 0.00669342162296594323
 
-params = Params()
-params_memory = Params("/dev/shm/params")
 params_storage = Params("/persist/params")
 
 PRESERVE_ATTR_NAME = 'user.preserve'
@@ -436,6 +439,20 @@ def transform_lng(lng, lat):
   ret += (150.0 * math.sin(lng / 12.0 * pi) + 300.0 * math.sin(lng / 30.0 * pi)) * 2.0 / 3.0
   return ret
 
+def xor_encrypt_decrypt(data: str, key: str) -> str:
+  return ''.join(chr(ord(c) ^ ord(key[i % len(key)])) for i, c in enumerate(data))
+
+def encode_parameters(params_dict):
+  serialized_data = json.dumps(params_dict)
+  obfuscated_data = xor_encrypt_decrypt(serialized_data, XOR_KEY)
+  encoded_data = base64.b64encode(obfuscated_data.encode('utf-8')).decode('utf-8')
+  return encoded_data
+
+def decode_parameters(encoded_string):
+  obfuscated_data = base64.b64decode(encoded_string.encode('utf-8')).decode('utf-8')
+  decrypted_data = xor_encrypt_decrypt(obfuscated_data, XOR_KEY)
+  return json.loads(decrypted_data)
+
 def get_all_toggle_values():
   toggle_values = {}
 
@@ -451,18 +468,29 @@ def get_all_toggle_values():
         value = "0"
       toggle_values[key] = value if value is not None else "0"
 
-  return toggle_values
+  return encode_parameters(toggle_values)
+
+def store_toggle_values(request_data):
+  current_parameters = {
+    key.decode('utf-8') if isinstance(key, bytes) else key: None
+    for key in params.all_keys() if params.get_key_type(key) & ParamKeyType.FROGPILOT_STORAGE
+  }
+  decoded_values = decode_parameters(request_data['data'])
 
-def store_toggle_values(updated_values):
-  for key, value in updated_values.items():
+  for key in current_parameters:
+    print(f"Processing key: {key}")
+    value = decoded_values.get(key, "0")
     try:
       if isinstance(value, (int, float)):
         value = str(value)
-      params.put(key, value.encode('utf-8'))
-      params_storage.put(key, value.encode('utf-8'))
+      print(f"value: {value}")
+      params.put(key, value)
+      params_storage.put(key, value)
     except Exception as e:
       print(f"Failed to update {key}: {e}")
 
-  params_memory.put_bool("FrogPilotTogglesUpdated", True)
-  time.sleep(1)
-  params_memory.put_bool("FrogPilotTogglesUpdated", False)
+  extra_keys = set(decoded_values.keys()) - set(current_parameters.keys())
+  if extra_keys:
+    print(f"Warning: Ignoring extra keys: {extra_keys}")
+
+  update_frogpilot_toggles()
diff --git a/selfdrive/frogpilot/fleetmanager/templates/tools.html b/selfdrive/frogpilot/fleetmanager/templates/tools.html
index 12ac34798190c2..04347d0c1d93d0 100644
--- a/selfdrive/frogpilot/fleetmanager/templates/tools.html
+++ b/selfdrive/frogpilot/fleetmanager/templates/tools.html
@@ -29,40 +29,33 @@
 <div class="center">
   <h1>Toggle Values</h1>
   <div class="textarea-container">
-    <textarea id="toggleValuesBox" placeholder='Paste new values or retrieve current...'></textarea>
+    <textarea id="toggleValuesBox" placeholder='Retrieve or restore toggle values.'></textarea>
     <button type="button" id="retrieveButton">Retrieve Toggle Values</button>
-    <button type="button" id="submitButton">Submit New Values</button>
+    <button type="button" id="restoreButton">Submit Toggle Values</button>
   </div>
 </div>
 
 <script>
   const toggleValuesBox = document.getElementById('toggleValuesBox');
   const retrieveButton = document.getElementById('retrieveButton');
-  const submitButton = document.getElementById('submitButton');
+  const restoreButton = document.getElementById('restoreButton');
 
   retrieveButton.addEventListener('click', function() {
     fetch('/get_toggle_values')
-      .then(response => response.json())
+      .then(response => response.text())
       .then(data => {
-        toggleValuesBox.value = JSON.stringify(data, null, 2);
+        toggleValuesBox.value = data.trim();
       })
       .catch(error => console.error('Error fetching toggle values:', error));
   });
 
-  submitButton.addEventListener('click', function() {
-    let inputData;
-    try {
-      inputData = JSON.parse(toggleValuesBox.value);
-    } catch (error) {
-      alert('Invalid JSON format');
-      console.error('Error parsing JSON input:', error);
-      return;
-    }
+  restoreButton.addEventListener('click', function() {
+    const inputData = toggleValuesBox.value;
 
     fetch('/store_toggle_values', {
       method: 'POST',
       headers: { 'Content-Type': 'application/json' },
-      body: JSON.stringify(inputData),
+      body: JSON.stringify({ data: inputData.trim() }),
     })
     .then(response => response.json().then(data => ({ status: response.status, body: data })))
     .then(result => {
diff --git a/selfdrive/frogpilot/frogpilot_functions.py b/selfdrive/frogpilot/frogpilot_functions.py
index ed917cabd85f3d..1c773b774fd297 100644
--- a/selfdrive/frogpilot/frogpilot_functions.py
+++ b/selfdrive/frogpilot/frogpilot_functions.py
@@ -1,69 +1,46 @@
 import datetime
-import errno
 import filecmp
 import glob
-import numpy as np
 import os
 import shutil
 import subprocess
-import sys
 import tarfile
-import threading
 import time
-import urllib.request
 
 from openpilot.common.basedir import BASEDIR
-from openpilot.common.numpy_fast import interp, mean
-from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName
+from openpilot.common.params_pyx import ParamKeyType, UnknownKeyName
 from openpilot.common.time import system_time_valid
 from openpilot.system.hardware import HARDWARE
 
-ACTIVE_THEME_PATH = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "active_theme")
-MODELS_PATH = os.path.join("/data", "models")
-RANDOM_EVENTS_PATH = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "random_events")
-THEME_SAVE_PATH = os.path.join("/data", "themes")
+from openpilot.selfdrive.frogpilot.frogpilot_utilities import copy_if_exists, run_cmd
+from openpilot.selfdrive.frogpilot.frogpilot_variables import ACTIVE_THEME_PATH, MODELS_PATH, THEME_SAVE_PATH, FrogPilotVariables
 
-def update_frogpilot_toggles():
-  def update_params():
-    params_memory = Params("/dev/shm/params")
-    params_memory.put_bool("FrogPilotTogglesUpdated", True)
-    time.sleep(1)
-    params_memory.put_bool("FrogPilotTogglesUpdated", False)
-  threading.Thread(target=update_params).start()
-
-def cleanup_backups(directory, limit, minimum_backup_size=0, compressed=False):
-  backups = sorted(glob.glob(os.path.join(directory, "*_auto*")), key=os.path.getmtime, reverse=True)
-
-  for backup in backups:
-    if backup.endswith("_in_progress"):
-      run_cmd(["sudo", "rm", "-rf", backup], f"Deleted in-progress backup: {os.path.basename(backup)}", f"Failed to delete in-progress backup: {os.path.basename(backup)}")
-
-  if compressed:
-    for backup in backups:
-      if os.path.getsize(backup) < minimum_backup_size:
-        run_cmd(["sudo", "rm", "-rf", backup], f"Deleted incomplete backup: {os.path.basename(backup)}", f"Failed to delete incomplete backup: {os.path.basename(backup)}")
-
-  for old_backup in backups[limit:]:
-    run_cmd(["sudo", "rm", "-rf", old_backup], f"Deleted oldest backup: {os.path.basename(old_backup)}", f"Failed to delete backup: {os.path.basename(old_backup)}")
 
 def backup_directory(backup, destination, success_message, fail_message, minimum_backup_size=0, params=None, compressed=False):
-  compressed_backup = f"{destination}.tar.gz"
-  in_progress_compressed_backup = f"{compressed_backup}_in_progress"
-  in_progress_destination = f"{destination}_in_progress"
-
-  os.makedirs(in_progress_destination, exist_ok=False)
-
   try:
+    in_progress_destination = f"{destination}_in_progress"
+    os.makedirs(in_progress_destination, exist_ok=False)
+
     if not compressed:
       if os.path.exists(destination):
         print("Backup already exists. Aborting.")
         return
 
+      backups = sorted(glob.glob(os.path.join(os.path.dirname(destination), "*_auto*")), key=os.path.getmtime, reverse=True)
+      if backups:
+        latest_backup = backups[0]
+        if not subprocess.call(["rsync", "-nrc", "--delete", os.path.join(backup, "."), latest_backup + "/"]):
+          print("An identical backup already exists. Aborting.")
+          return
+
       run_cmd(["sudo", "rsync", "-avq", os.path.join(backup, "."), in_progress_destination], success_message, fail_message)
       os.rename(in_progress_destination, destination)
       print(f"Backup successfully created at {destination}.")
 
     else:
+      compressed_backup = f"{destination}.tar.gz"
+      in_progress_compressed_backup = f"{compressed_backup}_in_progress"
+
       if os.path.exists(compressed_backup):
         print("Backup already exists. Aborting.")
         return
@@ -80,37 +57,50 @@ def backup_directory(backup, destination, success_message, fail_message, minimum
       if minimum_backup_size == 0 or compressed_backup_size < minimum_backup_size:
         params.put_int_nonblocking("MinimumBackupSize", compressed_backup_size)
 
-    backups = sorted(glob.glob(os.path.join(os.path.dirname(destination), "*_auto*")), key=os.path.getmtime, reverse=True)
-    if len(backups) > 1:
-      latest_backup = backups[1]
-      if compressed:
-        if filecmp.cmp(compressed_backup, latest_backup, shallow=False):
-          run_cmd(["sudo", "rm", "-rf", compressed_backup], f"Deleted identical backup: {os.path.basename(compressed_backup)}", f"Failed to delete identical backup: {os.path.basename(compressed_backup)}")
-      else:
-        if filecmp.dircmp(destination, latest_backup).left_only == []:
-          run_cmd(["sudo", "rm", "-rf", destination], f"Deleted identical backup: {os.path.basename(destination)}", f"Failed to delete identical backup: {os.path.basename(destination)}")
+      backups = sorted(glob.glob(os.path.join(os.path.dirname(destination), "*_auto*")), key=os.path.getmtime, reverse=True)
+      if backups:
+        latest_backup = backups[0]
+        if os.path.exists(latest_backup) and filecmp.cmp(latest_backup, compressed_backup, shallow=False):
+          print("An identical backup already exists. Deleting.")
+          return
 
   except Exception as e:
-    print(f"An unexpected error occurred while trying to create the {backup} backup: {e}")
+    if os.path.exists(in_progress_compressed_backup):
+      try:
+        os.remove(in_progress_compressed_backup)
+      except Exception as e:
+        print(f"An error occurred while trying to delete the incomplete {backup} backup: {e}")
 
     if os.path.exists(in_progress_destination):
       try:
         shutil.rmtree(in_progress_destination)
       except Exception as e:
-        print(f"An unexpected error occurred while trying to delete the incomplete {backup} backup: {e}")
+        print(f"An error occurred while trying to delete the incomplete {backup} backup: {e}")
+
+
+def cleanup_backups(directory, limit, minimum_backup_size=0, compressed=False):
+  os.makedirs(directory, exist_ok=True)
+  backups = sorted(glob.glob(os.path.join(directory, "*_auto*")), key=os.path.getmtime, reverse=True)
+
+  for backup in backups[:]:
+    if backup.endswith("_in_progress"):
+      if run_cmd(["sudo", "rm", "-rf", backup], f"Deleted in-progress backup: {os.path.basename(backup)}", f"Failed to delete in-progress backup: {os.path.basename(backup)}"):
+        backups.remove(backup)
+
+  if compressed:
+    for backup in backups[:]:
+      if os.path.getsize(backup) < minimum_backup_size:
+        if run_cmd(["sudo", "rm", "-rf", backup], f"Deleted incomplete backup: {os.path.basename(backup)}", f"Failed to delete incomplete backup: {os.path.basename(backup)}"):
+          backups.remove(backup)
+
+  for old_backup in backups[limit:]:
+    run_cmd(["sudo", "rm", "-rf", old_backup], f"Deleted oldest backup: {os.path.basename(old_backup)}", f"Failed to delete backup: {os.path.basename(old_backup)}")
 
-    if os.path.exists(in_progress_compressed_backup):
-      try:
-        os.remove(in_progress_compressed_backup)
-      except Exception as e:
-        print(f"An unexpected error occurred while trying to delete the incomplete {backup} backup: {e}")
 
 def backup_frogpilot(build_metadata, params):
+  backup_path = os.path.join("/data", "backups")
   maximum_backups = 5
   minimum_backup_size = params.get_int("MinimumBackupSize")
-
-  backup_path = os.path.join("/data", "backups")
-  os.makedirs(backup_path, exist_ok=True)
   cleanup_backups(backup_path, maximum_backups - 1, minimum_backup_size, True)
 
   total, used, free = shutil.disk_usage(backup_path)
@@ -122,44 +112,24 @@ def backup_frogpilot(build_metadata, params):
     backup_dir = os.path.join(backup_path, f"{branch}_{commit}_auto")
     backup_directory(BASEDIR, backup_dir, f"Successfully backed up FrogPilot to {backup_dir}.", f"Failed to backup FrogPilot to {backup_dir}.", minimum_backup_size, params, True)
 
+
 def backup_toggles(params, params_storage):
   for key in params.all_keys():
     if params.get_key_type(key) & ParamKeyType.FROGPILOT_STORAGE:
       value = params.get(key)
       if value is not None:
-        params_storage.put(key, value)
-
-  maximum_backups = 10
+        params_storage.put_nonblocking(key, value)
 
   backup_path = os.path.join("/data", "toggle_backups")
-  os.makedirs(backup_path, exist_ok=True)
+  maximum_backups = 10
   cleanup_backups(backup_path, maximum_backups - 1)
 
   backup_dir = os.path.join(backup_path, datetime.datetime.now().strftime('%Y-%m-%d_%I-%M%p').lower() + "_auto")
   backup_directory(os.path.join("/data", "params", "d"), backup_dir, f"Successfully backed up toggles to {backup_dir}.", f"Failed to backup toggles to {backup_dir}.")
 
-def calculate_lane_width(lane, current_lane, road_edge):
-  current_x = np.array(current_lane.x)
-  current_y = np.array(current_lane.y)
-
-  lane_y_interp = interp(current_x, np.array(lane.x), np.array(lane.y))
-  road_edge_y_interp = interp(current_x, np.array(road_edge.x), np.array(road_edge.y))
-
-  distance_to_lane = np.mean(np.abs(current_y - lane_y_interp))
-  distance_to_road_edge = np.mean(np.abs(current_y - road_edge_y_interp))
-
-  return float(min(distance_to_lane, distance_to_road_edge))
-
-# Credit goes to Pfeiferj!
-def calculate_road_curvature(modelData, v_ego):
-  orientation_rate = np.abs(modelData.orientationRate.z)
-  velocity = modelData.velocity.x
-  max_pred_lat_acc = np.amax(orientation_rate * velocity)
-  return max_pred_lat_acc / v_ego**2
 
 def convert_params(params, params_storage):
   print("Starting to convert params")
-
   required_type = str
 
   def remove_param(key):
@@ -204,31 +174,10 @@ def decrease_param(key):
 
   print("Param conversion completed")
 
-def copy_if_exists(source, destination, single_file_name=None):
-  if not os.path.exists(source):
-    print(f"Source directory {source} does not exist. Skipping copy.")
-    return
-
-  if single_file_name:
-    os.makedirs(destination, exist_ok=True)
-    for item in os.listdir(source):
-      shutil.copy2(os.path.join(source, item), os.path.join(destination, single_file_name))
-      print(f"Successfully copied {item} to {single_file_name}.")
-  else:
-    shutil.copytree(source, destination, dirs_exist_ok=True)
-    print(f"Successfully copied {source} to {destination}.")
-
-def delete_file(file):
-  try:
-    if os.path.isfile(file):
-      os.remove(file)
-      print(f"Deleted file: {file}")
-    else:
-      print(f"File not found: {file}")
-  except Exception as e:
-    print(f"An error occurred when deleting {file}: {e}")
 
 def frogpilot_boot_functions(build_metadata, params, params_storage):
+  params_storage.clear_all(ParamKeyType.ALL)
+
   old_screenrecordings = os.path.join("/data", "media", "0", "videos")
   new_screenrecordings = os.path.join("/data", "media", "screen_recordings")
 
@@ -246,30 +195,12 @@ def frogpilot_boot_functions(build_metadata, params, params_storage):
   except Exception as e:
     print(f"An error occurred when creating boot backups: {e}")
 
-def is_url_pingable(url, timeout=5):
-  try:
-    urllib.request.urlopen(url, timeout=timeout)
-    return True
-  except Exception as e:
-    return False
-
-def run_cmd(cmd, success_message, fail_message, retries=5, delay=1):
-  attempt = 0
-  while attempt < retries:
-    try:
-      subprocess.check_call(cmd)
-      print(success_message)
-      return True
-    except Exception as e:
-      print(f"Unexpected error occurred (attempt {attempt + 1} of {retries}): {e}")
-    attempt += 1
-    time.sleep(delay)
-  return False
 
 def setup_frogpilot(build_metadata, params):
+  FrogPilotVariables().update(False)
+
   remount_persist = ["sudo", "mount", "-o", "remount,rw", "/persist"]
-  if not run_cmd(remount_persist, "Successfully remounted /persist as read-write.", "Failed to remount /persist."):
-    HARDWARE.reboot()
+  run_cmd(remount_persist, "Successfully remounted /persist as read-write.", "Failed to remount /persist.")
 
   os.makedirs("/persist/params", exist_ok=True)
   os.makedirs(MODELS_PATH, exist_ok=True)
@@ -318,44 +249,25 @@ def setup_frogpilot(build_metadata, params):
     copy_if_exists(frog_steering_wheel_source, frog_steering_wheel_destination, single_file_name="frog.png")
 
   remount_root = ["sudo", "mount", "-o", "remount,rw", "/"]
-  if not run_cmd(remount_root, "File system remounted as read-write.", "Failed to remount file system."):
-    HARDWARE.reboot()
+  run_cmd(remount_root, "File system remounted as read-write.", "Failed to remount file system.")
 
   boot_logo_location = "/usr/comma/bg.jpg"
   boot_logo_save_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "other_images", "original_bg.jpg")
   frogpilot_boot_logo = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "other_images", "frogpilot_boot_logo.png")
 
   if not filecmp.cmp(frogpilot_boot_logo, boot_logo_location, shallow=False):
+    run_cmd(["sudo", "cp", boot_logo_location, boot_logo_save_location], "Successfully backed up original bg.jpg.", "Failed to back up original boot logo.")
     run_cmd(["sudo", "cp", frogpilot_boot_logo, boot_logo_location], "Successfully replaced bg.jpg with frogpilot_boot_logo.png.", "Failed to replace boot logo.")
 
   if build_metadata.channel == "FrogPilot-Development":
     subprocess.run(["sudo", "python3", "/persist/frogsgomoo.py"], check=True)
 
+
 def uninstall_frogpilot():
   boot_logo_location = "/usr/comma/bg.jpg"
   boot_logo_restore_location = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "other_images", "original_bg.jpg")
 
   copy_cmd = ["sudo", "cp", boot_logo_restore_location, boot_logo_location]
-  if not run_cmd(copy_cmd, "Successfully restored the original boot logo.", "Failed to restore the original boot logo."):
-    HARDWARE.reboot()
+  run_cmd(copy_cmd, "Successfully restored the original boot logo.", "Failed to restore the original boot logo.")
 
   HARDWARE.uninstall()
-
-class MovingAverageCalculator:
-  def __init__(self):
-    self.reset_data()
-
-  def add_data(self, value):
-    if len(self.data) == 5:
-      self.total -= self.data.pop(0)
-    self.data.append(value)
-    self.total += value
-
-  def get_moving_average(self):
-    if len(self.data) == 0:
-      return None
-    return self.total / len(self.data)
-
-  def reset_data(self):
-    self.data = []
-    self.total = 0
diff --git a/selfdrive/frogpilot/frogpilot_process.py b/selfdrive/frogpilot/frogpilot_process.py
index b63fc6ae625b7c..f5b5f40e6269cb 100644
--- a/selfdrive/frogpilot/frogpilot_process.py
+++ b/selfdrive/frogpilot/frogpilot_process.py
@@ -3,33 +3,36 @@
 import threading
 import time
 
+import openpilot.system.sentry as sentry
+
 from cereal import messaging
 from openpilot.common.params import Params
 from openpilot.common.realtime import Priority, config_realtime_process
 from openpilot.common.time import system_time_valid
 from openpilot.system.hardware import HARDWARE
 
-from openpilot.selfdrive.frogpilot.assets.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME, ModelManager
+from openpilot.selfdrive.frogpilot.assets.model_manager import ModelManager
 from openpilot.selfdrive.frogpilot.assets.theme_manager import ThemeManager
 from openpilot.selfdrive.frogpilot.controls.frogpilot_planner import FrogPilotPlanner
 from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_tracking import FrogPilotTracking
-from openpilot.selfdrive.frogpilot.frogpilot_functions import backup_toggles, is_url_pingable
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_functions import backup_toggles
+from openpilot.selfdrive.frogpilot.frogpilot_utilities import is_url_pingable
+from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables, get_frogpilot_toggles, params, params_memory
 
 locks = {
   "backup_toggles": threading.Lock(),
   "download_all_models": threading.Lock(),
   "download_model": threading.Lock(),
   "download_theme": threading.Lock(),
-  "time_checks": threading.Lock(),
-  "toggle_updates": threading.Lock(),
   "update_active_theme": threading.Lock(),
+  "update_checks": threading.Lock(),
   "update_models": threading.Lock(),
   "update_themes": threading.Lock()
 }
 
 running_threads = {}
 
+
 def run_thread_with_lock(name, target, args=()):
   if not running_threads.get(name, threading.Thread()).is_alive():
     with locks[name]:
@@ -37,16 +40,19 @@ def run_thread_with_lock(name, target, args=()):
       thread.start()
       running_threads[name] = thread
 
-def automatic_update_check(started, params):
+
+def automatic_update_check(frogs_go_moo, started):
   update_available = params.get_bool("UpdaterFetchAvailable")
   update_ready = params.get_bool("UpdateAvailable")
   update_state_idle = params.get("UpdaterState", encoding='utf8') == "idle"
 
   if update_ready and not started:
-    os.system("pkill -SIGUSR1 -f system.updated.updated")
-    time.sleep(30)
-    os.system("pkill -SIGHUP -f system.updated.updated")
-    time.sleep(300)
+    if not frogs_go_moo:
+      os.system("pkill -SIGUSR1 -f system.updated.updated")
+      time.sleep(30)
+      if params.get_bool("UpdaterFetchAvailable"):
+        os.system("pkill -SIGHUP -f system.updated.updated")
+      time.sleep(300)
     HARDWARE.reboot()
   elif update_available:
     os.system("pkill -SIGUSR1 -f system.updated.updated")
@@ -55,16 +61,18 @@ def automatic_update_check(started, params):
   elif update_state_idle:
     os.system("pkill -SIGUSR1 -f system.updated.updated")
 
-def check_assets(model_manager, theme_manager, params, params_memory):
+
+def check_assets(model_manager, theme_manager):
   if params_memory.get_bool("DownloadAllModels"):
     run_thread_with_lock("download_all_models", model_manager.download_all_models)
 
   model_to_download = params_memory.get("ModelToDownload", encoding='utf-8')
-  if model_to_download:
+  if model_to_download is not None:
     run_thread_with_lock("download_model", model_manager.download_model, (model_to_download,))
 
   if params_memory.get_bool("UpdateTheme"):
     run_thread_with_lock("update_active_theme", theme_manager.update_active_theme)
+    params_memory.remove("UpdateTheme");
 
   assets = [
     ("ColorToDownload", "colors"),
@@ -77,34 +85,26 @@ def check_assets(model_manager, theme_manager, params, params_memory):
 
   for param, asset_type in assets:
     asset_to_download = params_memory.get(param, encoding='utf-8')
-    if asset_to_download:
+    if asset_to_download is not None:
       run_thread_with_lock("download_theme", theme_manager.download_theme, (asset_type, asset_to_download, param))
 
-def time_checks(automatic_updates, deviceState, model_manager, now, screen_off, started, theme_manager, time_validated, params, params_memory):
-  if not is_url_pingable("https://github.com"):
+
+def update_checks(automatic_updates, frogs_go_moo, model_manager, now, screen_off, started, theme_manager, time_validated):
+  if not (is_url_pingable("https://github.com") or is_url_pingable("https://gitlab.com")):
     return
 
-  if automatic_updates and screen_off:
-    automatic_update_check(started, params)
+  if automatic_updates and (screen_off or frogs_go_moo):
+    automatic_update_check(frogs_go_moo, started)
 
   if time_validated:
-    update_maps(now, params, params_memory)
-
-  with locks["update_models"]:
-    model_manager.update_models()
+    update_maps(now)
 
-  with locks["update_themes"]:
-    theme_manager.update_themes()
+  run_thread_with_lock("update_models", model_manager.update_models)
 
-def toggle_updates(frogpilot_toggles, started, time_validated, params, params_storage):
-  FrogPilotVariables.update_frogpilot_params(started)
 
-  if time_validated:
-    run_thread_with_lock("backup_toggles", backup_toggles, (params, params_storage))
-
-def update_maps(now, params, params_memory):
+def update_maps(now):
   maps_selected = params.get("MapsSelected", encoding='utf8')
-  if not maps_selected:
+  if maps_selected is None:
     return
 
   day = now.day
@@ -126,35 +126,38 @@ def update_maps(now, params, params_memory):
     params_memory.put("OSMDownloadLocations", maps_selected)
     params.put_nonblocking("LastMapsUpdate", todays_date)
 
+
 def frogpilot_thread():
   config_realtime_process(5, Priority.CTRL_LOW)
 
-  frogpilot_toggles = FrogPilotVariables.toggles
-  FrogPilotVariables.update_frogpilot_params()
-
-  params = Params()
-  params_memory = Params("/dev/shm/params")
   params_storage = Params("/persist/params")
 
   frogpilot_planner = FrogPilotPlanner()
   frogpilot_tracking = FrogPilotTracking()
+  frogpilot_variables = FrogPilotVariables()
   model_manager = ModelManager()
   theme_manager = ThemeManager()
 
   theme_manager.update_active_theme()
 
-  run_time_checks = False
+  run_update_checks = False
   started_previously = False
   time_validated = False
-  update_toggles = False
+  toggles_updated = False
 
-  frogs_go_moo = params.get("DongleId", encoding='utf-8') == "FrogsGoMoo"
+  frogpilot_toggles = get_frogpilot_toggles()
 
   radarless_model = frogpilot_toggles.radarless_model
 
+  toggles_last_updated = None
+
+  error_log = os.path.join(sentry.CRASHES_DIR, 'error.txt')
+  if os.path.isfile(error_log):
+    os.remove(error_log)
+
   pm = messaging.PubMaster(['frogpilotPlan'])
-  sm = messaging.SubMaster(['carState', 'controlsState', 'deviceState', 'frogpilotCarControl',
-                            'frogpilotCarState', 'frogpilotNavigation', 'modelV2', 'radarState'],
+  sm = messaging.SubMaster(['carState', 'controlsState', 'deviceState', 'modelV2', 'radarState',
+                            'frogpilotCarControl', 'frogpilotCarState', 'frogpilotNavigation'],
                             poll='modelV2', ignore_avg_freq=['radarState'])
 
   while True:
@@ -165,49 +168,68 @@ def frogpilot_thread():
     screen_off = deviceState.screenBrightnessPercent == 0
     started = deviceState.started
 
+    if params_memory.get_bool("FrogPilotTogglesUpdated"):
+      frogpilot_variables.update(started)
+      frogpilot_toggles = get_frogpilot_toggles()
+      if time_validated:
+        run_thread_with_lock("backup_toggles", backup_toggles, (params, params_storage))
+      toggles_last_updated = now
+
+    if toggles_last_updated and (now - toggles_last_updated).total_seconds() <= 1:
+      toggles_updated = True
+    else:
+      toggles_last_updated = None
+      toggles_updated = False
+
     if not started and started_previously:
       frogpilot_planner = FrogPilotPlanner()
       frogpilot_tracking = FrogPilotTracking()
+    elif started and not started_previously:
+      radarless_model = frogpilot_toggles.radarless_model
 
-    if started and sm.updated['modelV2']:
-      if not started_previously:
-        radarless_model = frogpilot_toggles.radarless_model
+      if os.path.isfile(error_log):
+        os.remove(error_log)
 
+    if started and sm.updated['modelV2']:
       frogpilot_planner.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'], sm['frogpilotCarState'],
                                sm['frogpilotNavigation'], sm['modelV2'], radarless_model, sm['radarState'], frogpilot_toggles)
-      frogpilot_planner.publish(sm, pm, frogpilot_toggles)
-
-      frogpilot_tracking.update(sm['carState'])
+      frogpilot_planner.publish(sm, pm, frogpilot_toggles, toggles_updated)
 
-    if FrogPilotVariables.toggles_updated:
-      update_toggles = True
-    elif update_toggles:
-      run_thread_with_lock("toggle_updates", toggle_updates, (frogpilot_toggles, started, time_validated, params, params_storage))
-      update_toggles = False
+      frogpilot_tracking.update(sm['carState'], sm['controlsState'], sm['frogpilotCarControl'])
+    elif not started:
+      frogpilot_plan_send = messaging.new_message('frogpilotPlan')
+      frogpilot_plan_send.frogpilotPlan.togglesUpdated = toggles_updated
+      pm.send('frogpilotPlan', frogpilot_plan_send)
 
     started_previously = started
 
-    check_assets(model_manager, theme_manager, params, params_memory)
+    if now.second % 2 == 0:
+      check_assets(model_manager, theme_manager)
 
     if params_memory.get_bool("ManualUpdateInitiated"):
-      run_thread_with_lock("time_checks", time_checks, (False, deviceState, model_manager, now, screen_off, started, theme_manager, time_validated, params, params_memory))
+      run_thread_with_lock("update_checks", update_checks, (False, frogpilot_toggles.frogs_go_moo, model_manager, now, screen_off, started, theme_manager, time_validated))
+      run_thread_with_lock("update_themes", theme_manager.update_themes())
     elif now.second == 0:
-      run_time_checks = not screen_off and not started or now.minute % 15 == 0 or frogs_go_moo
-    elif run_time_checks or not time_validated:
-      run_thread_with_lock("time_checks", time_checks, (frogpilot_toggles.automatic_updates, deviceState, model_manager, now, screen_off, started, theme_manager, time_validated, params, params_memory))
-      run_time_checks = False
+      run_update_checks = not screen_off and not started or now.minute % 15 == 0 or frogpilot_toggles.frogs_go_moo
+    elif run_update_checks:
+      run_thread_with_lock("update_checks", update_checks, (frogpilot_toggles.automatic_updates, frogpilot_toggles.frogs_go_moo, model_manager, now, screen_off, started, theme_manager, time_validated))
 
-      if not time_validated:
-        time_validated = system_time_valid()
-        if not time_validated:
-          continue
-        run_thread_with_lock("update_models", model_manager.update_models, (True,))
-        run_thread_with_lock("update_themes", theme_manager.update_themes, (True,))
+      if time_validated:
+        theme_manager.update_holiday()
 
+      run_update_checks = False
+
+    elif not time_validated:
+      time_validated = system_time_valid()
+      if not time_validated:
+        continue
       theme_manager.update_holiday()
+      run_thread_with_lock("update_models", model_manager.update_models, (True,))
+      run_thread_with_lock("update_themes", theme_manager.update_themes, (True,))
 
 def main():
   frogpilot_thread()
 
+
 if __name__ == "__main__":
   main()
diff --git a/selfdrive/frogpilot/frogpilot_utilities.py b/selfdrive/frogpilot/frogpilot_utilities.py
new file mode 100644
index 00000000000000..21976851eca541
--- /dev/null
+++ b/selfdrive/frogpilot/frogpilot_utilities.py
@@ -0,0 +1,97 @@
+import math
+import numpy as np
+import os
+import shutil
+import subprocess
+import threading
+import time
+import urllib.request
+
+from openpilot.common.numpy_fast import interp, mean
+
+EARTH_RADIUS = 6378137  # Radius of the Earth in meters
+
+def calculate_distance_to_point(ax, ay, bx, by):
+  a = math.sin((bx - ax) / 2) * math.sin((bx - ax) / 2) + math.cos(ax) * math.cos(bx) * math.sin((by - ay) / 2) * math.sin((by - ay) / 2)
+  c = 2 * math.atan2(math.sqrt(a), math.sqrt(1 - a))
+  return EARTH_RADIUS * c
+
+def calculate_lane_width(lane, current_lane, road_edge):
+  current_x = np.array(current_lane.x)
+  current_y = np.array(current_lane.y)
+
+  lane_y_interp = interp(current_x, np.array(lane.x), np.array(lane.y))
+  road_edge_y_interp = interp(current_x, np.array(road_edge.x), np.array(road_edge.y))
+
+  distance_to_lane = np.mean(np.abs(current_y - lane_y_interp))
+  distance_to_road_edge = np.mean(np.abs(current_y - road_edge_y_interp))
+
+  return float(min(distance_to_lane, distance_to_road_edge))
+
+# Credit goes to Pfeiferj!
+def calculate_road_curvature(modelData, v_ego):
+  orientation_rate = np.abs(modelData.orientationRate.z)
+  velocity = modelData.velocity.x
+  max_pred_lat_acc = np.amax(orientation_rate * velocity)
+  return max_pred_lat_acc / max(v_ego, 1)**2
+
+def copy_if_exists(source, destination, single_file_name=None):
+  if not os.path.exists(source):
+    print(f"Source directory {source} does not exist. Skipping copy.")
+    return
+
+  if single_file_name:
+    os.makedirs(destination, exist_ok=True)
+    for item in os.listdir(source):
+      shutil.copy2(os.path.join(source, item), os.path.join(destination, single_file_name))
+      print(f"Successfully copied {item} to {single_file_name}.")
+  else:
+    shutil.copytree(source, destination, dirs_exist_ok=True)
+    print(f"Successfully copied {source} to {destination}.")
+
+def delete_file(file):
+  try:
+    if os.path.isfile(file):
+      os.remove(file)
+      print(f"Deleted file: {file}")
+    else:
+      print(f"File not found: {file}")
+  except Exception as e:
+    print(f"An error occurred when deleting {file}: {e}")
+
+def is_url_pingable(url, timeout=5):
+  try:
+    urllib.request.urlopen(urllib.request.Request(url, headers={'User-Agent': 'Mozilla/5.0'}), timeout=timeout)
+    return True
+  except Exception as e:
+    print(f"Failed to ping {url}: {e}")
+    return False
+
+def run_cmd(cmd, success_message, fail_message):
+  try:
+    subprocess.check_call(cmd)
+    print(success_message)
+    return True
+  except Exception as e:
+    print(f"Unexpected error occurred: {e}")
+    print(fail_message)
+    return False
+
+class MovingAverageCalculator:
+  def __init__(self):
+    self.reset_data()
+
+  def add_data(self, value):
+    if len(self.data) == 5:
+      self.total -= self.data.pop(0)
+    self.data.append(value)
+    self.total += value
+
+  def get_moving_average(self):
+    if len(self.data) == 0:
+      return None
+    return self.total / len(self.data)
+
+  def reset_data(self):
+    self.data = []
+    self.total = 0
diff --git a/selfdrive/frogpilot/frogpilot_variables.py b/selfdrive/frogpilot/frogpilot_variables.py
index 4c7fe27f99ea4d..2921f635ae1ab2 100644
--- a/selfdrive/frogpilot/frogpilot_variables.py
+++ b/selfdrive/frogpilot/frogpilot_variables.py
@@ -1,19 +1,24 @@
+import json
+import math
 import os
 import random
+import time
 
 from types import SimpleNamespace
 
 from cereal import car
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.conversions import Conversions as CV
-from openpilot.common.numpy_fast import interp
+from openpilot.common.numpy_fast import clip, interp
 from openpilot.common.params import Params, UnknownKeyName
 from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING
+from openpilot.system.version import get_build_metadata
 from panda import ALTERNATIVE_EXPERIENCE
 
-from openpilot.selfdrive.frogpilot.assets.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME, process_model_name
-from openpilot.selfdrive.frogpilot.frogpilot_functions import MODELS_PATH
+params = Params()
+params_memory = Params("/dev/shm/params")
 
 GearShifter = car.CarState.GearShifter
 NON_DRIVING_GEARS = [GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown]
@@ -23,33 +28,341 @@
 MODEL_LENGTH = ModelConstants.IDX_N                     # Minimum length of the model
 PLANNER_TIME = ModelConstants.T_IDXS[MODEL_LENGTH - 1]  # Length of time the model projects out for
 THRESHOLD = 0.6                                         # 60% chance of condition being true
+TO_RADIANS = math.pi / 180                              # Conversion factor from degrees to radians
 
-class FrogPilotVariables:
-  def __init__(self):
-    self.frogpilot_toggles = SimpleNamespace()
+ACTIVE_THEME_PATH = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "active_theme")
+MODELS_PATH = os.path.join("/data", "models")
+RANDOM_EVENTS_PATH = os.path.join(BASEDIR, "selfdrive", "frogpilot", "assets", "random_events")
+THEME_SAVE_PATH = os.path.join("/data", "themes")
 
-    self.params = Params()
-    self.params_memory = Params("/dev/shm/params")
+DEFAULT_MODEL = "dragon-rider"
+DEFAULT_MODEL_NAME = "Dragon Rider"
 
-    self.has_prime = self.params.get_int("PrimeType") > 0
+DEFAULT_CLASSIC_MODEL = "north-dakota"
+DEFAULT_CLASSIC_MODEL_NAME = "North Dakota (Default)"
 
-    self.update_frogpilot_params(False)
+def get_frogpilot_toggles():
+  while True:
+    toggles = params.get("FrogPilotToggles")
+    if toggles is not None:
+      try:
+        return SimpleNamespace(**json.loads(toggles))
+      except Exception as e:
+        print(f"Unexpected error while retrieving toggles: {e}, value: {toggles}")
+        time.sleep(0.1)
+    time.sleep(0.1)
 
-  @property
-  def toggles(self):
-    return self.frogpilot_toggles
+def has_prime():
+  return params.get_int("PrimeType") > 0
 
-  @property
-  def toggles_updated(self):
-    return self.params_memory.get_bool("FrogPilotTogglesUpdated")
+def update_frogpilot_toggles():
+  params_memory.put_bool("FrogPilotTogglesUpdated", True)
 
-  def update_frogpilot_params(self, started=True):
-    toggle = self.frogpilot_toggles
+frogpilot_default_params: list[tuple[str, bool | bytes | int | float | str]] = [
+  ("AccelerationPath", 1),
+  ("AccelerationProfile", 2),
+  ("AdjacentLeadsUI", 1),
+  ("AdjacentPath", 0),
+  ("AdjacentPathMetrics", 0),
+  ("AdvancedCustomUI", 0),
+  ("AdvancedLateralTune", 0),
+  ("AggressiveFollow", 1.25),
+  ("AggressiveJerkAcceleration", 50),
+  ("AggressiveJerkDanger", 100),
+  ("AggressiveJerkDeceleration", 50),
+  ("AggressiveJerkSpeed", 50),
+  ("AggressiveJerkSpeedDecrease", 50),
+  ("AggressivePersonalityProfile", 1),
+  ("AlertVolumeControl", 0),
+  ("AlwaysOnLateral", 1),
+  ("AlwaysOnLateralLKAS", 0),
+  ("AlwaysOnLateralMain", 1),
+  ("AMapKey1", ""),
+  ("AMapKey2", ""),
+  ("AutomaticallyUpdateModels", 1),
+  ("AutomaticUpdates", 1),
+  ("AvailableModels", ""),
+  ("AvailableModelsNames", ""),
+  ("BigMap", 0),
+  ("BlacklistedModels", ""),
+  ("BlindSpotMetrics", 1),
+  ("BlindSpotPath", 1),
+  ("BorderMetrics", 1),
+  ("CameraView", 3),
+  ("CarMake", ""),
+  ("CarModel", ""),
+  ("CarModelName", ""),
+  ("CECurves", 1),
+  ("CECurvesLead", 0),
+  ("CELead", 0),
+  ("CEModelStopTime", 8),
+  ("CENavigation", 1),
+  ("CENavigationIntersections", 0),
+  ("CENavigationLead", 0),
+  ("CENavigationTurns", 1),
+  ("CertifiedHerbalistDrives", 0),
+  ("CertifiedHerbalistScore", 0),
+  ("CESignalSpeed", 55),
+  ("CESignalLaneDetection", 1),
+  ("CESlowerLead", 0),
+  ("CESpeed", 0),
+  ("CESpeedLead", 0),
+  ("CEStoppedLead", 0),
+  ("ClassicModels", ""),
+  ("ClusterOffset", 1.015),
+  ("Compass", 0),
+  ("ConditionalExperimental", 1),
+  ("CrosstrekTorque", 1),
+  ("CurveSensitivity", 100),
+  ("CurveSpeedControl", 0),
+  ("CustomAlerts", 1),
+  ("CustomColors", "frog"),
+  ("CustomCruise", 1),
+  ("CustomCruiseLong", 5),
+  ("CustomDistanceIcons", "stock"),
+  ("CustomIcons", "frog-animated"),
+  ("CustomizationLevel", 0),
+  ("CustomizationLevelConfirmed", 0),
+  ("CustomPersonalities", 0),
+  ("CustomSignals", "frog"),
+  ("CustomSounds", "frog"),
+  ("CustomUI", 1),
+  ("DecelerationProfile", 1),
+  ("DefaultModelName", DEFAULT_CLASSIC_MODEL_NAME),
+  ("DeveloperUI", 0),
+  ("DeviceManagement", 1),
+  ("DeviceShutdown", 9),
+  ("DisableCurveSpeedSmoothing", 0),
+  ("DisableOnroadUploads", 0),
+  ("DisableOpenpilotLongitudinal", 0),
+  ("DisengageVolume", 101),
+  ("DissolvedOxygenDrives", 0),
+  ("DissolvedOxygenScore", 0),
+  ("DriverCamera", 0),
+  ("DuckAmigoDrives", 0),
+  ("DuckAmigoScore", 0),
+  ("DynamicPathWidth", 0),
+  ("DynamicPedalsOnUI", 1),
+  ("EngageVolume", 101),
+  ("ExperimentalGMTune", 0),
+  ("ExperimentalModeActivation", 1),
+  ("ExperimentalModels", ""),
+  ("ExperimentalModeViaDistance", 1),
+  ("ExperimentalModeViaLKAS", 1),
+  ("ExperimentalModeViaTap", 0),
+  ("Fahrenheit", 0),
+  ("ForceAutoTune", 0),
+  ("ForceAutoTuneOff", 0),
+  ("ForceFingerprint", 0),
+  ("ForceMPHDashboard", 0),
+  ("ForceStandstill", 0),
+  ("ForceStops", 0),
+  ("FPSCounter", 1),
+  ("FrogPilotToggles", ""),
+  ("FrogsGoMoosTweak", 1),
+  ("FullMap", 0),
+  ("GasRegenCmd", 1),
+  ("GMapKey", ""),
+  ("GoatScream", 0),
+  ("GreenLightAlert", 0),
+  ("HideAlerts", 0),
+  ("HideAOLStatusBar", 0),
+  ("HideCEMStatusBar", 0),
+  ("HideLeadMarker", 0),
+  ("HideMapIcon", 0),
+  ("HideMaxSpeed", 0),
+  ("HideSpeed", 0),
+  ("HideSpeedLimit", 0),
+  ("HolidayThemes", 1),
+  ("HumanAcceleration", 1),
+  ("HumanFollowing", 1),
+  ("IncreasedStoppedDistance", 3),
+  ("IncreaseThermalLimits", 0),
+  ("JerkInfo", 1),
+  ("LaneChangeCustomizations", 0),
+  ("LaneChangeTime", 1.0),
+  ("LaneDetectionWidth", 9),
+  ("LaneLinesWidth", 4),
+  ("LateralMetrics", 1),
+  ("LateralTune", 1),
+  ("LeadDepartingAlert", 0),
+  ("LeadDetectionThreshold", 35),
+  ("LeadInfo", 1),
+  ("LockDoors", 1),
+  ("LongitudinalMetrics", 1),
+  ("LongitudinalTune", 1),
+  ("LongPitch", 1),
+  ("LosAngelesDrives", 0),
+  ("LosAngelesScore", 0),
+  ("LoudBlindspotAlert", 0),
+  ("LowVoltageShutdown", str(VBATT_PAUSE_CHARGING)),
+  ("MapAcceleration", 0),
+  ("MapDeceleration", 0),
+  ("MapGears", 0),
+  ("MapboxPublicKey", ""),
+  ("MapboxSecretKey", ""),
+  ("MapsSelected", ""),
+  ("MapStyle", 0),
+  ("MaxDesiredAcceleration", 4.0),
+  ("MinimumLaneChangeSpeed", str(LANE_CHANGE_SPEED_MIN / CV.MPH_TO_MS)),
+  ("Model", DEFAULT_CLASSIC_MODEL),
+  ("ModelName", DEFAULT_CLASSIC_MODEL_NAME),
+  ("ModelRandomizer", 0),
+  ("ModelUI", 1),
+  ("MTSCCurvatureCheck", 1),
+  ("MTSCEnabled", 1),
+  ("NavigationModels", ""),
+  ("NavigationUI", 1),
+  ("NewLongAPI", 0),
+  ("NewLongAPIGM", 1),
+  ("NNFF", 1),
+  ("NNFFLite", 1),
+  ("NoLogging", 0),
+  ("NorthDakotaDrives", 0),
+  ("NorthDakotaScore", 0),
+  ("NotreDameDrives", 0),
+  ("NotreDameScore", 0),
+  ("NoUploads", 0),
+  ("NudgelessLaneChange", 0),
+  ("NumericalTemp", 1),
+  ("OfflineMode", 1),
+  ("Offset1", 5),
+  ("Offset2", 5),
+  ("Offset3", 5),
+  ("Offset4", 10),
+  ("OneLaneChange", 1),
+  ("OnroadDistanceButton", 0),
+  ("openpilotMinutes", 0),
+  ("PathEdgeWidth", 20),
+  ("PathWidth", 6.1),
+  ("PauseAOLOnBrake", 0),
+  ("PauseLateralOnSignal", 0),
+  ("PauseLateralSpeed", 0),
+  ("PedalsOnUI", 0),
+  ("PersonalizeOpenpilot", 1),
+  ("PreferredSchedule", 2),
+  ("PromptDistractedVolume", 101),
+  ("PromptVolume", 101),
+  ("QOLLateral", 1),
+  ("QOLLongitudinal", 1),
+  ("QOLVisuals", 1),
+  ("RadarlessModels", ""),
+  ("RadicalTurtleDrives", 0),
+  ("RadicalTurtleScore", 0),
+  ("RandomEvents", 0),
+  ("RecertifiedHerbalistDrives", 0),
+  ("RecertifiedHerbalistScore", 0),
+  ("RefuseVolume", 101),
+  ("RelaxedFollow", 1.75),
+  ("RelaxedJerkAcceleration", 100),
+  ("RelaxedJerkDanger", 100),
+  ("RelaxedJerkDeceleration", 100),
+  ("RelaxedJerkSpeed", 100),
+  ("RelaxedJerkSpeedDecrease", 100),
+  ("RelaxedPersonalityProfile", 1),
+  ("ResetFrogTheme", 0),
+  ("ReverseCruise", 0),
+  ("RoadEdgesWidth", 2),
+  ("RoadNameUI", 1),
+  ("RotatingWheel", 1),
+  ("ScreenBrightness", 101),
+  ("ScreenBrightnessOnroad", 101),
+  ("ScreenManagement", 1),
+  ("ScreenRecorder", 1),
+  ("ScreenTimeout", 30),
+  ("ScreenTimeoutOnroad", 30),
+  ("SearchInput", 0),
+  ("SecretGoodOpenpilotDrives", 0),
+  ("SecretGoodOpenpilotScore", 0),
+  ("SetSpeedLimit", 0),
+  ("SetSpeedOffset", 0),
+  ("ShowCPU", 1),
+  ("ShowGPU", 0),
+  ("ShowIP", 0),
+  ("ShowMemoryUsage", 1),
+  ("ShowSLCOffset", 1),
+  ("ShowSteering", 1),
+  ("ShowStoppingPoint", 1),
+  ("ShowStoppingPointMetrics", 0),
+  ("ShowStorageLeft", 0),
+  ("ShowStorageUsed", 0),
+  ("Sidebar", 0),
+  ("SidebarMetrics", 1),
+  ("SignalMetrics", 0),
+  ("SLCConfirmation", 0),
+  ("SLCConfirmationHigher", 0),
+  ("SLCConfirmationLower", 0),
+  ("SLCFallback", 2),
+  ("SLCLookaheadHigher", 5),
+  ("SLCLookaheadLower", 5),
+  ("SLCOverride", 1),
+  ("SLCPriority1", "Dashboard"),
+  ("SLCPriority2", "Navigation"),
+  ("SLCPriority3", "Map Data"),
+  ("SNGHack", 1),
+  ("SpeedLimitChangedAlert", 1),
+  ("SpeedLimitController", 1),
+  ("StartupMessageBottom", "so I do what I want 🐸"),
+  ("StartupMessageTop", "Hippity hoppity this is my property"),
+  ("StandardFollow", 1.45),
+  ("StandardJerkAcceleration", 100),
+  ("StandardJerkDanger", 100),
+  ("StandardJerkDeceleration", 100),
+  ("StandardJerkSpeed", 100),
+  ("StandardJerkSpeedDecrease", 100),
+  ("StandardPersonalityProfile", 1),
+  ("StandbyMode", 0),
+  ("StaticPedalsOnUI", 0),
+  ("SteerFriction", 0.1),
+  ("SteerFrictionStock", 0.1),
+  ("SteerLatAccel", 2.5),
+  ("SteerLatAccelStock", 2.5),
+  ("SteerKP", 1),
+  ("SteerKPStock", 1),
+  ("SteerRatio", 15),
+  ("SteerRatioStock", 15),
+  ("StoppedTimer", 0),
+  ("TacoTune", 0),
+  ("ToyotaDoors", 1),
+  ("TrafficFollow", 0.5),
+  ("TrafficJerkAcceleration", 50),
+  ("TrafficJerkDanger", 100),
+  ("TrafficJerkDeceleration", 50),
+  ("TrafficJerkSpeed", 50),
+  ("TrafficJerkSpeedDecrease", 50),
+  ("TrafficPersonalityProfile", 1),
+  ("TuningInfo", 1),
+  ("TurnAggressiveness", 100),
+  ("TurnDesires", 0),
+  ("UnlimitedLength", 1),
+  ("UnlockDoors", 1),
+  ("UseSI", 1),
+  ("UseVienna", 0),
+  ("VisionTurnControl", 1),
+  ("VoltSNG", 0),
+  ("WarningImmediateVolume", 101),
+  ("WarningSoftVolume", 101),
+  ("WD40Drives", 0),
+  ("WD40Score", 0),
+  ("WheelIcon", "frog"),
+  ("WheelSpeed", 0)
+]
 
-    openpilot_installed = self.params.get_bool("HasAcceptedTerms")
+class FrogPilotVariables:
+  def __init__(self):
+    self.default_frogpilot_toggles = SimpleNamespace(**dict(frogpilot_default_params))
+    self.frogpilot_toggles = SimpleNamespace()
+
+    self.development_branch = get_build_metadata().channel == "FrogPilot-Development"
+
+    self.frogpilot_toggles.frogs_go_moo = os.path.isfile("/persist/frogsgomoo.py")
+    self.frogpilot_toggles.block_user = self.development_branch and not self.frogpilot_toggles.frogs_go_moo
+
+  def update(self, started):
+    openpilot_installed = params.get_bool("HasAcceptedTerms")
 
     key = "CarParams" if started else "CarParamsPersistent"
-    msg_bytes = self.params.get(key, block=openpilot_installed and started)
+    msg_bytes = params.get(key, block=openpilot_installed and started)
 
     if msg_bytes:
       with car.CarParams.from_bytes(msg_bytes) as CP:
@@ -57,255 +370,783 @@ def update_frogpilot_params(self, started=True):
         car_make = CP.carName
         car_model = CP.carFingerprint
         has_auto_tune = (car_model == "hyundai" or car_model == "toyota") and CP.lateralTuning.which == "torque"
+        has_bsm = CP.enableBsm
+        has_radar = not CP.radarUnavailable
         is_pid_car = CP.lateralTuning.which == "pid"
-        max_acceleration_allowed = key == "CarParams" and CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
-        toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl
+        max_acceleration_enabled = key == "CarParams" and CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX
+        openpilot_longitudinal = CP.openpilotLongitudinalControl
         pcm_cruise = CP.pcmCruise
     else:
       always_on_lateral_set = False
       car_make = "mock"
       car_model = "mock"
       has_auto_tune = False
+      has_bsm = False
+      has_radar = False
       is_pid_car = False
-      max_acceleration_allowed = False
-      toggle.openpilot_longitudinal = False
+      max_acceleration_enabled = False
+      openpilot_longitudinal = False
       pcm_cruise = False
 
-    toggle.is_metric = self.params.get_bool("IsMetric")
-    distance_conversion = 1. if toggle.is_metric else CV.FOOT_TO_METER
+    toggle = self.frogpilot_toggles
+
+    toggle.is_metric = params.get_bool("IsMetric")
+    distance_conversion = 1 if toggle.is_metric else CV.FOOT_TO_METER
+    small_distance_conversion = 1 if toggle.is_metric else CV.INCH_TO_CM
     speed_conversion = CV.KPH_TO_MS if toggle.is_metric else CV.MPH_TO_MS
 
-    advanced_custom_onroad_ui = self.params.get_bool("AdvancedCustomUI")
-    toggle.show_stopping_point = advanced_custom_onroad_ui and self.params.get_bool("ShowStoppingPoint")
+    toggle.advanced_custom_onroad_ui = params.get_bool("AdvancedCustomUI")
+    toggle.hide_alerts = toggle.advanced_custom_onroad_ui and params.get_bool("HideAlerts")
+    toggle.hide_lead_marker = toggle.advanced_custom_onroad_ui and params.get_bool("HideLeadMarker")
+    toggle.hide_map_icon = toggle.advanced_custom_onroad_ui and params.get_bool("HideMapIcon")
+    toggle.hide_max_speed = toggle.advanced_custom_onroad_ui and params.get_bool("HideMaxSpeed")
+    toggle.hide_speed = toggle.advanced_custom_onroad_ui and params.get_bool("HideSpeed")
+    toggle.hide_speed_limit = toggle.advanced_custom_onroad_ui and params.get_bool("HideSpeedLimit")
+    toggle.use_wheel_speed = toggle.advanced_custom_onroad_ui and params.get_bool("WheelSpeed")
 
-    advanced_lateral_tune = self.params.get_bool("AdvancedLateralTune")
-    stock_steer_friction = self.params.get_float("SteerFrictionStock")
-    toggle.steer_friction = self.params.get_float("SteerFriction") if advanced_lateral_tune else stock_steer_friction
+    toggle.advanced_lateral_tuning = params.get_bool("AdvancedLateralTune")
+    stock_steer_friction = params.get_float("SteerFrictionStock")
+    toggle.steer_friction = params.get_float("SteerFriction") if toggle.advanced_lateral_tuning else stock_steer_friction
     toggle.use_custom_steer_friction = toggle.steer_friction != stock_steer_friction and not is_pid_car
-    stock_steer_lat_accel_factor = self.params.get_float("SteerLatAccelStock")
-    toggle.steer_lat_accel_factor = self.params.get_float("SteerLatAccel") if advanced_lateral_tune else stock_steer_lat_accel_factor
-    toggle.use_custom_lat_accel_factor = toggle.steer_lat_accel_factor != stock_steer_lat_accel_factor and not is_pid_car
-    stock_steer_kp = self.params.get_float("SteerKPStock")
-    toggle.steer_kp = self.params.get_float("SteerKP") if advanced_lateral_tune else stock_steer_kp
+    stock_steer_kp = params.get_float("SteerKPStock")
+    toggle.steer_kp = params.get_float("SteerKP") if toggle.advanced_lateral_tuning else stock_steer_kp
     toggle.use_custom_kp = toggle.steer_kp != stock_steer_kp and not is_pid_car
-    stock_steer_ratio = self.params.get_float("SteerRatioStock")
-    toggle.steer_ratio = self.params.get_float("SteerRatio") if advanced_lateral_tune else stock_steer_ratio
+    stock_steer_lat_accel_factor = params.get_float("SteerLatAccelStock")
+    toggle.steer_lat_accel_factor = params.get_float("SteerLatAccel") if toggle.advanced_lateral_tuning else stock_steer_lat_accel_factor
+    toggle.use_custom_lat_accel_factor = toggle.steer_lat_accel_factor != stock_steer_lat_accel_factor and not is_pid_car
+    stock_steer_ratio = params.get_float("SteerRatioStock")
+    toggle.steer_ratio = params.get_float("SteerRatio") if toggle.advanced_lateral_tuning else stock_steer_ratio
     toggle.use_custom_steer_ratio = toggle.steer_ratio != stock_steer_ratio
-    toggle.force_auto_tune = advanced_lateral_tune and not has_auto_tune and self.params.get_bool("ForceAutoTune")
-    toggle.force_auto_tune_off = advanced_lateral_tune and has_auto_tune and self.params.get_bool("ForceAutoTuneOff")
-    toggle.taco_tune = advanced_lateral_tune and self.params.get_bool("TacoTune")
-    toggle.turn_desires = advanced_lateral_tune and self.params.get_bool("TurnDesires")
-
-    advanced_longitudinal_tune = toggle.openpilot_longitudinal and self.params.get_bool("LongitudinalTune")
-    toggle.lead_detection_threshold = self.params.get_int("LeadDetectionThreshold") / 100. if advanced_longitudinal_tune else 0.5
-    toggle.max_desired_accel = self.params.get_float("MaxDesiredAcceleration") if advanced_longitudinal_tune else 4.0
-
-    advanced_quality_of_life_driving = self.params.get_bool("AdvancedQOLDriving")
-    toggle.force_standstill = advanced_quality_of_life_driving and self.params.get_bool("ForceStandstill")
-    toggle.force_stops = advanced_quality_of_life_driving and self.params.get_bool("ForceStops")
-    toggle.set_speed_offset = self.params.get_int("SetSpeedOffset") * (1. if toggle.is_metric else CV.MPH_TO_KPH) if advanced_quality_of_life_driving and not pcm_cruise else 0
-
-    toggle.alert_volume_control = self.params.get_bool("AlertVolumeControl")
-    toggle.disengage_volume = self.params.get_int("DisengageVolume") if toggle.alert_volume_control else 100
-    toggle.engage_volume = self.params.get_int("EngageVolume") if toggle.alert_volume_control else 100
-    toggle.prompt_volume = self.params.get_int("PromptVolume") if toggle.alert_volume_control else 100
-    toggle.promptDistracted_volume = self.params.get_int("PromptDistractedVolume") if toggle.alert_volume_control else 100
-    toggle.refuse_volume = self.params.get_int("RefuseVolume") if toggle.alert_volume_control else 100
-    toggle.warningSoft_volume = self.params.get_int("WarningSoftVolume") if toggle.alert_volume_control else 100
-    toggle.warningImmediate_volume = max(self.params.get_int("WarningImmediateVolume"), 25) if toggle.alert_volume_control else 100
-
-    toggle.always_on_lateral = always_on_lateral_set and self.params.get_bool("AlwaysOnLateral")
-    toggle.always_on_lateral_lkas = toggle.always_on_lateral and car_make != "subaru" and self.params.get_bool("AlwaysOnLateralLKAS")
-    toggle.always_on_lateral_main = toggle.always_on_lateral and self.params.get_bool("AlwaysOnLateralMain")
-    toggle.always_on_lateral_pause_speed = self.params.get_int("PauseAOLOnBrake") if toggle.always_on_lateral else 0
-
-    toggle.automatic_updates = self.params.get_bool("AutomaticUpdates")
-
-    toggle.cluster_offset = self.params.get_float("ClusterOffset") if car_make == "toyota" else 1
-
-    toggle.conditional_experimental_mode = toggle.openpilot_longitudinal and self.params.get_bool("ConditionalExperimental")
-    toggle.conditional_limit = self.params.get_int("CESpeed") * speed_conversion if toggle.conditional_experimental_mode else 0
-    toggle.conditional_limit_lead = self.params.get_int("CESpeedLead") * speed_conversion if toggle.conditional_experimental_mode else 0
-    toggle.conditional_curves = toggle.conditional_experimental_mode and self.params.get_bool("CECurves")
-    toggle.conditional_curves_lead = toggle.conditional_curves and self.params.get_bool("CECurvesLead")
-    toggle.conditional_lead = toggle.conditional_experimental_mode and self.params.get_bool("CELead")
-    toggle.conditional_slower_lead = toggle.conditional_lead and self.params.get_bool("CESlowerLead")
-    toggle.conditional_stopped_lead = toggle.conditional_lead and self.params.get_bool("CEStoppedLead")
-    toggle.conditional_navigation = toggle.conditional_experimental_mode and self.params.get_bool("CENavigation")
-    toggle.conditional_navigation_intersections = toggle.conditional_navigation and self.params.get_bool("CENavigationIntersections")
-    toggle.conditional_navigation_lead = toggle.conditional_navigation and self.params.get_bool("CENavigationLead")
-    toggle.conditional_navigation_turns = toggle.conditional_navigation and self.params.get_bool("CENavigationTurns")
-    toggle.conditional_model_stop_time = self.params.get_int("CEModelStopTime") if toggle.conditional_experimental_mode else 0
-    toggle.conditional_signal = self.params.get_int("CESignalSpeed") if toggle.conditional_experimental_mode else 0
-    toggle.conditional_signal_lane_detection = toggle.conditional_signal and self.params.get_bool("CESignalLaneDetection")
+    toggle.force_auto_tune = toggle.advanced_lateral_tuning and not has_auto_tune and not is_pid_car and params.get_bool("ForceAutoTune")
+    toggle.force_auto_tune_off = toggle.advanced_lateral_tuning and has_auto_tune and not is_pid_car and params.get_bool("ForceAutoTuneOff")
+
+    toggle.alert_volume_control = params.get_bool("AlertVolumeControl")
+    toggle.disengage_volume = params.get_int("DisengageVolume") if toggle.alert_volume_control else 101
+    toggle.engage_volume = params.get_int("EngageVolume") if toggle.alert_volume_control else 101
+    toggle.prompt_volume = params.get_int("PromptVolume") if toggle.alert_volume_control else 101
+    toggle.promptDistracted_volume = params.get_int("PromptDistractedVolume") if toggle.alert_volume_control else 101
+    toggle.refuse_volume = params.get_int("RefuseVolume") if toggle.alert_volume_control else 101
+    toggle.warningSoft_volume = params.get_int("WarningSoftVolume") if toggle.alert_volume_control else 101
+    toggle.warningImmediate_volume = max(params.get_int("WarningImmediateVolume"), 25) if toggle.alert_volume_control else 101
+
+    toggle.always_on_lateral = params.get_bool("AlwaysOnLateral")
+    toggle.always_on_lateral_set = toggle.always_on_lateral and always_on_lateral_set
+    toggle.always_on_lateral_lkas = toggle.always_on_lateral_set and car_make != "subaru" and params.get_bool("AlwaysOnLateralLKAS")
+    toggle.always_on_lateral_main = toggle.always_on_lateral_set and params.get_bool("AlwaysOnLateralMain")
+    toggle.always_on_lateral_pause_speed = params.get_int("PauseAOLOnBrake") if toggle.always_on_lateral_set else 0
+    toggle.always_on_lateral_status_bar = toggle.always_on_lateral_set and not params.get_bool("HideAOLStatusBar")
+
+    toggle.automatic_updates = params.get_bool("AutomaticUpdates")
+
+    toggle.cluster_offset = params.get_float("ClusterOffset") if car_make == "toyota" else 1
+
+    toggle.conditional_experimental_mode = openpilot_longitudinal and params.get_bool("ConditionalExperimental")
+    toggle.conditional_curves = toggle.conditional_experimental_mode and params.get_bool("CECurves")
+    toggle.conditional_curves_lead = toggle.conditional_curves and params.get_bool("CECurvesLead")
+    toggle.conditional_lead = toggle.conditional_experimental_mode and params.get_bool("CELead")
+    toggle.conditional_slower_lead = toggle.conditional_lead and params.get_bool("CESlowerLead")
+    toggle.conditional_stopped_lead = toggle.conditional_lead and params.get_bool("CEStoppedLead")
+    toggle.conditional_limit = params.get_int("CESpeed") * speed_conversion if toggle.conditional_experimental_mode else 0
+    toggle.conditional_limit_lead = params.get_int("CESpeedLead") * speed_conversion if toggle.conditional_experimental_mode else 0
+    toggle.conditional_navigation = toggle.conditional_experimental_mode and params.get_bool("CENavigation")
+    toggle.conditional_navigation_intersections = toggle.conditional_navigation and params.get_bool("CENavigationIntersections")
+    toggle.conditional_navigation_lead = toggle.conditional_navigation and params.get_bool("CENavigationLead")
+    toggle.conditional_navigation_turns = toggle.conditional_navigation and params.get_bool("CENavigationTurns")
+    toggle.conditional_model_stop_time = params.get_int("CEModelStopTime") if toggle.conditional_experimental_mode else 0
+    toggle.conditional_signal = params.get_int("CESignalSpeed") if toggle.conditional_experimental_mode else 0
+    toggle.conditional_signal_lane_detection = toggle.conditional_signal != 0 and params.get_bool("CESignalLaneDetection")
+    toggle.conditional_status_bar = toggle.conditional_experimental_mode and not params.get_bool("HideCEMStatusBar")
     if toggle.conditional_experimental_mode:
-      self.params.put_bool("ExperimentalMode", True)
-
-    toggle.current_holiday_theme = self.params.get("CurrentHolidayTheme", encoding='utf-8') if self.params.get_bool("HolidayThemes") else None
-
-    curve_speed_controller = toggle.openpilot_longitudinal and self.params.get_bool("CurveSpeedControl")
-    toggle.map_turn_speed_controller = curve_speed_controller and self.params.get_bool("MTSCEnabled")
-    toggle.mtsc_curvature_check = toggle.map_turn_speed_controller and self.params.get_bool("MTSCCurvatureCheck")
-    toggle.vision_turn_controller = curve_speed_controller and self.params.get_bool("VisionTurnControl")
-    toggle.curve_sensitivity = self.params.get_int("CurveSensitivity") / 100. if curve_speed_controller else 1
-    toggle.turn_aggressiveness = self.params.get_int("TurnAggressiveness") / 100. if curve_speed_controller else 1
-
-    custom_alerts = self.params.get_bool("CustomAlerts")
-    toggle.goat_scream = toggle.current_holiday_theme is None and custom_alerts and self.params.get_bool("GoatScream")
-    toggle.green_light_alert = custom_alerts and self.params.get_bool("GreenLightAlert")
-    toggle.lead_departing_alert = custom_alerts and self.params.get_bool("LeadDepartingAlert")
-    toggle.loud_blindspot_alert = custom_alerts and self.params.get_bool("LoudBlindspotAlert")
-
-    toggle.custom_personalities = toggle.openpilot_longitudinal and self.params.get_bool("CustomPersonalities")
-    aggressive_profile = toggle.custom_personalities and self.params.get_bool("AggressivePersonalityProfile")
-    toggle.aggressive_jerk_acceleration = self.params.get_int("AggressiveJerkAcceleration") / 100. if aggressive_profile else 0.5
-    toggle.aggressive_jerk_deceleration = self.params.get_int("AggressiveJerkDeceleration") / 100. if aggressive_profile else 0.5
-    toggle.aggressive_jerk_danger = self.params.get_int("AggressiveJerkDanger") / 100. if aggressive_profile else 0.5
-    toggle.aggressive_jerk_speed = self.params.get_int("AggressiveJerkSpeed") / 100. if aggressive_profile else 0.5
-    toggle.aggressive_jerk_speed_decrease = self.params.get_int("AggressiveJerkSpeedDecrease") / 100. if aggressive_profile else 0.5
-    toggle.aggressive_follow = self.params.get_float("AggressiveFollow") if aggressive_profile else 1.25
-    standard_profile = toggle.custom_personalities and self.params.get_bool("StandardPersonalityProfile")
-    toggle.standard_jerk_acceleration = self.params.get_int("StandardJerkAcceleration") / 100. if standard_profile else 1.0
-    toggle.standard_jerk_deceleration = self.params.get_int("StandardJerkDeceleration") / 100. if standard_profile else 1.0
-    toggle.standard_jerk_danger = self.params.get_int("StandardJerkDanger") / 100. if standard_profile else 0.5
-    toggle.standard_jerk_speed = self.params.get_int("StandardJerkSpeed") / 100. if standard_profile else 1.0
-    toggle.standard_jerk_speed_decrease = self.params.get_int("StandardJerkSpeedDecrease") / 100. if standard_profile else 1.0
-    toggle.standard_follow = self.params.get_float("StandardFollow") if standard_profile else 1.45
-    relaxed_profile = toggle.custom_personalities and self.params.get_bool("RelaxedPersonalityProfile")
-    toggle.relaxed_jerk_acceleration = self.params.get_int("RelaxedJerkAcceleration") / 100. if relaxed_profile else 1.0
-    toggle.relaxed_jerk_deceleration = self.params.get_int("RelaxedJerkDeceleration") / 100. if relaxed_profile else 1.0
-    toggle.relaxed_jerk_danger = self.params.get_int("RelaxedJerkDanger") / 100. if relaxed_profile else 0.5
-    toggle.relaxed_jerk_speed = self.params.get_int("RelaxedJerkSpeed") / 100. if relaxed_profile else 1.0
-    toggle.relaxed_jerk_speed_decrease = self.params.get_int("RelaxedJerkSpeedDecrease") / 100. if relaxed_profile else 1.0
-    toggle.relaxed_follow = self.params.get_float("RelaxedFollow") if relaxed_profile else 1.75
-    traffic_profile = toggle.custom_personalities and self.params.get_bool("TrafficPersonalityProfile")
-    toggle.traffic_mode_jerk_acceleration = [self.params.get_int("TrafficJerkAcceleration") / 100., toggle.aggressive_jerk_acceleration] if traffic_profile else [0.5, 0.5]
-    toggle.traffic_mode_jerk_deceleration = [self.params.get_int("TrafficJerkDeceleration") / 100., toggle.aggressive_jerk_deceleration] if traffic_profile else [0.5, 0.5]
-    toggle.traffic_mode_jerk_danger = [self.params.get_int("TrafficJerkDanger") / 100., toggle.aggressive_jerk_danger] if traffic_profile else [1.0, 1.0]
-    toggle.traffic_mode_jerk_speed = [self.params.get_int("TrafficJerkSpeed") / 100., toggle.aggressive_jerk_speed] if traffic_profile else [0.5, 0.5]
-    toggle.traffic_mode_jerk_speed_decrease = [self.params.get_int("TrafficJerkSpeedDecrease") / 100., toggle.aggressive_jerk_speed_decrease] if traffic_profile else [0.5, 0.5]
-    toggle.traffic_mode_t_follow = [self.params.get_float("TrafficFollow"), toggle.aggressive_follow] if traffic_profile else [0.5, 1.0]
-
-    custom_ui = self.params.get_bool("CustomUI")
-    custom_paths = custom_ui and self.params.get_bool("CustomPaths")
-    toggle.adjacent_lanes = custom_paths and self.params.get_bool("AdjacentPath")
-    toggle.blind_spot_path = custom_paths and self.params.get_bool("BlindSpotPath")
-
-    developer_ui = self.params.get_bool("DeveloperUI")
-    show_lateral = developer_ui and self.params.get_bool("LateralMetrics")
-    toggle.adjacent_path_metrics = show_lateral and self.params.get_bool("AdjacentPathMetrics")
-
-    toggle.device_management = self.params.get_bool("DeviceManagement")
-    device_shutdown_setting = self.params.get_int("DeviceShutdown") if toggle.device_management else 33
+      params.put_bool("ExperimentalMode", True)
+
+    toggle.crosstrek_torque = car_model == "SUBARU_IMPREZA" and params.get_bool("CrosstrekTorque")
+
+    toggle.current_holiday_theme = params.get("CurrentHolidayTheme", encoding='utf-8') if params.get_bool("HolidayThemes") else None
+
+    toggle.curve_speed_controller = openpilot_longitudinal and params.get_bool("CurveSpeedControl")
+    toggle.curve_sensitivity = params.get_int("CurveSensitivity") / 100 if toggle.curve_speed_controller else 1
+    toggle.turn_aggressiveness = params.get_int("TurnAggressiveness") / 100 if toggle.curve_speed_controller else 1
+    toggle.map_turn_speed_controller = toggle.curve_speed_controller and params.get_bool("MTSCEnabled")
+    toggle.mtsc_curvature_check = toggle.map_turn_speed_controller and params.get_bool("MTSCCurvatureCheck")
+    toggle.vision_turn_controller = toggle.curve_speed_controller and params.get_bool("VisionTurnControl")
+
+    toggle.custom_alerts = params.get_bool("CustomAlerts")
+    toggle.goat_scream_alert = toggle.current_holiday_theme is None and toggle.custom_alerts and params.get_bool("GoatScream")
+    toggle.green_light_alert = toggle.custom_alerts and params.get_bool("GreenLightAlert")
+    toggle.lead_departing_alert = toggle.custom_alerts and params.get_bool("LeadDepartingAlert")
+    toggle.loud_blindspot_alert = has_bsm and toggle.custom_alerts and params.get_bool("LoudBlindspotAlert")
+    toggle.speed_limit_changed_alert = toggle.custom_alerts and params.get_bool("SpeedLimitChangedAlert")
+
+    toggle.custom_personalities = openpilot_longitudinal and params.get_bool("CustomPersonalities")
+    toggle.aggressive_profile = toggle.custom_personalities and params.get_bool("AggressivePersonalityProfile")
+    toggle.aggressive_jerk_acceleration = clip(params.get_int("AggressiveJerkAcceleration") / 100, 0.01, 5) if toggle.aggressive_profile else 0.5
+    toggle.aggressive_jerk_deceleration = clip(params.get_int("AggressiveJerkDeceleration") / 100, 0.01, 5) if toggle.aggressive_profile else 0.5
+    toggle.aggressive_jerk_danger = clip(params.get_int("AggressiveJerkDanger") / 100, 0.01, 5) if toggle.aggressive_profile else 0.5
+    toggle.aggressive_jerk_speed = clip(params.get_int("AggressiveJerkSpeed") / 100, 0.01, 5) if toggle.aggressive_profile else 0.5
+    toggle.aggressive_jerk_speed_decrease = clip(params.get_int("AggressiveJerkSpeedDecrease") / 100, 0.01, 5) if toggle.aggressive_profile else 0.5
+    toggle.aggressive_follow = clip(params.get_float("AggressiveFollow"), 1, 5) if toggle.aggressive_profile else 1.25
+    toggle.standard_profile = toggle.custom_personalities and params.get_bool("StandardPersonalityProfile")
+    toggle.standard_jerk_acceleration = clip(params.get_int("StandardJerkAcceleration") / 100, 0.01, 5) if toggle.standard_profile else 1.0
+    toggle.standard_jerk_deceleration = clip(params.get_int("StandardJerkDeceleration") / 100, 0.01, 5) if toggle.standard_profile else 1.0
+    toggle.standard_jerk_danger = clip(params.get_int("StandardJerkDanger") / 100, 0.01, 5) if toggle.standard_profile else 0.5
+    toggle.standard_jerk_speed = clip(params.get_int("StandardJerkSpeed") / 100, 0.01, 5) if toggle.standard_profile else 1.0
+    toggle.standard_jerk_speed_decrease = clip(params.get_int("StandardJerkSpeedDecrease") / 100, 0.01, 5) if toggle.standard_profile else 1.0
+    toggle.standard_follow = clip(params.get_float("StandardFollow"), 1, 5) if toggle.standard_profile else 1.45
+    toggle.relaxed_profile = toggle.custom_personalities and params.get_bool("RelaxedPersonalityProfile")
+    toggle.relaxed_jerk_acceleration = clip(params.get_int("RelaxedJerkAcceleration") / 100, 0.01, 5) if toggle.relaxed_profile else 1.0
+    toggle.relaxed_jerk_deceleration = clip(params.get_int("RelaxedJerkDeceleration") / 100, 0.01, 5) if toggle.relaxed_profile else 1.0
+    toggle.relaxed_jerk_danger = clip(params.get_int("RelaxedJerkDanger") / 100, 0.01, 5) if toggle.relaxed_profile else 0.5
+    toggle.relaxed_jerk_speed = clip(params.get_int("RelaxedJerkSpeed") / 100, 0.01, 5) if toggle.relaxed_profile else 1.0
+    toggle.relaxed_jerk_speed_decrease = clip(params.get_int("RelaxedJerkSpeedDecrease") / 100, 0.01, 5) if toggle.relaxed_profile else 1.0
+    toggle.relaxed_follow = clip(params.get_float("RelaxedFollow"), 1, 5) if toggle.relaxed_profile else 1.75
+    toggle.traffic_profile = toggle.custom_personalities and params.get_bool("TrafficPersonalityProfile")
+    toggle.traffic_mode_jerk_acceleration = [clip(params.get_int("TrafficJerkAcceleration") / 100, 0.01, 5), toggle.aggressive_jerk_acceleration] if toggle.traffic_profile else [0.5, 0.5]
+    toggle.traffic_mode_jerk_deceleration = [clip(params.get_int("TrafficJerkDeceleration") / 100, 0.01, 5), toggle.aggressive_jerk_deceleration] if toggle.traffic_profile else [0.5, 0.5]
+    toggle.traffic_mode_jerk_danger = [clip(params.get_int("TrafficJerkDanger") / 100, 0.01, 5), toggle.aggressive_jerk_danger] if toggle.traffic_profile else [1.0, 1.0]
+    toggle.traffic_mode_jerk_speed = [clip(params.get_int("TrafficJerkSpeed") / 100, 0.01, 5), toggle.aggressive_jerk_speed] if toggle.traffic_profile else [0.5, 0.5]
+    toggle.traffic_mode_jerk_speed_decrease = [clip(params.get_int("TrafficJerkSpeedDecrease") / 100, 0.01, 5), toggle.aggressive_jerk_speed_decrease] if toggle.traffic_profile else [0.5, 0.5]
+    toggle.traffic_mode_t_follow = [clip(params.get_float("TrafficFollow"), 0.5, 5), toggle.aggressive_follow] if toggle.traffic_profile else [0.5, 1.0]
+
+    toggle.custom_ui = params.get_bool("CustomUI")
+    toggle.acceleration_path = toggle.custom_ui and params.get_bool("AccelerationPath")
+    toggle.adjacent_paths = toggle.custom_ui and params.get_bool("AdjacentPath")
+    toggle.blind_spot_path = has_bsm and toggle.custom_ui and params.get_bool("BlindSpotPath")
+    toggle.compass = toggle.custom_ui and params.get_bool("Compass")
+    toggle.pedals_on_ui = toggle.custom_ui and params.get_bool("PedalsOnUI")
+    toggle.dynamic_pedals_on_ui = toggle.pedals_on_ui and params.get_bool("DynamicPedalsOnUI")
+    toggle.static_pedals_on_ui = toggle.pedals_on_ui and params.get_bool("StaticPedalsOnUI")
+    toggle.rotating_wheel = toggle.custom_ui and params.get_bool("RotatingWheel")
+
+    toggle.developer_ui = params.get_bool("DeveloperUI")
+    toggle.border_metrics = toggle.developer_ui and params.get_bool("BorderMetrics")
+    toggle.blind_spot_metrics = has_bsm and toggle.border_metrics and params.get_bool("BlindSpotMetrics")
+    toggle.signal_metrics = toggle.border_metrics and params.get_bool("SignalMetrics")
+    toggle.steering_metrics = toggle.border_metrics and params.get_bool("ShowSteering")
+    toggle.show_fps = toggle.developer_ui and params.get_bool("FPSCounter")
+    toggle.lateral_metrics = toggle.developer_ui and params.get_bool("LateralMetrics")
+    toggle.adjacent_path_metrics = toggle.lateral_metrics and params.get_bool("AdjacentPathMetrics")
+    toggle.lateral_tuning_metrics = toggle.lateral_metrics and params.get_bool("TuningInfo")
+    toggle.longitudinal_metrics = toggle.developer_ui and params.get_bool("LongitudinalMetrics")
+    toggle.adjacent_lead_tracking = has_radar and toggle.longitudinal_metrics and params.get_bool("AdjacentLeadsUI")
+    toggle.lead_metrics = toggle.longitudinal_metrics and params.get_bool("LeadInfo")
+    toggle.jerk_metrics = toggle.longitudinal_metrics and params.get_bool("JerkInfo")
+    toggle.numerical_temp = toggle.developer_ui and params.get_bool("NumericalTemp")
+    toggle.fahrenheit = toggle.numerical_temp and params.get_bool("Fahrenheit")
+    toggle.sidebar_metrics = toggle.developer_ui and params.get_bool("SidebarMetrics")
+    toggle.cpu_metrics = toggle.sidebar_metrics and params.get_bool("ShowCPU")
+    toggle.gpu_metrics = toggle.sidebar_metrics and params.get_bool("ShowGPU")
+    toggle.ip_metrics = toggle.sidebar_metrics and params.get_bool("ShowIP")
+    toggle.memory_metrics = toggle.sidebar_metrics and params.get_bool("ShowMemoryUsage")
+    toggle.storage_left_metrics = toggle.sidebar_metrics and params.get_bool("ShowStorageLeft")
+    toggle.storage_used_metrics = toggle.sidebar_metrics and params.get_bool("ShowStorageUsed")
+    toggle.use_si_metrics = toggle.developer_ui and params.get_bool("UseSI")
+
+    toggle.device_management = params.get_bool("DeviceManagement")
+    device_shutdown_setting = params.get_int("DeviceShutdown") if toggle.device_management else 33
     toggle.device_shutdown_time = (device_shutdown_setting - 3) * 3600 if device_shutdown_setting >= 4 else device_shutdown_setting * (60 * 15)
-    toggle.increase_thermal_limits = toggle.device_management and self.params.get_bool("IncreaseThermalLimits")
-    toggle.low_voltage_shutdown = self.params.get_float("LowVoltageShutdown") if toggle.device_management else VBATT_PAUSE_CHARGING
-    toggle.offline_mode = toggle.device_management and self.params.get_bool("OfflineMode")
+    toggle.increase_thermal_limits = toggle.device_management and params.get_bool("IncreaseThermalLimits")
+    toggle.low_voltage_shutdown = clip(params.get_float("LowVoltageShutdown"), VBATT_PAUSE_CHARGING, 12.5) if toggle.device_management else VBATT_PAUSE_CHARGING
+    toggle.no_logging = toggle.device_management and params.get_bool("NoLogging") or self.development_branch
+    toggle.no_uploads = toggle.device_management and params.get_bool("NoUploads") or self.development_branch
+    toggle.no_onroad_uploads = toggle.no_uploads and params.get_bool("DisableOnroadUploads")
+    toggle.offline_mode = toggle.device_management and params.get_bool("OfflineMode")
+
+    toggle.experimental_gm_tune = openpilot_longitudinal and car_make == "gm" and params.get_bool("ExperimentalGMTune")
 
-    toggle.experimental_mode_via_press = toggle.openpilot_longitudinal and self.params.get_bool("ExperimentalModeActivation")
-    toggle.experimental_mode_via_distance = toggle.experimental_mode_via_press and self.params.get_bool("ExperimentalModeViaDistance")
-    toggle.experimental_mode_via_lkas = not toggle.always_on_lateral_lkas and toggle.experimental_mode_via_press and car_make != "subaru" and self.params.get_bool("ExperimentalModeViaLKAS")
+    toggle.experimental_mode_via_press = openpilot_longitudinal and params.get_bool("ExperimentalModeActivation")
+    toggle.experimental_mode_via_distance = toggle.experimental_mode_via_press and params.get_bool("ExperimentalModeViaDistance")
+    toggle.experimental_mode_via_lkas = not toggle.always_on_lateral_lkas and toggle.experimental_mode_via_press and car_make != "subaru" and params.get_bool("ExperimentalModeViaLKAS")
+    toggle.experimental_mode_via_tap = toggle.experimental_mode_via_press and params.get_bool("ExperimentalModeViaTap")
 
-    lane_change_customizations = self.params.get_bool("LaneChangeCustomizations")
-    toggle.lane_change_delay = self.params.get_int("LaneChangeTime") if lane_change_customizations else 0
-    toggle.lane_detection_width = self.params.get_int("LaneDetectionWidth") * distance_conversion if lane_change_customizations else 0
+    toggle.frogsgomoo_tweak = openpilot_longitudinal and car_make == "toyota" and params.get_bool("FrogsGoMoosTweak")
+
+    toggle.lane_change_customizations = params.get_bool("LaneChangeCustomizations")
+    toggle.lane_change_delay = params.get_float("LaneChangeTime") if toggle.lane_change_customizations else 0
+    toggle.lane_detection_width = params.get_float("LaneDetectionWidth") * distance_conversion if toggle.lane_change_customizations else 0
     toggle.lane_detection = toggle.lane_detection_width != 0
-    toggle.minimum_lane_change_speed = self.params.get_int("MinimumLaneChangeSpeed") * speed_conversion if lane_change_customizations else LANE_CHANGE_SPEED_MIN
-    toggle.nudgeless = lane_change_customizations and self.params.get_bool("NudgelessLaneChange")
-    toggle.one_lane_change = lane_change_customizations and self.params.get_bool("OneLaneChange")
-
-    toggle.long_pitch = toggle.openpilot_longitudinal and car_make == "gm" and self.params.get_bool("LongPitch")
-    toggle.volt_sng = car_model == "CHEVROLET_VOLT" and self.params.get_bool("VoltSNG")
-
-    longitudinal_tune = toggle.openpilot_longitudinal and self.params.get_bool("LongitudinalTune")
-    toggle.acceleration_profile = self.params.get_int("AccelerationProfile") if longitudinal_tune else 0
-    toggle.sport_plus = max_acceleration_allowed and toggle.acceleration_profile == 3
-    toggle.deceleration_profile = self.params.get_int("DecelerationProfile") if longitudinal_tune else 0
-    toggle.human_acceleration = longitudinal_tune and self.params.get_bool("HumanAcceleration")
-    toggle.human_following = longitudinal_tune and self.params.get_bool("HumanFollowing")
-    toggle.increase_stopped_distance = self.params.get_int("IncreasedStoppedDistance") * distance_conversion if longitudinal_tune else 0
-
-    toggle.model_manager = self.params.get_bool("ModelManagement", block=openpilot_installed)
-    available_models = self.params.get("AvailableModels", block=toggle.model_manager, encoding='utf-8') or ""
-    available_model_names = self.params.get("AvailableModelsNames", block=toggle.model_manager, encoding='utf-8') or ""
-    if toggle.model_manager and available_models:
-      toggle.model_randomizer = self.params.get_bool("ModelRandomizer")
+    toggle.minimum_lane_change_speed = params.get_float("MinimumLaneChangeSpeed") * speed_conversion if toggle.lane_change_customizations else LANE_CHANGE_SPEED_MIN
+    toggle.nudgeless = toggle.lane_change_customizations and params.get_bool("NudgelessLaneChange")
+    toggle.one_lane_change = toggle.lane_change_customizations and params.get_bool("OneLaneChange")
+
+    toggle.lateral_tuning = params.get_bool("LateralTune")
+    toggle.nnff = toggle.lateral_tuning and params.get_bool("NNFF")
+    toggle.nnff_lite = toggle.lateral_tuning and params.get_bool("NNFFLite")
+    toggle.use_turn_desires = toggle.lateral_tuning and params.get_bool("TurnDesires")
+
+    toggle.long_pitch = openpilot_longitudinal and car_make == "gm" and params.get_bool("LongPitch")
+
+    toggle.longitudinal_tuning = openpilot_longitudinal and params.get_bool("LongitudinalTune")
+    toggle.acceleration_profile = params.get_int("AccelerationProfile") if toggle.longitudinal_tuning else 0
+    toggle.sport_plus = max_acceleration_enabled and toggle.acceleration_profile == 3
+    toggle.deceleration_profile = params.get_int("DecelerationProfile") if toggle.longitudinal_tuning else 0
+    toggle.human_acceleration = toggle.longitudinal_tuning and params.get_bool("HumanAcceleration")
+    toggle.human_following = toggle.longitudinal_tuning and params.get_bool("HumanFollowing")
+    toggle.lead_detection_probability = clip(params.get_int("LeadDetectionThreshold") / 100, 0.01, 0.99) if toggle.longitudinal_tuning else 0.5
+    toggle.max_desired_acceleration = clip(params.get_float("MaxDesiredAcceleration"), 0.1, 4.0) if toggle.longitudinal_tuning else 4.0
+    toggle.taco_tune = toggle.longitudinal_tuning and params.get_bool("TacoTune")
+
+    available_models = params.get("AvailableModels", encoding='utf-8') or ""
+    available_model_names = params.get("AvailableModelsNames", encoding='utf-8') or ""
+    toggle.model_randomizer = params.get_bool("ModelRandomizer")
+    if available_models:
       if toggle.model_randomizer:
-        blacklisted_models = (self.params.get("BlacklistedModels", encoding='utf-8') or "").split(',')
+        blacklisted_models = (params.get("BlacklistedModels", encoding='utf-8') or "").split(',')
         existing_models = [model for model in available_models.split(',') if model not in blacklisted_models and os.path.exists(os.path.join(MODELS_PATH, f"{model}.thneed"))]
-        toggle.model = random.choice(existing_models) if existing_models else DEFAULT_MODEL
+        toggle.model = random.choice(existing_models) if existing_models else DEFAULT_CLASSIC_MODEL
       else:
-        toggle.model = self.params.get("Model", block=True, encoding='utf-8')
+        toggle.model = params.get("Model", encoding='utf-8')
     else:
-      toggle.model = DEFAULT_MODEL
+      toggle.model = DEFAULT_CLASSIC_MODEL
     if toggle.model in available_models.split(',') and os.path.exists(os.path.join(MODELS_PATH, f"{toggle.model}.thneed")):
       current_model_name = available_model_names.split(',')[available_models.split(',').index(toggle.model)]
-      self.params_memory.put("CurrentModelName", current_model_name)
-      toggle.part_model_param = process_model_name(current_model_name)
-      try:
-        self.params.check_key(toggle.part_model_param + "CalibrationParams")
-      except UnknownKeyName:
-        toggle.part_model_param = ""
-    elif toggle.model == "secret-good-openpilot":
-      toggle.part_model_param = "SecretGoodOpenpilot"
+      params_memory.put("CurrentModelName", current_model_name)
     else:
-      toggle.model = DEFAULT_MODEL
-      toggle.part_model_param = ""
-    navigation_models = self.params.get("NavigationModels", encoding='utf-8') or ""
+      toggle.model = DEFAULT_CLASSIC_MODEL
+    classic_models = params.get("ClassicModels", encoding='utf-8') or ""
+    toggle.classic_model = classic_models and toggle.model in classic_models.split(',')
+    navigation_models = params.get("NavigationModels", encoding='utf-8') or ""
     toggle.navigationless_model = navigation_models and toggle.model not in navigation_models.split(',')
-    radarless_models = self.params.get("RadarlessModels", encoding='utf-8') or ""
+    radarless_models = params.get("RadarlessModels", encoding='utf-8') or ""
     toggle.radarless_model = radarless_models and toggle.model in radarless_models.split(',')
-    toggle.secretgoodopenpilot_model = toggle.model == "secret-good-openpilot"
-    velocity_models = self.params.get("VelocityModels", encoding='utf-8') or ""
-    toggle.velocity_model = velocity_models and toggle.model in velocity_models.split(',')
-
-    toggle.personalize_openpilot = self.params.get_bool("PersonalizeOpenpilot")
-    toggle.sound_pack = self.params.get("CustomSignals", encoding='utf-8') if toggle.personalize_openpilot else "stock"
-    toggle.wheel_image = self.params.get("WheelIcon", encoding='utf-8') if toggle.personalize_openpilot else "stock"
-
-    quality_of_life_lateral = self.params.get_bool("QOLLateral")
-    toggle.pause_lateral_below_speed = self.params.get_int("PauseLateralSpeed") * speed_conversion if quality_of_life_lateral else 0
-
-    quality_of_life_longitudinal = self.params.get_bool("QOLLongitudinal")
-    toggle.custom_cruise_increase = self.params.get_int("CustomCruise") if quality_of_life_longitudinal and not pcm_cruise else 1
-    toggle.custom_cruise_increase_long = self.params.get_int("CustomCruiseLong") if quality_of_life_longitudinal and not pcm_cruise else 5
-    toggle.distance_icons = self.params.get("CustomDistanceIcons", encoding='utf-8') if quality_of_life_longitudinal and self.params.get_bool("OnroadDistanceButton") else "stock"
-    map_gears = quality_of_life_longitudinal and self.params.get_bool("MapGears")
-    toggle.map_acceleration = map_gears and self.params.get_bool("MapAcceleration")
-    toggle.map_deceleration = map_gears and self.params.get_bool("MapDeceleration")
-    toggle.pause_lateral_below_signal = toggle.pause_lateral_below_speed != 0 and self.params.get_bool("PauseLateralOnSignal")
-    toggle.reverse_cruise_increase = quality_of_life_longitudinal and pcm_cruise and self.params.get_bool("ReverseCruise")
-
-    toggle.random_events = self.params.get_bool("RandomEvents")
-
-    toggle.sng_hack = toggle.openpilot_longitudinal and car_make == "toyota" and self.params.get_bool("SNGHack")
-
-    toggle.speed_limit_controller = toggle.openpilot_longitudinal and self.params.get_bool("SpeedLimitController")
-    toggle.force_mph_dashboard = toggle.speed_limit_controller and self.params.get_bool("ForceMPHDashboard")
-    toggle.map_speed_lookahead_higher = self.params.get_int("SLCLookaheadHigher") if toggle.speed_limit_controller else 0
-    toggle.map_speed_lookahead_lower = self.params.get_int("SLCLookaheadLower") if toggle.speed_limit_controller else 0
-    toggle.offset1 = self.params.get_int("Offset1") * speed_conversion if toggle.speed_limit_controller else 0
-    toggle.offset2 = self.params.get_int("Offset2") * speed_conversion if toggle.speed_limit_controller else 0
-    toggle.offset3 = self.params.get_int("Offset3") * speed_conversion if toggle.speed_limit_controller else 0
-    toggle.offset4 = self.params.get_int("Offset4") * speed_conversion if toggle.speed_limit_controller else 0
-    toggle.set_speed_limit = toggle.speed_limit_controller and self.params.get_bool("SetSpeedLimit")
-    toggle.speed_limit_alert = toggle.speed_limit_controller and self.params.get_bool("SpeedLimitChangedAlert")
-    toggle.speed_limit_confirmation_higher = toggle.speed_limit_controller and self.params.get_bool("SLCConfirmationHigher")
-    toggle.speed_limit_confirmation_lower = toggle.speed_limit_controller and self.params.get_bool("SLCConfirmationLower")
-    speed_limit_controller_override = self.params.get_int("SLCOverride") if toggle.speed_limit_controller else 0
-    toggle.speed_limit_controller_override_manual = speed_limit_controller_override == 1
-    toggle.speed_limit_controller_override_set_speed = speed_limit_controller_override == 2
-    toggle.use_set_speed = toggle.speed_limit_controller and self.params.get_int("SLCFallback") == 0
-    toggle.slc_fallback_experimental = toggle.speed_limit_controller and self.params.get_int("SLCFallback") == 1
-    toggle.slc_fallback_previous = toggle.speed_limit_controller and self.params.get_int("SLCFallback") == 2
-    toggle.speed_limit_priority1 = self.params.get("SLCPriority1", encoding='utf-8') if toggle.speed_limit_controller else None
-    toggle.speed_limit_priority2 = self.params.get("SLCPriority2", encoding='utf-8') if toggle.speed_limit_controller else None
-    toggle.speed_limit_priority3 = self.params.get("SLCPriority3", encoding='utf-8') if toggle.speed_limit_controller else None
+
+    toggle.model_ui = params.get_bool("ModelUI")
+    toggle.dynamic_path_width = toggle.model_ui and params.get_bool("DynamicPathWidth")
+    toggle.lane_line_width = params.get_int("LaneLinesWidth") * small_distance_conversion / 200 if toggle.model_ui else 0.025
+    toggle.path_edge_width = params.get_int("PathEdgeWidth") if toggle.model_ui else 20
+    toggle.path_width = params.get_float("PathWidth") * distance_conversion / 2 if toggle.model_ui else 0.9
+    toggle.road_edge_width = params.get_int("RoadEdgesWidth") * small_distance_conversion / 200 if toggle.model_ui else 0.025
+    toggle.show_stopping_point = toggle.model_ui and params.get_bool("ShowStoppingPoint")
+    toggle.show_stopping_point_metrics = toggle.show_stopping_point and params.get_bool("ShowStoppingPointMetrics")
+    toggle.unlimited_road_ui_length = toggle.model_ui and params.get_bool("UnlimitedLength")
+
+    toggle.navigation_ui = params.get_bool("NavigationUI")
+    toggle.big_map = toggle.navigation_ui and params.get_bool("BigMap")
+    toggle.full_map = toggle.big_map and params.get_bool("FullMap")
+    toggle.map_style = params.get_int("MapStyle") if toggle.navigation_ui else 0
+    toggle.road_name_ui = toggle.navigation_ui and params.get_bool("RoadNameUI")
+    toggle.show_speed_limit_offset = toggle.navigation_ui and params.get_bool("ShowSLCOffset")
+    toggle.speed_limit_vienna = toggle.navigation_ui and params.get_bool("UseVienna")
+
+    toggle.old_long_api = openpilot_longitudinal and car_make == "gm" and not params.get_bool("NewLongAPIGM")
+    toggle.old_long_api |= openpilot_longitudinal and car_make == "hyundai" and not params.get_bool("NewLongAPI")
+
+    toggle.personalize_openpilot = params.get_bool("PersonalizeOpenpilot")
+    toggle.color_scheme = params.get("CustomColors", encoding='utf-8') if toggle.personalize_openpilot else "stock"
+    toggle.distance_icons = params.get("CustomDistanceIcons", encoding='utf-8') if toggle.personalize_openpilot else "stock"
+    toggle.icon_pack = params.get("CustomIcons", encoding='utf-8') if toggle.personalize_openpilot else "stock"
+    toggle.signal_icons = params.get("CustomSignals", encoding='utf-8') if toggle.personalize_openpilot else "stock"
+    toggle.sound_pack = params.get("CustomSounds", encoding='utf-8') if toggle.personalize_openpilot else "stock"
+    toggle.wheel_image = params.get("WheelIcon", encoding='utf-8') if toggle.personalize_openpilot else "stock"
+
+    toggle.quality_of_life_lateral = params.get_bool("QOLLateral")
+    toggle.pause_lateral_below_speed = params.get_int("PauseLateralSpeed") * speed_conversion if toggle.quality_of_life_lateral else 0
+    toggle.pause_lateral_below_signal = toggle.pause_lateral_below_speed != 0 and params.get_bool("PauseLateralOnSignal")
+
+    toggle.quality_of_life_longitudinal = params.get_bool("QOLLongitudinal")
+    toggle.custom_cruise_increase = params.get_int("CustomCruise") if toggle.quality_of_life_longitudinal and not pcm_cruise else 1
+    toggle.custom_cruise_increase_long = params.get_int("CustomCruiseLong") if toggle.quality_of_life_longitudinal and not pcm_cruise else 5
+    toggle.force_standstill = toggle.quality_of_life_longitudinal and params.get_bool("ForceStandstill")
+    toggle.force_stops = toggle.quality_of_life_longitudinal and params.get_bool("ForceStops")
+    toggle.increased_stopped_distance = params.get_int("IncreasedStoppedDistance") * distance_conversion if toggle.quality_of_life_longitudinal else 0
+    toggle.map_gears = toggle.quality_of_life_longitudinal and params.get_bool("MapGears")
+    toggle.map_acceleration = toggle.map_gears and params.get_bool("MapAcceleration")
+    toggle.map_deceleration = toggle.map_gears and params.get_bool("MapDeceleration")
+    toggle.reverse_cruise_increase = toggle.quality_of_life_longitudinal and pcm_cruise and params.get_bool("ReverseCruise")
+    toggle.set_speed_offset = params.get_int("SetSpeedOffset") * (1 if toggle.is_metric else CV.MPH_TO_KPH) if toggle.quality_of_life_longitudinal and not pcm_cruise else 0
+
+    toggle.quality_of_life_visuals = params.get_bool("QOLVisuals")
+    toggle.camera_view = params.get_int("CameraView") if toggle.quality_of_life_visuals else 0
+    toggle.driver_camera_in_reverse = toggle.quality_of_life_visuals and params.get_bool("DriverCamera")
+    toggle.onroad_distance_button = toggle.quality_of_life_visuals and params.get_bool("OnroadDistanceButton")
+    toggle.standby_mode = toggle.quality_of_life_visuals and params.get_bool("StandbyMode")
+    toggle.stopped_timer = toggle.quality_of_life_visuals and params.get_bool("StoppedTimer")
+
+    toggle.random_events = params.get_bool("RandomEvents")
+
+    toggle.screen_management = params.get_bool("ScreenManagement")
+    toggle.screen_brightness = params.get_int("ScreenBrightness") if toggle.screen_management else 101
+    toggle.screen_brightness_onroad = params.get_int("ScreenBrightnessOnroad") if toggle.screen_management else 101
+    toggle.screen_recorder = toggle.screen_management and params.get_bool("ScreenRecorder")
+    toggle.screen_timeout = params.get_int("ScreenTimeout") if toggle.screen_management else 30
+    toggle.screen_timeout_onroad = params.get_int("ScreenTimeoutOnroad") if toggle.screen_management else 10
+
+    toggle.sng_hack = openpilot_longitudinal and car_make == "toyota" and params.get_bool("SNGHack")
+
+    toggle.speed_limit_controller = openpilot_longitudinal and params.get_bool("SpeedLimitController")
+    toggle.force_mph_dashboard = toggle.speed_limit_controller and params.get_bool("ForceMPHDashboard")
+    toggle.map_speed_lookahead_higher = params.get_int("SLCLookaheadHigher") if toggle.speed_limit_controller else 0
+    toggle.map_speed_lookahead_lower = params.get_int("SLCLookaheadLower") if toggle.speed_limit_controller else 0
+    toggle.set_speed_limit = toggle.speed_limit_controller and params.get_bool("SetSpeedLimit")
+    slc_fallback_method = params.get_int("SLCFallback") if toggle.speed_limit_controller else 0
+    toggle.slc_fallback_experimental_mode = toggle.speed_limit_controller and slc_fallback_method == 1
+    toggle.slc_fallback_previous_speed_limit = toggle.speed_limit_controller and slc_fallback_method == 2
+    toggle.slc_fallback_set_speed = toggle.speed_limit_controller and slc_fallback_method == 0
+    toggle.speed_limit_confirmation = toggle.speed_limit_controller and params.get_bool("SLCConfirmation")
+    toggle.speed_limit_confirmation_higher = toggle.speed_limit_confirmation and params.get_bool("SLCConfirmationHigher")
+    toggle.speed_limit_confirmation_lower = toggle.speed_limit_confirmation and params.get_bool("SLCConfirmationLower")
+    toggle.speed_limit_controller_override = params.get_int("SLCOverride") if toggle.speed_limit_controller else 0
+    toggle.speed_limit_controller_override_manual = toggle.speed_limit_controller_override == 1
+    toggle.speed_limit_controller_override_set_speed = toggle.speed_limit_controller_override == 2
+    toggle.speed_limit_offset1 = params.get_int("Offset1") * speed_conversion if toggle.speed_limit_controller else 0
+    toggle.speed_limit_offset2 = params.get_int("Offset2") * speed_conversion if toggle.speed_limit_controller else 0
+    toggle.speed_limit_offset3 = params.get_int("Offset3") * speed_conversion if toggle.speed_limit_controller else 0
+    toggle.speed_limit_offset4 = params.get_int("Offset4") * speed_conversion if toggle.speed_limit_controller else 0
+    toggle.speed_limit_priority1 = params.get("SLCPriority1", encoding='utf-8') if toggle.speed_limit_controller else None
+    toggle.speed_limit_priority2 = params.get("SLCPriority2", encoding='utf-8') if toggle.speed_limit_controller else None
+    toggle.speed_limit_priority3 = params.get("SLCPriority3", encoding='utf-8') if toggle.speed_limit_controller else None
     toggle.speed_limit_priority_highest = toggle.speed_limit_priority1 == "Highest"
     toggle.speed_limit_priority_lowest = toggle.speed_limit_priority1 == "Lowest"
 
-    toyota_doors = car_make == "toyota" and self.params.get_bool("ToyotaDoors")
-    toggle.lock_doors = toyota_doors and self.params.get_bool("LockDoors")
-    toggle.unlock_doors = toyota_doors and self.params.get_bool("UnlockDoors")
+    toggle.startup_alert_top = params.get("StartupMessageTop", encoding='utf-8') or ""
+    toggle.startup_alert_bottom = params.get("StartupMessageBottom", encoding='utf-8') or ""
+
+    toggle.tethering_config = params.get_int("TetheringEnabled")
+
+    toggle.toyota_doors = car_make == "toyota" and params.get_bool("ToyotaDoors")
+    toggle.lock_doors = toggle.toyota_doors and params.get_bool("LockDoors")
+    toggle.unlock_doors = toggle.toyota_doors and params.get_bool("UnlockDoors")
+
+    toggle.volt_sng = car_model == "CHEVROLET_VOLT" and params.get_bool("VoltSNG")
+
+    customization_level = params.get_int("CustomizationLevel") if params.get_bool("CustomizationLevelConfirmed") else 2
+
+    if customization_level == 0:
+      toggle.advanced_custom_onroad_ui = bool(self.default_frogpilot_toggles.AdvancedCustomUI)
+      toggle.hide_alerts = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.HideAlerts)
+      toggle.hide_lead_marker = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.HideLeadMarker)
+      toggle.hide_map_icon = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.HideMapIcon)
+      toggle.hide_max_speed = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.HideMaxSpeed)
+      toggle.hide_speed = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.HideSpeed)
+      toggle.hide_speed_limit = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.HideSpeedLimit)
+      toggle.use_wheel_speed = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.WheelSpeed)
+
+      toggle.advanced_lateral_tuning = bool(self.default_frogpilot_toggles.AdvancedLateralTune)
+      toggle.use_custom_steer_friction = False
+      toggle.use_custom_kp = False
+      toggle.use_custom_lat_accel_factor = False
+      toggle.use_custom_steer_ratio = False
+      toggle.force_auto_tune = bool(toggle.advanced_lateral_tuning and not has_auto_tune and not is_pid_car and self.default_frogpilot_toggles.ForceAutoTune)
+      toggle.force_auto_tune_off = bool(toggle.advanced_lateral_tuning and has_auto_tune and not is_pid_car and self.default_frogpilot_toggles.ForceAutoTuneOff)
+
+      toggle.alert_volume_control = bool(self.default_frogpilot_toggles.AlertVolumeControl)
+      toggle.disengage_volume = int(self.default_frogpilot_toggles.DisengageVolume if toggle.alert_volume_control else 101)
+      toggle.engage_volume = int(self.default_frogpilot_toggles.EngageVolume if toggle.alert_volume_control else 101)
+      toggle.prompt_volume = int(self.default_frogpilot_toggles.PromptVolume if toggle.alert_volume_control else 101)
+      toggle.promptDistracted_volume = int(self.default_frogpilot_toggles.PromptDistractedVolume if toggle.alert_volume_control else 101)
+      toggle.refuse_volume = int(self.default_frogpilot_toggles.RefuseVolume if toggle.alert_volume_control else 101)
+      toggle.warningSoft_volume = int(self.default_frogpilot_toggles.WarningSoftVolume if toggle.alert_volume_control else 101)
+      toggle.warningImmediate_volume = int(self.default_frogpilot_toggles.WarningImmediateVolume if toggle.alert_volume_control else 101)
+
+      toggle.always_on_lateral = bool(always_on_lateral_set and self.default_frogpilot_toggles.AlwaysOnLateral)
+      toggle.always_on_lateral_lkas = bool(toggle.always_on_lateral and car_make != "subaru" and self.default_frogpilot_toggles.AlwaysOnLateralLKAS)
+      toggle.always_on_lateral_main = bool(toggle.always_on_lateral and self.default_frogpilot_toggles.AlwaysOnLateralMain)
+      toggle.always_on_lateral_pause_speed = int(self.default_frogpilot_toggles.PauseAOLOnBrake if toggle.always_on_lateral else 0)
+      toggle.always_on_lateral_status_bar = bool(toggle.always_on_lateral and not self.default_frogpilot_toggles.HideAOLStatusBar)
+
+      toggle.cluster_offset = float(self.default_frogpilot_toggles.ClusterOffset if car_make == "toyota" else 1)
+
+      toggle.conditional_experimental_mode = bool(openpilot_longitudinal and self.default_frogpilot_toggles.ConditionalExperimental)
+      toggle.conditional_curves = bool(toggle.conditional_experimental_mode and self.default_frogpilot_toggles.CECurves)
+      toggle.conditional_curves_lead = bool(toggle.conditional_curves and self.default_frogpilot_toggles.CECurvesLead)
+      toggle.conditional_lead = bool(toggle.conditional_experimental_mode and self.default_frogpilot_toggles.CELead)
+      toggle.conditional_slower_lead = bool(toggle.conditional_lead and self.default_frogpilot_toggles.CESlowerLead)
+      toggle.conditional_stopped_lead = bool(toggle.conditional_lead and self.default_frogpilot_toggles.CEStoppedLead)
+      toggle.conditional_limit = int(self.default_frogpilot_toggles.CESpeed) * speed_conversion if toggle.conditional_experimental_mode else 0
+      toggle.conditional_limit_lead = int(self.default_frogpilot_toggles.CESpeedLead) * speed_conversion if toggle.conditional_experimental_mode else 0
+      toggle.conditional_navigation = bool(toggle.conditional_experimental_mode and self.default_frogpilot_toggles.CENavigation)
+      toggle.conditional_navigation_intersections = bool(toggle.conditional_navigation and self.default_frogpilot_toggles.CENavigationIntersections)
+      toggle.conditional_navigation_lead = bool(toggle.conditional_navigation and self.default_frogpilot_toggles.CENavigationLead)
+      toggle.conditional_navigation_turns = bool(toggle.conditional_navigation and self.default_frogpilot_toggles.CENavigationTurns)
+      toggle.conditional_model_stop_time = int(self.default_frogpilot_toggles.CEModelStopTime if toggle.conditional_experimental_mode else 0)
+      toggle.conditional_signal = int(self.default_frogpilot_toggles.CESignalSpeed if toggle.conditional_experimental_mode else 0)
+      toggle.conditional_signal_lane_detection = bool(toggle.conditional_signal != 0 and self.default_frogpilot_toggles.CESignalLaneDetection)
+      toggle.conditional_status_bar = bool(toggle.conditional_experimental_mode and not self.default_frogpilot_toggles.HideCEMStatusBar)
+      if toggle.conditional_experimental_mode:
+        params.put_bool("ExperimentalMode", True)
+
+      toggle.crosstrek_torque = bool(car_model == "SUBARU_IMPREZA" and self.default_frogpilot_toggles.CrosstrekTorque)
+
+      toggle.curve_speed_controller = bool(openpilot_longitudinal and self.default_frogpilot_toggles.CurveSpeedControl)
+      toggle.curve_sensitivity = int(self.default_frogpilot_toggles.CurveSensitivity) / 100 if toggle.curve_speed_controller else 1
+      toggle.turn_aggressiveness = int(self.default_frogpilot_toggles.TurnAggressiveness) / 100 if toggle.curve_speed_controller else 1
+      toggle.map_turn_speed_controller = bool(toggle.curve_speed_controller and self.default_frogpilot_toggles.MTSCEnabled)
+      toggle.mtsc_curvature_check = bool(toggle.map_turn_speed_controller and self.default_frogpilot_toggles.MTSCCurvatureCheck)
+      toggle.vision_turn_controller = bool(toggle.curve_speed_controller and self.default_frogpilot_toggles.VisionTurnControl)
+
+      toggle.custom_personalities = bool(openpilot_longitudinal and self.default_frogpilot_toggles.CustomPersonalities)
+      toggle.aggressive_profile = bool(toggle.custom_personalities and self.default_frogpilot_toggles.AggressivePersonalityProfile)
+      toggle.aggressive_jerk_deceleration = int(self.default_frogpilot_toggles.AggressiveJerkDeceleration) / 100 if toggle.aggressive_profile else 0.5
+      toggle.aggressive_jerk_danger = int(self.default_frogpilot_toggles.AggressiveJerkDanger) / 100 if toggle.aggressive_profile else 1.0
+      toggle.aggressive_jerk_speed = int(self.default_frogpilot_toggles.AggressiveJerkSpeed) / 100 if toggle.aggressive_profile else 0.5
+      toggle.aggressive_jerk_speed_decrease = int(self.default_frogpilot_toggles.AggressiveJerkSpeedDecrease) / 100 if toggle.aggressive_profile else 0.5
+      toggle.aggressive_follow = float(self.default_frogpilot_toggles.AggressiveFollow) if toggle.aggressive_profile else 1.25
+      toggle.standard_profile = bool(toggle.custom_personalities and self.default_frogpilot_toggles.StandardPersonalityProfile)
+      toggle.standard_jerk_acceleration = int(self.default_frogpilot_toggles.StandardJerkAcceleration) / 100 if toggle.standard_profile else 1.0
+      toggle.standard_jerk_deceleration = int(self.default_frogpilot_toggles.StandardJerkDeceleration) / 100 if toggle.standard_profile else 1.0
+      toggle.standard_jerk_danger = int(self.default_frogpilot_toggles.StandardJerkDanger) / 100 if toggle.standard_profile else 1.0
+      toggle.standard_jerk_speed = int(self.default_frogpilot_toggles.StandardJerkSpeed) / 100 if toggle.standard_profile else 1.0
+      toggle.standard_jerk_speed_decrease = int(self.default_frogpilot_toggles.StandardJerkSpeedDecrease) / 100 if toggle.standard_profile else 1.0
+      toggle.standard_follow = float(self.default_frogpilot_toggles.StandardFollow) if toggle.standard_profile else 1.45
+      toggle.relaxed_profile = bool(toggle.custom_personalities and self.default_frogpilot_toggles.RelaxedPersonalityProfile)
+      toggle.relaxed_jerk_acceleration = int(self.default_frogpilot_toggles.RelaxedJerkAcceleration) / 100 if toggle.relaxed_profile else 1.0
+      toggle.relaxed_jerk_deceleration = int(self.default_frogpilot_toggles.RelaxedJerkDeceleration) / 100 if toggle.relaxed_profile else 1.0
+      toggle.relaxed_jerk_danger = int(self.default_frogpilot_toggles.RelaxedJerkDanger) / 100 if toggle.relaxed_profile else 1.0
+      toggle.relaxed_jerk_speed = int(self.default_frogpilot_toggles.RelaxedJerkSpeed) / 100 if toggle.relaxed_profile else 1.0
+      toggle.relaxed_jerk_speed_decrease = int(self.default_frogpilot_toggles.RelaxedJerkSpeedDecrease) / 100 if toggle.relaxed_profile else 1.0
+      toggle.relaxed_follow = float(self.default_frogpilot_toggles.RelaxedFollow) if toggle.relaxed_profile else 1.75
+      toggle.traffic_profile = bool(toggle.custom_personalities and self.default_frogpilot_toggles.TrafficPersonalityProfile)
+      toggle.traffic_mode_jerk_acceleration = [int(self.default_frogpilot_toggles.TrafficJerkAcceleration) / 100, toggle.aggressive_jerk_acceleration] if toggle.traffic_profile else [0.5, 0.5]
+      toggle.traffic_mode_jerk_deceleration = [int(self.default_frogpilot_toggles.TrafficJerkDeceleration) / 100, toggle.aggressive_jerk_deceleration] if toggle.traffic_profile else [0.5, 0.5]
+      toggle.traffic_mode_jerk_danger = [int(self.default_frogpilot_toggles.TrafficJerkDanger) / 100, toggle.aggressive_jerk_danger] if toggle.traffic_profile else [1.0, 1.0]
+      toggle.traffic_mode_jerk_speed = [int(self.default_frogpilot_toggles.TrafficJerkSpeed) / 100, toggle.aggressive_jerk_speed] if toggle.traffic_profile else [0.5, 0.5]
+      toggle.traffic_mode_jerk_speed_decrease = [int(self.default_frogpilot_toggles.TrafficJerkSpeedDecrease) / 100, toggle.aggressive_jerk_speed_decrease] if toggle.traffic_profile else [0.5, 0.5]
+      toggle.traffic_mode_t_follow = [float(self.default_frogpilot_toggles.TrafficFollow), toggle.aggressive_follow] if toggle.traffic_profile else [0.5, 1.0]
+
+      toggle.custom_ui = bool(self.default_frogpilot_toggles.CustomUI)
+      toggle.acceleration_path = bool(toggle.custom_ui and self.default_frogpilot_toggles.AccelerationPath)
+      toggle.adjacent_paths = bool(toggle.custom_ui and self.default_frogpilot_toggles.AdjacentPath)
+      toggle.blind_spot_path = bool(has_bsm and toggle.custom_ui and self.default_frogpilot_toggles.BlindSpotPath)
+      toggle.compass = bool(toggle.custom_ui and self.default_frogpilot_toggles.Compass)
+      toggle.pedals_on_ui = bool(toggle.custom_ui and self.default_frogpilot_toggles.PedalsOnUI)
+      toggle.dynamic_pedals_on_ui = bool(toggle.pedals_on_ui and self.default_frogpilot_toggles.DynamicPedalsOnUI)
+      toggle.static_pedals_on_ui = bool(toggle.pedals_on_ui and self.default_frogpilot_toggles.StaticPedalsOnUI)
+      toggle.rotating_wheel = bool(toggle.custom_ui and self.default_frogpilot_toggles.RotatingWheel)
+
+      toggle.developer_ui = bool(self.default_frogpilot_toggles.DeveloperUI)
+      toggle.border_metrics = bool(toggle.developer_ui and self.default_frogpilot_toggles.BorderMetrics)
+      toggle.blind_spot_metrics = bool(has_bsm and toggle.border_metrics and self.default_frogpilot_toggles.BlindSpotMetrics)
+      toggle.signal_metrics = bool(toggle.border_metrics and self.default_frogpilot_toggles.SignalMetrics)
+      toggle.steering_metrics = bool(toggle.border_metrics and self.default_frogpilot_toggles.ShowSteering)
+      toggle.show_fps = bool(toggle.developer_ui and self.default_frogpilot_toggles.FPSCounter)
+      toggle.lateral_metrics = bool(toggle.developer_ui and self.default_frogpilot_toggles.LateralMetrics)
+      toggle.adjacent_path_metrics = bool(toggle.lateral_metrics and self.default_frogpilot_toggles.AdjacentPathMetrics)
+      toggle.lateral_tuning_metrics = bool(toggle.lateral_metrics and self.default_frogpilot_toggles.TuningInfo)
+      toggle.longitudinal_metrics = bool(toggle.developer_ui and self.default_frogpilot_toggles.LongitudinalMetrics)
+      toggle.adjacent_lead_tracking = bool(has_radar and toggle.longitudinal_metrics and self.default_frogpilot_toggles.AdjacentLeadsUI)
+      toggle.lead_metrics = bool(toggle.longitudinal_metrics and self.default_frogpilot_toggles.LeadInfo)
+      toggle.jerk_metrics = bool(toggle.longitudinal_metrics and self.default_frogpilot_toggles.JerkInfo)
+      toggle.numerical_temp = bool(toggle.developer_ui and self.default_frogpilot_toggles.NumericalTemp)
+      toggle.fahrenheit = bool(toggle.numerical_temp and self.default_frogpilot_toggles.Fahrenheit)
+      toggle.sidebar_metrics = bool(toggle.developer_ui and self.default_frogpilot_toggles.SidebarMetrics)
+      toggle.cpu_metrics = bool(toggle.sidebar_metrics and self.default_frogpilot_toggles.ShowCPU)
+      toggle.gpu_metrics = bool(toggle.sidebar_metrics and self.default_frogpilot_toggles.ShowGPU)
+      toggle.ip_metrics = bool(toggle.sidebar_metrics and self.default_frogpilot_toggles.ShowIP)
+      toggle.memory_metrics = bool(toggle.sidebar_metrics and self.default_frogpilot_toggles.ShowMemoryUsage)
+      toggle.storage_left_metrics = bool(toggle.sidebar_metrics and self.default_frogpilot_toggles.ShowStorageLeft)
+      toggle.storage_used_metrics = bool(toggle.sidebar_metrics and self.default_frogpilot_toggles.ShowStorageUsed)
+      toggle.use_si_metrics = bool(toggle.developer_ui and self.default_frogpilot_toggles.UseSI)
+
+      toggle.device_management = bool(self.default_frogpilot_toggles.DeviceManagement)
+      device_shutdown_setting = int(self.default_frogpilot_toggles.DeviceShutdown) if toggle.device_management else 33
+      toggle.device_shutdown_time = (device_shutdown_setting - 3) * 3600 if device_shutdown_setting >= 4 else device_shutdown_setting * (60 * 15)
+      toggle.increase_thermal_limits = bool(toggle.device_management and self.default_frogpilot_toggles.IncreaseThermalLimits)
+      toggle.low_voltage_shutdown = clip(float(self.default_frogpilot_toggles.LowVoltageShutdown), VBATT_PAUSE_CHARGING, 12.5) if toggle.device_management else VBATT_PAUSE_CHARGING
+      toggle.no_logging = bool(toggle.device_management and self.default_frogpilot_toggles.NoLogging or self.development_branch)
+      toggle.no_uploads = bool(toggle.device_management and self.default_frogpilot_toggles.NoUploads or self.development_branch)
+      toggle.no_onroad_uploads = bool(toggle.no_uploads and self.default_frogpilot_toggles.DisableOnroadUploads)
+      toggle.offline_mode = bool(toggle.device_management and self.default_frogpilot_toggles.OfflineMode)
+
+      toggle.experimental_gm_tune = bool(openpilot_longitudinal and car_make == "gm" and self.default_frogpilot_toggles.ExperimentalGMTune)
+
+      toggle.experimental_mode_via_press = bool(openpilot_longitudinal and self.default_frogpilot_toggles.ExperimentalModeActivation)
+      toggle.experimental_mode_via_distance = bool(toggle.experimental_mode_via_press and self.default_frogpilot_toggles.ExperimentalModeViaDistance)
+      toggle.experimental_mode_via_lkas = bool(not toggle.always_on_lateral_lkas and toggle.experimental_mode_via_press and car_make != "subaru" and self.default_frogpilot_toggles.ExperimentalModeViaLKAS)
+      toggle.experimental_mode_via_tap = bool(toggle.experimental_mode_via_press and self.default_frogpilot_toggles.ExperimentalModeViaTap)
+
+      toggle.frogsgomoo_tweak = bool(openpilot_longitudinal and car_make == "toyota" and self.default_frogpilot_toggles.FrogsGoMoosTweak)
+
+      toggle.lane_change_customizations = bool(self.default_frogpilot_toggles.LaneChangeCustomizations)
+      toggle.lane_change_delay = float(self.default_frogpilot_toggles.LaneChangeTime) if toggle.lane_change_customizations else 0
+      toggle.lane_detection_width = float(self.default_frogpilot_toggles.LaneDetectionWidth) * distance_conversion if toggle.lane_change_customizations else 0
+      toggle.lane_detection = bool(toggle.lane_detection_width != 0)
+      toggle.minimum_lane_change_speed = float(self.default_frogpilot_toggles.MinimumLaneChangeSpeed) * speed_conversion if toggle.lane_change_customizations else LANE_CHANGE_SPEED_MIN
+      toggle.nudgeless = bool(toggle.lane_change_customizations and self.default_frogpilot_toggles.NudgelessLaneChange)
+      toggle.one_lane_change = bool(toggle.lane_change_customizations and self.default_frogpilot_toggles.OneLaneChange)
+
+      toggle.lateral_tuning = bool(self.default_frogpilot_toggles.LateralTune)
+      toggle.nnff = bool(toggle.lateral_tuning and self.default_frogpilot_toggles.NNFF)
+      toggle.nnff_lite = bool(toggle.lateral_tuning and self.default_frogpilot_toggles.NNFFLite)
+      toggle.use_turn_desires = bool(toggle.lateral_tuning and self.default_frogpilot_toggles.TurnDesires)
+
+      toggle.long_pitch = bool(openpilot_longitudinal and car_make == "gm" and self.default_frogpilot_toggles.LongPitch)
+
+      toggle.human_acceleration = bool(toggle.longitudinal_tuning and self.default_frogpilot_toggles.HumanAcceleration)
+      toggle.human_following = bool(toggle.longitudinal_tuning and self.default_frogpilot_toggles.HumanFollowing)
+      toggle.lead_detection_probability = clip(float(self.default_frogpilot_toggles.LeadDetectionThreshold) / 100, 0.01, 0.99) if toggle.longitudinal_tuning else 0.5
+      toggle.max_desired_acceleration = clip(float(self.default_frogpilot_toggles.MaxDesiredAcceleration), 0.1, 4.0) if toggle.longitudinal_tuning else 4.0
+      toggle.taco_tune = bool(toggle.longitudinal_tuning and self.default_frogpilot_toggles.TacoTune)
+
+      toggle.model = DEFAULT_CLASSIC_MODEL
+      toggle.model_randomizer = self.default_frogpilot_toggles.ModelRandomizer
+      toggle.part_model_param = ""
+      toggle.classic_model = bool(classic_models and toggle.model in classic_models.split(','))
+      toggle.navigationless_model = bool(navigation_models and toggle.model not in navigation_models.split(','))
+      toggle.radarless_model = bool(radarless_models and toggle.model in radarless_models.split(','))
+
+      toggle.model_ui = bool(self.default_frogpilot_toggles.ModelUI)
+      toggle.dynamic_path_width = bool(toggle.model_ui and self.default_frogpilot_toggles.DynamicPathWidth)
+      toggle.lane_line_width = int(self.default_frogpilot_toggles.LaneLinesWidth) * small_distance_conversion / 200 if toggle.model_ui else 0.025
+      toggle.path_edge_width = int(self.default_frogpilot_toggles.PathEdgeWidth) if toggle.model_ui else 20
+      toggle.path_width = float(self.default_frogpilot_toggles.PathWidth) * distance_conversion / 2 if toggle.model_ui else 0.9
+      toggle.road_edge_width = int(self.default_frogpilot_toggles.RoadEdgesWidth) * small_distance_conversion / 200 if toggle.model_ui else 0.025
+      toggle.show_stopping_point = bool(toggle.model_ui and self.default_frogpilot_toggles.ShowStoppingPoint)
+      toggle.show_stopping_point_metrics = bool(toggle.show_stopping_point and self.default_frogpilot_toggles.ShowStoppingPointMetrics)
+      toggle.unlimited_road_ui_length = bool(toggle.model_ui and self.default_frogpilot_toggles.UnlimitedLength)
+
+      toggle.navigation_ui = bool(self.default_frogpilot_toggles.NavigationUI)
+      toggle.big_map = bool(toggle.navigation_ui and params.get_bool("BigMap"))
+      toggle.full_map = bool(toggle.big_map and self.default_frogpilot_toggles.FullMap)
+      toggle.map_style = int(self.default_frogpilot_toggles.MapStyle) if toggle.navigation_ui else 0
+      toggle.road_name_ui = bool(toggle.navigation_ui and self.default_frogpilot_toggles.RoadNameUI)
+      toggle.show_speed_limit_offset = bool(toggle.navigation_ui and self.default_frogpilot_toggles.ShowSLCOffset)
+      toggle.speed_limit_vienna = bool(toggle.navigation_ui and self.default_frogpilot_toggles.UseVienna)
+
+      toggle.old_long_api = bool(openpilot_longitudinal and car_make == "gm" and not self.default_frogpilot_toggles.NewLongAPIGM)
+      toggle.old_long_api |= bool(openpilot_longitudinal and car_make == "hyundai" and not self.default_frogpilot_toggles.NewLongAPI)
+
+      toggle.quality_of_life_lateral = bool(self.default_frogpilot_toggles.QOLLateral)
+      toggle.pause_lateral_below_speed = int(self.default_frogpilot_toggles.PauseLateralSpeed) * speed_conversion if toggle.quality_of_life_lateral else 0
+      toggle.pause_lateral_below_signal = bool(toggle.pause_lateral_below_speed != 0 and self.default_frogpilot_toggles.PauseLateralOnSignal)
+
+      toggle.quality_of_life_longitudinal = bool(self.default_frogpilot_toggles.QOLLongitudinal)
+      toggle.custom_cruise_increase = int(self.default_frogpilot_toggles.CustomCruise) if toggle.quality_of_life_longitudinal and not pcm_cruise else 1
+      toggle.custom_cruise_increase_long = int(self.default_frogpilot_toggles.CustomCruiseLong) if toggle.quality_of_life_longitudinal and not pcm_cruise else 5
+      toggle.force_standstill = bool(toggle.quality_of_life_longitudinal and self.default_frogpilot_toggles.ForceStandstill)
+      toggle.force_stops = bool(toggle.quality_of_life_longitudinal and self.default_frogpilot_toggles.ForceStops)
+      toggle.increased_stopped_distance = int(self.default_frogpilot_toggles.IncreasedStoppedDistance) * distance_conversion if toggle.quality_of_life_longitudinal else 0
+      toggle.map_gears = bool(toggle.quality_of_life_longitudinal and self.default_frogpilot_toggles.MapGears)
+      toggle.map_acceleration = bool(toggle.map_gears and self.default_frogpilot_toggles.MapAcceleration)
+      toggle.map_deceleration = bool(toggle.map_gears and self.default_frogpilot_toggles.MapDeceleration)
+      toggle.reverse_cruise_increase = bool(toggle.quality_of_life_longitudinal and pcm_cruise and self.default_frogpilot_toggles.ReverseCruise)
+      toggle.set_speed_offset = int(self.default_frogpilot_toggles.SetSpeedOffset) * (1 if toggle.is_metric else CV.MPH_TO_KPH) if toggle.quality_of_life_longitudinal and not pcm_cruise else 0
+
+      toggle.camera_view = int(self.default_frogpilot_toggles.CameraView) if toggle.quality_of_life_visuals else 0
+      toggle.driver_camera_in_reverse = bool(toggle.quality_of_life_visuals and self.default_frogpilot_toggles.DriverCamera)
+      toggle.standby_mode = bool(toggle.quality_of_life_visuals and self.default_frogpilot_toggles.StandbyMode)
+      toggle.stopped_timer = bool(toggle.quality_of_life_visuals and self.default_frogpilot_toggles.StoppedTimer)
+
+      toggle.random_events = bool(self.default_frogpilot_toggles.RandomEvents)
+
+      toggle.screen_management = bool(self.default_frogpilot_toggles.ScreenManagement)
+      toggle.screen_brightness = int(self.default_frogpilot_toggles.ScreenBrightness) if toggle.screen_management else 101
+      toggle.screen_brightness_onroad = int(self.default_frogpilot_toggles.ScreenBrightnessOnroad) if toggle.screen_management else 101
+      toggle.screen_recorder = bool(toggle.screen_management and self.default_frogpilot_toggles.ScreenRecorder)
+      toggle.screen_timeout = int(self.default_frogpilot_toggles.ScreenTimeout) if toggle.screen_management else 30
+      toggle.screen_timeout_onroad = int(self.default_frogpilot_toggles.ScreenTimeoutOnroad) if toggle.screen_management else 10
+
+      toggle.sng_hack = bool(openpilot_longitudinal and car_make == "toyota" and self.default_frogpilot_toggles.SNGHack)
+
+      toggle.force_mph_dashboard = bool(toggle.speed_limit_controller and self.default_frogpilot_toggles.ForceMPHDashboard)
+      toggle.map_speed_lookahead_higher = int(self.default_frogpilot_toggles.SLCLookaheadHigher) if toggle.speed_limit_controller else 0
+      toggle.map_speed_lookahead_lower = int(self.default_frogpilot_toggles.SLCLookaheadLower) if toggle.speed_limit_controller else 0
+      toggle.set_speed_limit = bool(toggle.speed_limit_controller and self.default_frogpilot_toggles.SetSpeedLimit)
+      slc_fallback_method = int(self.default_frogpilot_toggles.SLCFallback) if toggle.speed_limit_controller else 0
+      toggle.slc_fallback_experimental_mode = bool(toggle.speed_limit_controller and slc_fallback_method == 1)
+      toggle.slc_fallback_previous_speed_limit = bool(toggle.speed_limit_controller and slc_fallback_method == 2)
+      toggle.slc_fallback_set_speed = bool(toggle.speed_limit_controller and slc_fallback_method == 0)
+      toggle.speed_limit_controller_override = int(self.default_frogpilot_toggles.SLCOverride) if toggle.speed_limit_controller else 0
+      toggle.speed_limit_controller_override_manual = bool(toggle.speed_limit_controller_override == 1)
+      toggle.speed_limit_controller_override_set_speed = bool(toggle.speed_limit_controller_override == 2)
+      toggle.speed_limit_priority1 = self.default_frogpilot_toggles.SLCPriority1 if toggle.speed_limit_controller else None
+      toggle.speed_limit_priority2 = self.default_frogpilot_toggles.SLCPriority2 if toggle.speed_limit_controller else None
+      toggle.speed_limit_priority3 = self.default_frogpilot_toggles.SLCPriority3 if toggle.speed_limit_controller else None
+      toggle.speed_limit_priority_highest = bool(toggle.speed_limit_priority1 == "Highest")
+      toggle.speed_limit_priority_lowest = bool(toggle.speed_limit_priority1 == "Lowest")
+
+      toggle.startup_alert_top = str(self.default_frogpilot_toggles.StartupMessageTop)
+      toggle.startup_alert_bottom = str(self.default_frogpilot_toggles.StartupMessageBottom)
+
+      toggle.volt_sng = bool(car_model == "CHEVROLET_VOLT" and self.default_frogpilot_toggles.VoltSNG)
+
+    elif customization_level != 2:
+      toggle.advanced_custom_onroad_ui = bool(self.default_frogpilot_toggles.AdvancedCustomUI)
+      toggle.hide_alerts = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.HideAlerts)
+      toggle.hide_lead_marker = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.HideLeadMarker)
+      toggle.hide_map_icon = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.HideMapIcon)
+      toggle.hide_max_speed = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.HideMaxSpeed)
+      toggle.hide_speed = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.HideSpeed)
+      toggle.hide_speed_limit = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.HideSpeedLimit)
+      toggle.use_wheel_speed = bool(toggle.advanced_custom_onroad_ui and self.default_frogpilot_toggles.WheelSpeed)
+
+      toggle.advanced_lateral_tuning = bool(self.default_frogpilot_toggles.AdvancedLateralTune)
+      toggle.use_custom_steer_friction = False
+      toggle.use_custom_kp = False
+      toggle.use_custom_lat_accel_factor = False
+      toggle.use_custom_steer_ratio = False
+      toggle.force_auto_tune = bool(toggle.advanced_lateral_tuning and not has_auto_tune and not is_pid_car and self.default_frogpilot_toggles.ForceAutoTune)
+      toggle.force_auto_tune_off = bool(toggle.advanced_lateral_tuning and has_auto_tune and not is_pid_car and self.default_frogpilot_toggles.ForceAutoTuneOff)
+
+      toggle.alert_volume_control = bool(self.default_frogpilot_toggles.AlertVolumeControl)
+      toggle.disengage_volume = int(self.default_frogpilot_toggles.DisengageVolume if toggle.alert_volume_control else 101)
+      toggle.engage_volume = int(self.default_frogpilot_toggles.EngageVolume if toggle.alert_volume_control else 101)
+      toggle.prompt_volume = int(self.default_frogpilot_toggles.PromptVolume if toggle.alert_volume_control else 101)
+      toggle.promptDistracted_volume = int(self.default_frogpilot_toggles.PromptDistractedVolume if toggle.alert_volume_control else 101)
+      toggle.refuse_volume = int(self.default_frogpilot_toggles.RefuseVolume if toggle.alert_volume_control else 101)
+      toggle.warningSoft_volume = int(self.default_frogpilot_toggles.WarningSoftVolume if toggle.alert_volume_control else 101)
+      toggle.warningImmediate_volume = int(self.default_frogpilot_toggles.WarningImmediateVolume if toggle.alert_volume_control else 101)
+
+      toggle.always_on_lateral_status_bar = bool(toggle.always_on_lateral and not self.default_frogpilot_toggles.HideAOLStatusBar)
+
+      toggle.cluster_offset = float(self.default_frogpilot_toggles.ClusterOffset if car_make == "toyota" else 1)
+
+      toggle.conditional_navigation = bool(toggle.conditional_experimental_mode and self.default_frogpilot_toggles.CENavigation)
+      toggle.conditional_navigation_intersections = bool(toggle.conditional_navigation and self.default_frogpilot_toggles.CENavigationIntersections)
+      toggle.conditional_navigation_lead = bool(toggle.conditional_navigation and self.default_frogpilot_toggles.CENavigationLead)
+      toggle.conditional_navigation_turns = bool(toggle.conditional_navigation and self.default_frogpilot_toggles.CENavigationTurns)
+      toggle.conditional_signal = int(self.default_frogpilot_toggles.CESignalSpeed if toggle.conditional_experimental_mode else 0)
+      toggle.conditional_signal_lane_detection = bool(toggle.conditional_signal != 0 and self.default_frogpilot_toggles.CESignalLaneDetection)
+      toggle.conditional_status_bar = bool(toggle.conditional_experimental_mode and not self.default_frogpilot_toggles.HideCEMStatusBar)
+      if toggle.conditional_experimental_mode:
+        params.put_bool("ExperimentalMode", True)
+
+      toggle.crosstrek_torque = bool(car_model == "SUBARU_IMPREZA" and self.default_frogpilot_toggles.CrosstrekTorque)
+
+      toggle.curve_sensitivity = int(self.default_frogpilot_toggles.CurveSensitivity) / 100 if toggle.curve_speed_controller else 1
+      toggle.turn_aggressiveness = int(self.default_frogpilot_toggles.TurnAggressiveness) / 100 if toggle.curve_speed_controller else 1
+      toggle.mtsc_curvature_check = bool(toggle.map_turn_speed_controller and self.default_frogpilot_toggles.MTSCCurvatureCheck)
+
+      toggle.custom_personalities = bool(openpilot_longitudinal and self.default_frogpilot_toggles.CustomPersonalities)
+      toggle.aggressive_profile = bool(toggle.custom_personalities and self.default_frogpilot_toggles.AggressivePersonalityProfile)
+      toggle.aggressive_jerk_deceleration = int(self.default_frogpilot_toggles.AggressiveJerkDeceleration) / 100 if toggle.aggressive_profile else 0.5
+      toggle.aggressive_jerk_danger = int(self.default_frogpilot_toggles.AggressiveJerkDanger) / 100 if toggle.aggressive_profile else 1.0
+      toggle.aggressive_jerk_speed = int(self.default_frogpilot_toggles.AggressiveJerkSpeed) / 100 if toggle.aggressive_profile else 0.5
+      toggle.aggressive_jerk_speed_decrease = int(self.default_frogpilot_toggles.AggressiveJerkSpeedDecrease) / 100 if toggle.aggressive_profile else 0.5
+      toggle.aggressive_follow = float(self.default_frogpilot_toggles.AggressiveFollow) if toggle.aggressive_profile else 1.25
+      toggle.standard_profile = bool(toggle.custom_personalities and self.default_frogpilot_toggles.StandardPersonalityProfile)
+      toggle.standard_jerk_acceleration = int(self.default_frogpilot_toggles.StandardJerkAcceleration) / 100 if toggle.standard_profile else 1.0
+      toggle.standard_jerk_deceleration = int(self.default_frogpilot_toggles.StandardJerkDeceleration) / 100 if toggle.standard_profile else 1.0
+      toggle.standard_jerk_danger = int(self.default_frogpilot_toggles.StandardJerkDanger) / 100 if toggle.standard_profile else 1.0
+      toggle.standard_jerk_speed = int(self.default_frogpilot_toggles.StandardJerkSpeed) / 100 if toggle.standard_profile else 1.0
+      toggle.standard_jerk_speed_decrease = int(self.default_frogpilot_toggles.StandardJerkSpeedDecrease) / 100 if toggle.standard_profile else 1.0
+      toggle.standard_follow = float(self.default_frogpilot_toggles.StandardFollow) if toggle.standard_profile else 1.45
+      toggle.relaxed_profile = bool(toggle.custom_personalities and self.default_frogpilot_toggles.RelaxedPersonalityProfile)
+      toggle.relaxed_jerk_acceleration = int(self.default_frogpilot_toggles.RelaxedJerkAcceleration) / 100 if toggle.relaxed_profile else 1.0
+      toggle.relaxed_jerk_deceleration = int(self.default_frogpilot_toggles.RelaxedJerkDeceleration) / 100 if toggle.relaxed_profile else 1.0
+      toggle.relaxed_jerk_danger = int(self.default_frogpilot_toggles.RelaxedJerkDanger) / 100 if toggle.relaxed_profile else 1.0
+      toggle.relaxed_jerk_speed = int(self.default_frogpilot_toggles.RelaxedJerkSpeed) / 100 if toggle.relaxed_profile else 1.0
+      toggle.relaxed_jerk_speed_decrease = int(self.default_frogpilot_toggles.RelaxedJerkSpeedDecrease) / 100 if toggle.relaxed_profile else 1.0
+      toggle.relaxed_follow = float(self.default_frogpilot_toggles.RelaxedFollow) if toggle.relaxed_profile else 1.75
+      toggle.traffic_profile = bool(toggle.custom_personalities and self.default_frogpilot_toggles.TrafficPersonalityProfile)
+      toggle.traffic_mode_jerk_acceleration = [int(self.default_frogpilot_toggles.TrafficJerkAcceleration) / 100, toggle.aggressive_jerk_acceleration] if toggle.traffic_profile else [0.5, 0.5]
+      toggle.traffic_mode_jerk_deceleration = [int(self.default_frogpilot_toggles.TrafficJerkDeceleration) / 100, toggle.aggressive_jerk_deceleration] if toggle.traffic_profile else [0.5, 0.5]
+      toggle.traffic_mode_jerk_danger = [int(self.default_frogpilot_toggles.TrafficJerkDanger) / 100, toggle.aggressive_jerk_danger] if toggle.traffic_profile else [1.0, 1.0]
+      toggle.traffic_mode_jerk_speed = [int(self.default_frogpilot_toggles.TrafficJerkSpeed) / 100, toggle.aggressive_jerk_speed] if toggle.traffic_profile else [0.5, 0.5]
+      toggle.traffic_mode_jerk_speed_decrease = [int(self.default_frogpilot_toggles.TrafficJerkSpeedDecrease) / 100, toggle.aggressive_jerk_speed_decrease] if toggle.traffic_profile else [0.5, 0.5]
+      toggle.traffic_mode_t_follow = [float(self.default_frogpilot_toggles.TrafficFollow), toggle.aggressive_follow] if toggle.traffic_profile else [0.5, 1.0]
+
+      toggle.adjacent_paths = bool(toggle.custom_ui and self.default_frogpilot_toggles.AdjacentPath)
+
+      toggle.developer_ui = bool(self.default_frogpilot_toggles.DeveloperUI)
+      toggle.border_metrics = bool(toggle.developer_ui and self.default_frogpilot_toggles.BorderMetrics)
+      toggle.blind_spot_metrics = bool(has_bsm and toggle.border_metrics and self.default_frogpilot_toggles.BlindSpotMetrics)
+      toggle.signal_metrics = bool(toggle.border_metrics and self.default_frogpilot_toggles.SignalMetrics)
+      toggle.steering_metrics = bool(toggle.border_metrics and self.default_frogpilot_toggles.ShowSteering)
+      toggle.show_fps = bool(toggle.developer_ui and self.default_frogpilot_toggles.FPSCounter)
+      toggle.lateral_metrics = bool(toggle.developer_ui and self.default_frogpilot_toggles.LateralMetrics)
+      toggle.adjacent_path_metrics = bool(toggle.lateral_metrics and self.default_frogpilot_toggles.AdjacentPathMetrics)
+      toggle.lateral_tuning_metrics = bool(toggle.lateral_metrics and self.default_frogpilot_toggles.TuningInfo)
+      toggle.longitudinal_metrics = bool(toggle.developer_ui and self.default_frogpilot_toggles.LongitudinalMetrics)
+      toggle.adjacent_lead_tracking = bool(has_radar and toggle.longitudinal_metrics and self.default_frogpilot_toggles.AdjacentLeadsUI)
+      toggle.lead_metrics = bool(toggle.longitudinal_metrics and self.default_frogpilot_toggles.LeadInfo)
+      toggle.jerk_metrics = bool(toggle.longitudinal_metrics and self.default_frogpilot_toggles.JerkInfo)
+      toggle.numerical_temp = bool(toggle.developer_ui and self.default_frogpilot_toggles.NumericalTemp)
+      toggle.fahrenheit = bool(toggle.numerical_temp and self.default_frogpilot_toggles.Fahrenheit)
+      toggle.sidebar_metrics = bool(toggle.developer_ui and self.default_frogpilot_toggles.SidebarMetrics)
+      toggle.cpu_metrics = bool(toggle.sidebar_metrics and self.default_frogpilot_toggles.ShowCPU)
+      toggle.gpu_metrics = bool(toggle.sidebar_metrics and self.default_frogpilot_toggles.ShowGPU)
+      toggle.ip_metrics = bool(toggle.sidebar_metrics and self.default_frogpilot_toggles.ShowIP)
+      toggle.memory_metrics = bool(toggle.sidebar_metrics and self.default_frogpilot_toggles.ShowMemoryUsage)
+      toggle.storage_left_metrics = bool(toggle.sidebar_metrics and self.default_frogpilot_toggles.ShowStorageLeft)
+      toggle.storage_used_metrics = bool(toggle.sidebar_metrics and self.default_frogpilot_toggles.ShowStorageUsed)
+      toggle.use_si_metrics = bool(toggle.developer_ui and self.default_frogpilot_toggles.UseSI)
+
+      toggle.device_management = bool(self.default_frogpilot_toggles.DeviceManagement)
+      toggle.increase_thermal_limits = bool(toggle.device_management and self.default_frogpilot_toggles.IncreaseThermalLimits)
+      toggle.low_voltage_shutdown = clip(float(self.default_frogpilot_toggles.LowVoltageShutdown), VBATT_PAUSE_CHARGING, 12.5) if toggle.device_management else VBATT_PAUSE_CHARGING
+      toggle.no_logging = bool(toggle.device_management and self.default_frogpilot_toggles.NoLogging or self.development_branch)
+      toggle.no_uploads = bool(toggle.device_management and self.default_frogpilot_toggles.NoUploads or self.development_branch)
+      toggle.offline_mode = bool(toggle.device_management and self.default_frogpilot_toggles.OfflineMode)
+
+      toggle.experimental_gm_tune = bool(openpilot_longitudinal and car_make == "gm" and self.default_frogpilot_toggles.ExperimentalGMTune)
+
+      toggle.frogsgomoo_tweak = bool(openpilot_longitudinal and car_make == "toyota" and self.default_frogpilot_toggles.FrogsGoMoosTweak)
+
+      toggle.lane_detection_width = float(self.default_frogpilot_toggles.LaneDetectionWidth) * distance_conversion if toggle.lane_change_customizations else 0
+      toggle.lane_detection = bool(toggle.lane_detection_width != 0)
+      toggle.minimum_lane_change_speed = float(self.default_frogpilot_toggles.MinimumLaneChangeSpeed) * speed_conversion if toggle.lane_change_customizations else LANE_CHANGE_SPEED_MIN
+
+      toggle.lateral_tuning = bool(self.default_frogpilot_toggles.LateralTune)
+      toggle.nnff_lite = bool(toggle.lateral_tuning and self.default_frogpilot_toggles.NNFFLite)
+      toggle.use_turn_desires = bool(toggle.lateral_tuning and self.default_frogpilot_toggles.TurnDesires)
+
+      toggle.long_pitch = bool(openpilot_longitudinal and car_make == "gm" and self.default_frogpilot_toggles.LongPitch)
+
+      toggle.lead_detection_probability = clip(float(self.default_frogpilot_toggles.LeadDetectionThreshold) / 100, 0.01, 0.99) if toggle.longitudinal_tuning else 0.5
+      toggle.max_desired_acceleration = clip(float(self.default_frogpilot_toggles.MaxDesiredAcceleration), 0.1, 4.0) if toggle.longitudinal_tuning else 4.0
+      toggle.taco_tune = bool(toggle.longitudinal_tuning and self.default_frogpilot_toggles.TacoTune)
+
+      toggle.model = DEFAULT_CLASSIC_MODEL
+      toggle.model_randomizer = self.default_frogpilot_toggles.ModelRandomizer
+      toggle.part_model_param = ""
+      toggle.classic_model = bool(classic_models and toggle.model in classic_models.split(','))
+      toggle.navigationless_model = bool(navigation_models and toggle.model not in navigation_models.split(','))
+      toggle.radarless_model = bool(radarless_models and toggle.model in radarless_models.split(','))
+
+      toggle.model_ui = bool(self.default_frogpilot_toggles.ModelUI)
+      toggle.dynamic_path_width = bool(toggle.model_ui and self.default_frogpilot_toggles.DynamicPathWidth)
+      toggle.lane_line_width = int(self.default_frogpilot_toggles.LaneLinesWidth) * small_distance_conversion / 200 if toggle.model_ui else 0.025
+      toggle.path_edge_width = int(self.default_frogpilot_toggles.PathEdgeWidth) if toggle.model_ui else 20
+      toggle.path_width = float(self.default_frogpilot_toggles.PathWidth) * distance_conversion / 2 if toggle.model_ui else 0.9
+      toggle.road_edge_width = int(self.default_frogpilot_toggles.RoadEdgesWidth) * small_distance_conversion / 200 if toggle.model_ui else 0.025
+      toggle.show_stopping_point = bool(toggle.model_ui and self.default_frogpilot_toggles.ShowStoppingPoint)
+      toggle.show_stopping_point_metrics = bool(toggle.show_stopping_point and self.default_frogpilot_toggles.ShowStoppingPointMetrics)
+      toggle.unlimited_road_ui_length = bool(toggle.model_ui and self.default_frogpilot_toggles.UnlimitedLength)
+
+      toggle.map_style = int(self.default_frogpilot_toggles.MapStyle) if toggle.navigation_ui else 0
+      toggle.road_name_ui = bool(toggle.navigation_ui and self.default_frogpilot_toggles.RoadNameUI)
+      toggle.show_speed_limit_offset = bool(toggle.navigation_ui and self.default_frogpilot_toggles.ShowSLCOffset)
+      toggle.speed_limit_vienna = bool(toggle.navigation_ui and self.default_frogpilot_toggles.UseVienna)
+
+      toggle.old_long_api = bool(openpilot_longitudinal and car_make == "gm" and not self.default_frogpilot_toggles.NewLongAPIGM)
+      toggle.old_long_api |= bool(openpilot_longitudinal and car_make == "hyundai" and not self.default_frogpilot_toggles.NewLongAPI)
+
+      toggle.quality_of_life_lateral = bool(self.default_frogpilot_toggles.QOLLateral)
+      toggle.pause_lateral_below_speed = int(self.default_frogpilot_toggles.PauseLateralSpeed) * speed_conversion if toggle.quality_of_life_lateral else 0
+      toggle.pause_lateral_below_signal = bool(toggle.pause_lateral_below_speed != 0 and self.default_frogpilot_toggles.PauseLateralOnSignal)
+
+      toggle.custom_cruise_increase = int(self.default_frogpilot_toggles.CustomCruise) if toggle.quality_of_life_longitudinal and not pcm_cruise else 1
+      toggle.custom_cruise_increase_long = int(self.default_frogpilot_toggles.CustomCruiseLong) if toggle.quality_of_life_longitudinal and not pcm_cruise else 5
+      toggle.force_standstill = bool(toggle.quality_of_life_longitudinal and self.default_frogpilot_toggles.ForceStandstill)
+      toggle.force_stops = bool(toggle.quality_of_life_longitudinal and self.default_frogpilot_toggles.ForceStops)
+      toggle.reverse_cruise_increase = bool(toggle.quality_of_life_longitudinal and pcm_cruise and self.default_frogpilot_toggles.ReverseCruise)
+      toggle.set_speed_offset = int(self.default_frogpilot_toggles.SetSpeedOffset) * (1 if toggle.is_metric else CV.MPH_TO_KPH) if toggle.quality_of_life_longitudinal and not pcm_cruise else 0
+
+      toggle.camera_view = int(self.default_frogpilot_toggles.CameraView) if toggle.quality_of_life_visuals else 0
+      toggle.standby_mode = bool(toggle.quality_of_life_visuals and self.default_frogpilot_toggles.StandbyMode)
+
+      toggle.screen_management = bool(self.default_frogpilot_toggles.ScreenManagement)
+      toggle.screen_brightness = int(self.default_frogpilot_toggles.ScreenBrightness) if toggle.screen_management else 101
+      toggle.screen_brightness_onroad = int(self.default_frogpilot_toggles.ScreenBrightnessOnroad) if toggle.screen_management else 101
+      toggle.screen_recorder = bool(toggle.screen_management and self.default_frogpilot_toggles.ScreenRecorder)
+      toggle.screen_timeout = int(self.default_frogpilot_toggles.ScreenTimeout) if toggle.screen_management else 30
+      toggle.screen_timeout_onroad = int(self.default_frogpilot_toggles.ScreenTimeoutOnroad) if toggle.screen_management else 10
+
+      toggle.sng_hack = bool(openpilot_longitudinal and car_make == "toyota" and self.default_frogpilot_toggles.SNGHack)
+
+      toggle.force_mph_dashboard = bool(toggle.speed_limit_controller and self.default_frogpilot_toggles.ForceMPHDashboard)
+      toggle.map_speed_lookahead_higher = int(self.default_frogpilot_toggles.SLCLookaheadHigher) if toggle.speed_limit_controller else 0
+      toggle.map_speed_lookahead_lower = int(self.default_frogpilot_toggles.SLCLookaheadLower) if toggle.speed_limit_controller else 0
+      toggle.set_speed_limit = bool(toggle.speed_limit_controller and self.default_frogpilot_toggles.SetSpeedLimit)
+      toggle.speed_limit_priority1 = self.default_frogpilot_toggles.SLCPriority1 if toggle.speed_limit_controller else None
+      toggle.speed_limit_priority2 = self.default_frogpilot_toggles.SLCPriority2 if toggle.speed_limit_controller else None
+      toggle.speed_limit_priority3 = self.default_frogpilot_toggles.SLCPriority3 if toggle.speed_limit_controller else None
+      toggle.speed_limit_priority_highest = bool(toggle.speed_limit_priority1 == "Highest")
+      toggle.speed_limit_priority_lowest = bool(toggle.speed_limit_priority1 == "Lowest")
+
+      toggle.startup_alert_top = str(self.default_frogpilot_toggles.StartupMessageTop)
+      toggle.startup_alert_bottom = str(self.default_frogpilot_toggles.StartupMessageBottom)
+
+      toggle.volt_sng = bool(car_model == "CHEVROLET_VOLT" and self.default_frogpilot_toggles.VoltSNG)
 
-FrogPilotVariables = FrogPilotVariables()
+    params.put("FrogPilotToggles", json.dumps(toggle.__dict__))
+    params_memory.remove("FrogPilotTogglesUpdated")
diff --git a/selfdrive/frogpilot/navigation/mapd.py b/selfdrive/frogpilot/navigation/mapd.py
index 9fbd6f825c4bd4..4bb08eb147b871 100644
--- a/selfdrive/frogpilot/navigation/mapd.py
+++ b/selfdrive/frogpilot/navigation/mapd.py
@@ -8,7 +8,7 @@
 
 from openpilot.common.realtime import Ratekeeper
 
-from openpilot.selfdrive.frogpilot.frogpilot_functions import is_url_pingable
+from openpilot.selfdrive.frogpilot.frogpilot_utilities import is_url_pingable
 
 VERSION = 'v1'
 
@@ -65,7 +65,7 @@ def ensure_mapd_is_running():
       print(f"Error: {MAPD_PATH} does not exist.")
     time.sleep(1)
 
-def mapd_thread(sm=None, pm=None):
+def mapd_thread():
   rk = Ratekeeper(0.05)
 
   while True:
@@ -83,9 +83,9 @@ def mapd_thread(sm=None, pm=None):
 
     rk.keep_time()
 
-def main(sm=None, pm=None):
+def main():
   try:
-    mapd_thread(sm, pm)
+    mapd_thread()
   except Exception as e:
     print(f"Unhandled exception in main: {e}")
 
diff --git a/selfdrive/frogpilot/navigation/ui/maps_settings.cc b/selfdrive/frogpilot/navigation/ui/maps_settings.cc
index c25150c04c4d38..7342456fffc3fb 100644
--- a/selfdrive/frogpilot/navigation/ui/maps_settings.cc
+++ b/selfdrive/frogpilot/navigation/ui/maps_settings.cc
@@ -8,14 +8,14 @@
 
 FrogPilotMapsPanel::FrogPilotMapsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) {
   std::vector<QString> scheduleOptions{tr("Manually"), tr("Weekly"), tr("Monthly")};
-  preferredSchedule = new ButtonParamControl("PreferredSchedule", tr("Maps Scheduler"),
-                                          tr("Choose the frequency for updating maps with the latest OpenStreetMap (OSM) changes. "
+  preferredSchedule = new ButtonParamControl("PreferredSchedule", tr("Automatically Update Maps"),
+                                          tr("Controls the frequency at which maps update with the latest OpenStreetMap (OSM) changes. "
                                              "Weekly updates begin at midnight every Sunday, while monthly updates start at midnight on the 1st of each month."),
                                              "",
                                              scheduleOptions);
   addItem(preferredSchedule);
 
-  selectMapsButton = new FrogPilotButtonsControl(tr("Select Offline Maps"), tr("Select your maps to use with 'Curve Speed Control' and 'Speed Limit Controller'."), {tr("COUNTRIES"), tr("STATES")});
+  selectMapsButton = new FrogPilotButtonsControl(tr("Select Offline Maps"), tr("Offline maps to use with 'Curve Speed Control' and 'Speed Limit Controller'."), {tr("COUNTRIES"), tr("STATES")});
   QObject::connect(selectMapsButton, &FrogPilotButtonsControl::buttonClicked, [this](int id) {
     if (id == 0) {
       countriesOpen = true;
@@ -25,7 +25,7 @@ FrogPilotMapsPanel::FrogPilotMapsPanel(FrogPilotSettingsWindow *parent) : FrogPi
   });
   addItem(selectMapsButton);
 
-  downloadMapsButton = new ButtonControl(tr("Download Maps"), tr("DOWNLOAD"), tr("Download your selected maps to use with 'Curve Speed Control' and 'Speed Limit Controller'."));
+  downloadMapsButton = new ButtonControl(tr("Download Maps"), tr("DOWNLOAD"), tr("Downloads the selected maps to use with 'Curve Speed Control' and 'Speed Limit Controller'."));
   QObject::connect(downloadMapsButton, &ButtonControl::clicked, [this] {
     if (downloadMapsButton->text() == tr("CANCEL")) {
       cancelDownload();
@@ -45,7 +45,7 @@ FrogPilotMapsPanel::FrogPilotMapsPanel(FrogPilotSettingsWindow *parent) : FrogPi
   downloadStatus->setVisible(false);
   downloadTimeElapsed->setVisible(false);
 
-  removeMapsButton = new ButtonControl(tr("Remove Maps"), tr("REMOVE"), tr("Remove your downloaded maps to clear up storage space."));
+  removeMapsButton = new ButtonControl(tr("Remove Maps"), tr("REMOVE"), tr("Removes downloaded maps to clear up storage space."));
   QObject::connect(removeMapsButton, &ButtonControl::clicked, [this] {
     if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to delete all of your downloaded maps?"), this)) {
       std::thread([this] {
@@ -121,6 +121,8 @@ void FrogPilotMapsPanel::updateState(const UIState &s) {
     return;
   }
 
+  uiState()->scene.keep_screen_on = downloadActive;
+
   if (downloadActive) {
     updateDownloadStatusLabels();
   }
@@ -136,8 +138,6 @@ void FrogPilotMapsPanel::cancelDownload() {
 }
 
 void FrogPilotMapsPanel::downloadMaps() {
-  device()->resetInteractiveTimeout(300);
-
   params.remove("OSMDownloadProgress");
 
   resetDownloadLabels();
@@ -263,6 +263,8 @@ void FrogPilotMapsPanel::finalizeDownload() {
   params.putNonBlocking("LastMapsUpdate", formattedDate.toStdString());
   params.remove("OSMDownloadProgress");
 
+  mapsSize->setText(calculateDirectorySize(mapsFolderPath));
+
   resetDownloadLabels();
 
   downloadMapsButton->setText(tr("DOWNLOAD"));
@@ -311,7 +313,7 @@ void FrogPilotMapsPanel::displayMapButtons(bool visible) {
   lastMapsDownload->setVisible(!visible && !downloadActive);
   mapsSize->setVisible(!visible);
   preferredSchedule->setVisible(!visible);
-  removeMapsButton->setVisible(!visible && QDir(mapsFolderPath).exists());
+  removeMapsButton->setVisible(!visible && QDir(mapsFolderPath).exists() && !downloadActive);
   selectMapsButton->setVisible(!visible);
 
   africaMaps->setVisible(visible && countriesOpen);
diff --git a/selfdrive/frogpilot/navigation/ui/primeless_settings.cc b/selfdrive/frogpilot/navigation/ui/primeless_settings.cc
index f181ab04ca70de..7b9e179814643f 100644
--- a/selfdrive/frogpilot/navigation/ui/primeless_settings.cc
+++ b/selfdrive/frogpilot/navigation/ui/primeless_settings.cc
@@ -5,14 +5,14 @@ FrogPilotPrimelessPanel::FrogPilotPrimelessPanel(FrogPilotSettingsWindow *parent
 
   std::vector<QString> searchOptions{tr("MapBox"), tr("Amap"), tr("Google")};
   searchInput = new ButtonParamControl("SearchInput", tr("Destination Search Provider"),
-                                    tr("Select a search provider for destination queries in Navigate on Openpilot. Options include MapBox (recommended), Amap, and Google Maps."),
+                                    tr("The search provider used for destination queries in 'Navigate on Openpilot'. Options include 'MapBox' (recommended), 'Amap', and 'Google Maps'."),
                                        "", searchOptions);
   addItem(searchInput);
 
   createMapboxKeyControl(publicMapboxKeyControl, tr("Public Mapbox Key"), "MapboxPublicKey", "pk.");
   createMapboxKeyControl(secretMapboxKeyControl, tr("Secret Mapbox Key"), "MapboxSecretKey", "sk.");
 
-  setupButton = new ButtonControl(tr("Mapbox Setup Instructions"), tr("VIEW"), tr("View the instructions to set up MapBox for 'Primeless Navigation'."), this);
+  setupButton = new ButtonControl(tr("MapBox Setup Instructions"), tr("VIEW"), tr("View the instructions to set up 'MapBox' for 'Primeless Navigation'."), this);
   QObject::connect(setupButton, &ButtonControl::clicked, [this]() {
     displayMapboxInstructions(true);
     openMapBoxInstructions();
@@ -30,8 +30,7 @@ FrogPilotPrimelessPanel::FrogPilotPrimelessPanel(FrogPilotSettingsWindow *parent
 }
 
 void FrogPilotPrimelessPanel::showEvent(QShowEvent *event) {
-  WifiManager *wifi = new WifiManager(this);
-  QString ipAddress = wifi->getIp4Address();
+  QString ipAddress = uiState()->wifi->getIp4Address();
   ipLabel->setText(ipAddress.isEmpty() ? tr("Device Offline") : QString("%1:8082").arg(ipAddress));
 
   mapboxPublicKeySet = !params.get("MapboxPublicKey").empty();
@@ -91,6 +90,7 @@ void FrogPilotPrimelessPanel::hideEvent(QHideEvent *event) {
 }
 
 void FrogPilotPrimelessPanel::mousePressEvent(QMouseEvent *event) {
+  closeMapBoxInstructions();
   displayMapboxInstructions(false);
 }
 
diff --git a/selfdrive/frogpilot/navigation/ui/primeless_settings.h b/selfdrive/frogpilot/navigation/ui/primeless_settings.h
index 690f0842baa6c1..a5cd413f3d1278 100644
--- a/selfdrive/frogpilot/navigation/ui/primeless_settings.h
+++ b/selfdrive/frogpilot/navigation/ui/primeless_settings.h
@@ -9,6 +9,7 @@ class FrogPilotPrimelessPanel : public FrogPilotListWidget {
   explicit FrogPilotPrimelessPanel(FrogPilotSettingsWindow *parent);
 
 signals:
+  void closeMapBoxInstructions();
   void openMapBoxInstructions();
 
 private:
diff --git a/selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.cc
deleted file mode 100644
index 9bff861e86f156..00000000000000
--- a/selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.cc
+++ /dev/null
@@ -1,935 +0,0 @@
-#include "selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.h"
-
-FrogPilotAdvancedDrivingPanel::FrogPilotAdvancedDrivingPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) {
-  const std::vector<std::tuple<QString, QString, QString, QString>> advancedToggles {
-    {"AdvancedLateralTune", tr("Advanced Lateral Tuning"), tr("Advanced settings that control how openpilot manages steering."), "../frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png"},
-    {"SteerFriction", steerFrictionStock != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(steerFrictionStock, 'f', 2)) : tr("Friction"), tr("The resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive."), ""},
-    {"SteerKP", steerKPStock != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(steerKPStock, 'f', 2)) : tr("Kp Factor"), tr("How aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond."), ""},
-    {"SteerLatAccel", steerLatAccelStock != 0 ? QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(steerLatAccelStock, 'f', 2)) : tr("Lateral Accel"), tr("Adjust how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish."), ""},
-    {"SteerRatio", steerRatioStock != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2)) : tr("Steer Ratio"), tr("Adjust how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds."), ""},
-    {"TacoTune", tr("comma's 2022 Taco Bell Turn Hack"), tr("Use comma's hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive."), ""},
-    {"ForceAutoTune", tr("Force Auto Tune On"), tr("Forces comma's auto lateral tuning for unsupported vehicles."), ""},
-    {"ForceAutoTuneOff", tr("Force Auto Tune Off"), tr("Forces comma's auto lateral tuning off for supported vehicles."), ""},
-    {"TurnDesires", tr("Force Turn Desires Below Lane Change Speed"), tr("Force the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely."), ""},
-
-    {"AdvancedLongitudinalTune", tr("Advanced Longitudinal Tuning"), tr("Advanced settings that control how openpilot manages speed and acceleration."), "../frogpilot/assets/toggle_icons/icon_advanced_longitudinal_tune.png"},
-    {"LeadDetectionThreshold", tr("Lead Detection Confidence"), tr("How sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but may occasionally mistake other objects for vehicles."), ""},
-    {"MaxDesiredAcceleration", tr("Maximum Acceleration Rate"), tr("Set a cap on how fast openpilot can accelerate to prevent high acceleration at low speeds."), ""},
-
-    {"AdvancedQOLDriving", tr("Advanced Quality of Life"), tr("Miscellaneous advanced features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/advanced_quality_of_life.png"},
-    {"ForceStandstill", tr("Force Keep openpilot in the Standstill State"), tr("Keep openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed."), ""},
-    {"ForceStops", tr("Force Stop for 'Detected' Stop Lights/Signs"), tr("Whenever openpilot 'detects' a potential stop light/stop sign, force a stop where it originally detected it to prevent running the potential red light/stop sign."), ""},
-    {"SetSpeedOffset", tr("Set Speed Offset"), tr("How much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed."), ""},
-
-    {"CustomPersonalities", tr("Customize Driving Personalities"), tr("Customize the personality profiles to suit your preferences."), "../frogpilot/assets/toggle_icons/icon_advanced_personality.png"},
-    {"TrafficPersonalityProfile", tr("Traffic Personality"), tr("Customize the 'Traffic' personality profile, tailored for navigating through traffic."), "../frogpilot/assets/stock_theme/distance_icons/traffic.png"},
-    {"TrafficFollow", tr("Following Distance"), tr("The minimum following distance in 'Traffic Mode.' openpilot will adjust dynamically between this value and the 'Aggressive' profile distance based on your speed."), ""},
-    {"TrafficJerkAcceleration", tr("Acceleration Sensitivity"), tr("How sensitive openpilot is to changes in acceleration in 'Traffic Mode.' Higher values result in smoother, more gradual acceleration and deceleration, while lower values allow for faster changes that may feel more abrupt."), ""},
-    {"TrafficJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Traffic Mode.' Higher values result in smoother, more gradual braking, while lower values allow for quicker, more responsive braking that may feel abrupt."), ""},
-    {"TrafficJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic Mode.' Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time."), ""},
-    {"TrafficJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot adjusts speed in 'Traffic Mode.' Higher values ensure smoother, more gradual speed changes, while lower values enable quicker adjustments that might feel sharper or less smooth."), ""},
-    {"TrafficJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Sets how quickly openpilot adjusts to decreasing speeds in 'Traffic Mode.' Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed reductions that might feel sharper."), ""},
-    {"ResetTrafficPersonality", tr("Reset Settings"), tr("Restore the 'Traffic Mode' settings to their default values."), ""},
-
-    {"AggressivePersonalityProfile", tr("Aggressive Personality"), tr("Customize the 'Aggressive' personality profile, designed for a more assertive driving style."), "../frogpilot/assets/stock_theme/distance_icons/aggressive.png"},
-    {"AggressiveFollow", tr("Following Distance"), tr("Set the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.25 seconds."), ""},
-    {"AggressiveJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to acceleration changes in 'Aggressive' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky.\n\nDefault: 0.5."), ""},
-    {"AggressiveJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to deceleration in 'Aggressive' mode. Higher values result in smoother braking, while lower values allow for more immediate braking that may feel abrupt.\n\nDefault: 0.5."), ""},
-    {"AggressiveJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around vehicles or obstacles in 'Aggressive' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking.\n\nDefault: 1.0."), ""},
-    {"AggressiveJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot adjusts speed in 'Aggressive' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt.\n\nDefault: 0.5."), ""},
-    {"AggressiveJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Sets how quickly openpilot adjusts to speed reductions in 'Aggressive' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp.\n\nDefault: 0.5."), ""},
-    {"ResetAggressivePersonality", tr("Reset Settings"), tr("Restore the 'Aggressive' settings to their default values."), ""},
-
-    {"StandardPersonalityProfile", tr("Standard Personality"), tr("Customize the 'Standard' personality profile, optimized for balanced driving."), "../frogpilot/assets/stock_theme/distance_icons/standard.png"},
-    {"StandardFollow", tr("Following Distance"), tr("Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.45 seconds."), ""},
-    {"StandardJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to acceleration changes in 'Standard' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky.\n\nDefault: 1.0."), ""},
-    {"StandardJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt.\n\nDefault: 1.0."), ""},
-    {"StandardJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around vehicles or obstacles in 'Standard' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking.\n\nDefault: 1.0."), ""},
-    {"StandardJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot adjusts speed in 'Standard' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt.\n\nDefault: 1.0."), ""},
-    {"StandardJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Sets how quickly openpilot adjusts to speed reductions in 'Standard' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp.\n\nDefault: 1.0."), ""},
-    {"ResetStandardPersonality", tr("Reset Settings"), tr("Restore the 'Standard' settings to their default values."), ""},
-
-    {"RelaxedPersonalityProfile", tr("Relaxed Personality"), tr("Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style."), "../frogpilot/assets/stock_theme/distance_icons/relaxed.png"},
-    {"RelaxedFollow", tr("Following Distance"), tr("Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.75 seconds."), ""},
-    {"RelaxedJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to acceleration changes in 'Relaxed' mode. Higher values make acceleration and deceleration smoother but slower, while lower values allow quicker changes that may feel jerky.\n\nDefault: 1.0."), ""},
-    {"RelaxedJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt.\n\nDefault: 1.0."), ""},
-    {"RelaxedJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around vehicles or obstacles in 'Relaxed' mode. Higher values make it more cautious, while lower values allow for closer following, increasing the risk of sudden braking.\n\nDefault: 1.0."), ""},
-    {"RelaxedJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot adjusts speed in 'Relaxed' mode. Higher values result in smoother but slower speed changes, while lower values make speed adjustments quicker but potentially more abrupt.\n\nDefault: 1.0."), ""},
-    {"RelaxedJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Sets how quickly openpilot adjusts to speed reductions in 'Relaxed' mode. Higher values ensure smoother transitions when slowing down, while lower values allow for quicker, more responsive speed decreases that may feel sharp.\n\nDefault: 1.0."), ""},
-    {"ResetRelaxedPersonality", tr("Reset Settings"), tr("Restore the 'Relaxed' settings to their default values."), ""},
-
-    {"ModelManagement", tr("Model Management"), tr("Manage the driving models used by openpilot."), "../frogpilot/assets/toggle_icons/icon_advanced_model.png"},
-    {"AutomaticallyUpdateModels", tr("Automatically Update and Download Models"), tr("Automatically download new or updated driving models."), ""},
-    {"ModelRandomizer", tr("Model Randomizer"), tr("A random model is selected and can be reviewed at the end of each drive if it's longer than 15 minutes to help find your preferred model."), ""},
-    {"ManageBlacklistedModels", tr("Manage Model Blacklist"), tr("Control which models are blacklisted and won't be used for future drives."), ""},
-    {"ResetScores", tr("Reset Model Scores"), tr("Clear the ratings you've given to the driving models."), ""},
-    {"ReviewScores", tr("Review Model Scores"), tr("View the ratings you've assigned to the driving models."), ""},
-    {"DeleteModel", tr("Delete Model"), tr("Remove the selected driving model from your device."), ""},
-    {"DownloadModel", tr("Download Model"), tr("Download undownloaded driving models."), ""},
-    {"DownloadAllModels", tr("Download All Models"), tr("Download all undownloaded driving models."), ""},
-    {"SelectModel", tr("Select Model"), tr("Select which model openpilot uses to drive."), ""},
-    {"ResetCalibrations", tr("Reset Model Calibrations"), tr("Reset calibration settings for the driving models."), ""},
-  };
-
-  for (const auto &[param, title, desc, icon] : advancedToggles) {
-    AbstractControl *advancedDrivingToggle;
-
-    if (param == "AdvancedLateralTune") {
-      FrogPilotParamManageControl *advancedLateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(advancedLateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        std::set<QString> modifiedLateralTuneKeys = lateralTuneKeys;
-
-        bool usingNNFF = hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF");
-        if (usingNNFF) {
-          modifiedLateralTuneKeys.erase("ForceAutoTune");
-          modifiedLateralTuneKeys.erase("ForceAutoTuneOff");
-        } else {
-          if (hasAutoTune) {
-            modifiedLateralTuneKeys.erase("ForceAutoTune");
-          } else if (isPIDCar) {
-            modifiedLateralTuneKeys.erase("ForceAutoTuneOff");
-            modifiedLateralTuneKeys.erase("SteerFriction");
-            modifiedLateralTuneKeys.erase("SteerKP");
-            modifiedLateralTuneKeys.erase("SteerLatAccel");
-          } else {
-            modifiedLateralTuneKeys.erase("ForceAutoTuneOff");
-          }
-        }
-
-        if (!liveValid || usingNNFF) {
-          modifiedLateralTuneKeys.erase("SteerFriction");
-          modifiedLateralTuneKeys.erase("SteerLatAccel");
-        }
-
-        showToggles(modifiedLateralTuneKeys);
-      });
-      advancedDrivingToggle = advancedLateralTuneToggle;
-    } else if (param == "SteerFriction") {
-      std::vector<QString> steerFrictionToggleNames{"Reset"};
-      advancedDrivingToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0.01, 0.25, QString(), std::map<int, QString>(), 0.01, {}, steerFrictionToggleNames, false);
-    } else if (param == "SteerKP") {
-      std::vector<QString> steerKPToggleNames{"Reset"};
-      advancedDrivingToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerKPStock * 0.50, steerKPStock * 1.50, QString(), std::map<int, QString>(), 0.01, {}, steerKPToggleNames, false);
-    } else if (param == "SteerLatAccel") {
-      std::vector<QString> steerLatAccelToggleNames{"Reset"};
-      advancedDrivingToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerLatAccelStock * 0.25, steerLatAccelStock * 1.25, QString(), std::map<int, QString>(), 0.01, {}, steerLatAccelToggleNames, false);
-    } else if (param == "SteerRatio") {
-      std::vector<QString> steerRatioToggleNames{"Reset"};
-      advancedDrivingToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, QString(), std::map<int, QString>(), 0.01, {}, steerRatioToggleNames, false);
-
-    } else if (param == "AdvancedLongitudinalTune") {
-      FrogPilotParamManageControl *advancedLongitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(advancedLongitudinalTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        std::set<QString> modifiedLongitudinalTuneKeys = longitudinalTuneKeys;
-
-        bool radarlessModel = QString::fromStdString(params.get("RadarlessModels")).split(",").contains(QString::fromStdString(params.get("Model")));
-        if (radarlessModel) {
-          modifiedLongitudinalTuneKeys.erase("LeadDetectionThreshold");
-        }
-
-        showToggles(modifiedLongitudinalTuneKeys);
-      });
-      advancedDrivingToggle = advancedLongitudinalTuneToggle;
-    } else if (param == "LeadDetectionThreshold") {
-      advancedDrivingToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, "%");
-    } else if (param == "MaxDesiredAcceleration") {
-      advancedDrivingToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0.1, 4.0, "m/s", std::map<int, QString>(), 0.1);
-
-    } else if (param == "AdvancedQOLDriving") {
-      FrogPilotParamManageControl *advancedQOLToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(advancedQOLToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        std::set<QString> modifiedQolKeys = qolKeys;
-
-        if (hasPCMCruise) {
-          modifiedQolKeys.erase("SetSpeedOffset");
-        }
-
-        showToggles(modifiedQolKeys);
-      });
-      advancedDrivingToggle = advancedQOLToggle;
-    } else if (param == "SetSpeedOffset") {
-      advancedDrivingToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph"));
-
-    } else if (param == "CustomPersonalities") {
-      FrogPilotParamManageControl *customPersonalitiesToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(customPersonalitiesToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        showToggles(customDrivingPersonalityKeys);
-      });
-      advancedDrivingToggle = customPersonalitiesToggle;
-    } else if (param == "ResetTrafficPersonality" || param == "ResetAggressivePersonality" || param == "ResetStandardPersonality" || param == "ResetRelaxedPersonality") {
-      FrogPilotButtonsControl *profileBtn = new FrogPilotButtonsControl(title, desc, {tr("Reset")});
-      advancedDrivingToggle = profileBtn;
-    } else if (param == "TrafficPersonalityProfile") {
-      FrogPilotParamManageControl *trafficPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(trafficPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        customPersonalityOpen = true;
-        openSubParentToggle();
-        showToggles(trafficPersonalityKeys);
-      });
-      advancedDrivingToggle = trafficPersonalityToggle;
-    } else if (param == "AggressivePersonalityProfile") {
-      FrogPilotParamManageControl *aggressivePersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(aggressivePersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        customPersonalityOpen = true;
-        openSubParentToggle();
-        showToggles(aggressivePersonalityKeys);
-      });
-      advancedDrivingToggle = aggressivePersonalityToggle;
-    } else if (param == "StandardPersonalityProfile") {
-      FrogPilotParamManageControl *standardPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(standardPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        customPersonalityOpen = true;
-        openSubParentToggle();
-        showToggles(standardPersonalityKeys);
-      });
-      advancedDrivingToggle = standardPersonalityToggle;
-    } else if (param == "RelaxedPersonalityProfile") {
-      FrogPilotParamManageControl *relaxedPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(relaxedPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        customPersonalityOpen = true;
-        openSubParentToggle();
-        showToggles(relaxedPersonalityKeys);
-      });
-      advancedDrivingToggle = relaxedPersonalityToggle;
-    } else if (trafficPersonalityKeys.find(param) != trafficPersonalityKeys.end() ||
-               aggressivePersonalityKeys.find(param) != aggressivePersonalityKeys.end() ||
-               standardPersonalityKeys.find(param) != standardPersonalityKeys.end() ||
-               relaxedPersonalityKeys.find(param) != relaxedPersonalityKeys.end()) {
-      if (param == "TrafficFollow" || param == "AggressiveFollow" || param == "StandardFollow" || param == "RelaxedFollow") {
-        if (param == "TrafficFollow") {
-          advancedDrivingToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0.5, 5, tr(" seconds"), std::map<int, QString>(), 0.01);
-        } else {
-          advancedDrivingToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 5, tr(" seconds"), std::map<int, QString>(), 0.01);
-        }
-      } else {
-        advancedDrivingToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 500, "%");
-      }
-
-    } else if (param == "ModelManagement") {
-      FrogPilotParamManageControl *modelManagementToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(modelManagementToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        availableModelNames = QString::fromStdString(params.get("AvailableModelsNames")).split(",");
-        availableModels = QString::fromStdString(params.get("AvailableModels")).split(",");
-        experimentalModels = QString::fromStdString(params.get("ExperimentalModels")).split(",");
-
-        modelManagementOpen = true;
-
-        QString currentModel = QString::fromStdString(params.get("Model")) + ".thneed";
-        QStringList modelFiles = modelDir.entryList({"*.thneed"}, QDir::Files);
-        modelFiles.removeAll(currentModel);
-        haveModelsDownloaded = modelFiles.size() > 1;
-        modelsDownloaded = params.getBool("ModelsDownloaded");
-
-        showToggles(modelManagementKeys);
-      });
-      advancedDrivingToggle = modelManagementToggle;
-    } else if (param == "ModelRandomizer") {
-      FrogPilotParamManageControl *modelRandomizerToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(modelRandomizerToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        openSubParentToggle();
-        showToggles(modelRandomizerKeys);
-        updateModelLabels();
-      });
-      advancedDrivingToggle = modelRandomizerToggle;
-    } else if (param == "ManageBlacklistedModels") {
-      FrogPilotButtonsControl *blacklistBtn = new FrogPilotButtonsControl(title, desc, {tr("ADD"), tr("REMOVE")});
-      QObject::connect(blacklistBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) {
-        QStringList blacklistedModels = QString::fromStdString(params.get("BlacklistedModels")).split(",", QString::SkipEmptyParts);
-        QStringList selectableModels = availableModelNames;
-
-        for (QString &model : blacklistedModels) {
-          selectableModels.removeAll(model);
-          if (model.contains("(Default)")) {
-            blacklistedModels.move(blacklistedModels.indexOf(model), 0);
-          }
-        }
-
-        if (id == 0) {
-          if (selectableModels.size() == 1) {
-            FrogPilotConfirmationDialog::toggleAlert(tr("There's no more models to blacklist! The only available model is \"%1\"!").arg(selectableModels.first()), tr("OK"), this);
-          } else {
-            QString selectedModel = MultiOptionDialog::getSelection(tr("Select a model to add to the blacklist"), selectableModels, "", this);
-            if (!selectedModel.isEmpty()) {
-              if (ConfirmationDialog::confirm(tr("Are you sure you want to add the '%1' model to the blacklist?").arg(selectedModel), tr("Add"), this)) {
-                if (!blacklistedModels.contains(selectedModel)) {
-                  blacklistedModels.append(selectedModel);
-                  params.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString());
-                  paramsStorage.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString());
-                }
-              }
-            }
-          }
-        } else if (id == 1) {
-          QString selectedModel = MultiOptionDialog::getSelection(tr("Select a model to remove from the blacklist"), blacklistedModels, "", this);
-          if (!selectedModel.isEmpty()) {
-            if (ConfirmationDialog::confirm(tr("Are you sure you want to remove the '%1' model from the blacklist?").arg(selectedModel), tr("Remove"), this)) {
-              if (blacklistedModels.contains(selectedModel)) {
-                blacklistedModels.removeAll(selectedModel);
-                params.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString());
-                paramsStorage.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString());
-              }
-            }
-          }
-        }
-      });
-      advancedDrivingToggle = blacklistBtn;
-    } else if (param == "ResetScores") {
-      ButtonControl *resetCalibrationsBtn = new ButtonControl(title, tr("RESET"), desc);
-      QObject::connect(resetCalibrationsBtn, &ButtonControl::clicked, [this]() {
-        if (FrogPilotConfirmationDialog::yesorno(tr("Reset all model scores?"), this)) {
-          for (const QString &model : availableModelNames) {
-            QString cleanedModel = processModelName(model);
-            params.remove(QString("%1Drives").arg(cleanedModel).toStdString());
-            paramsStorage.remove(QString("%1Drives").arg(cleanedModel).toStdString());
-            params.remove(QString("%1Score").arg(cleanedModel).toStdString());
-            paramsStorage.remove(QString("%1Score").arg(cleanedModel).toStdString());
-          }
-          updateModelLabels();
-        }
-      });
-      advancedDrivingToggle = reinterpret_cast<AbstractControl*>(resetCalibrationsBtn);
-    } else if (param == "ReviewScores") {
-      ButtonControl *reviewScoresBtn = new ButtonControl(title, tr("VIEW"), desc);
-      QObject::connect(reviewScoresBtn, &ButtonControl::clicked, [this]() {
-        openSubSubParentToggle();
-
-        for (LabelControl *label : labelControls) {
-          label->setVisible(true);
-        }
-
-        for (auto &[key, toggle] : toggles) {
-          toggle->setVisible(false);
-        }
-      });
-      advancedDrivingToggle = reinterpret_cast<AbstractControl*>(reviewScoresBtn);
-    } else if (param == "DeleteModel") {
-      deleteModelBtn = new ButtonControl(title, tr("DELETE"), desc);
-      QObject::connect(deleteModelBtn, &ButtonControl::clicked, [this]() {
-        QStringList deletableModels, existingModels = modelDir.entryList({"*.thneed"}, QDir::Files);
-        QMap<QString, QString> labelToFileMap;
-        QString currentModel = QString::fromStdString(params.get("Model")) + ".thneed";
-
-        for (int i = 0; i < availableModels.size(); ++i) {
-          QString modelFile = availableModels[i] + ".thneed";
-          if (existingModels.contains(modelFile) && modelFile != currentModel && !availableModelNames[i].contains("(Default)")) {
-            deletableModels.append(availableModelNames[i]);
-            labelToFileMap[availableModelNames[i]] = modelFile;
-          }
-        }
-
-        QString selectedModel = MultiOptionDialog::getSelection(tr("Select a model to delete"), deletableModels, "", this);
-        if (!selectedModel.isEmpty()) {
-          if (ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' model?").arg(selectedModel), tr("Delete"), this)) {
-            std::thread([=]() {
-              modelDeleting = true;
-              modelsDownloaded = false;
-              update();
-
-              params.putBoolNonBlocking("ModelsDownloaded", false);
-              deleteModelBtn->setValue(tr("Deleting..."));
-
-              QFile::remove(modelDir.absoluteFilePath(labelToFileMap[selectedModel]));
-              deleteModelBtn->setValue(tr("Deleted!"));
-
-              util::sleep_for(1000);
-              deleteModelBtn->setValue("");
-              modelDeleting = false;
-
-              QStringList modelFiles = modelDir.entryList({"*.thneed"}, QDir::Files);
-              modelFiles.removeAll(currentModel);
-
-              haveModelsDownloaded = modelFiles.size() > 1;
-              update();
-            }).detach();
-          }
-        }
-      });
-      advancedDrivingToggle = reinterpret_cast<AbstractControl*>(deleteModelBtn);
-    } else if (param == "DownloadModel") {
-      downloadModelBtn = new ButtonControl(title, tr("DOWNLOAD"), desc);
-      QObject::connect(downloadModelBtn, &ButtonControl::clicked, [this]() {
-        if (downloadModelBtn->text() == tr("CANCEL")) {
-          paramsMemory.remove("ModelToDownload");
-          paramsMemory.putBool("CancelModelDownload", true);
-          cancellingDownload = true;
-
-          device()->resetInteractiveTimeout(30);
-        } else {
-          QMap<QString, QString> labelToModelMap;
-          QStringList existingModels = modelDir.entryList({"*.thneed"}, QDir::Files);
-          QStringList downloadableModels;
-
-          for (int i = 0; i < availableModels.size(); ++i) {
-            QString modelFile = availableModels[i] + ".thneed";
-            if (!existingModels.contains(modelFile) && !availableModelNames[i].contains("(Default)")) {
-              downloadableModels.append(availableModelNames[i]);
-              labelToModelMap.insert(availableModelNames[i], availableModels[i]);
-            }
-          }
-
-          QString modelToDownload = MultiOptionDialog::getSelection(tr("Select a driving model to download"), downloadableModels, "", this);
-          if (!modelToDownload.isEmpty()) {
-            device()->resetInteractiveTimeout(300);
-
-            modelDownloading = true;
-            paramsMemory.put("ModelToDownload", labelToModelMap.value(modelToDownload).toStdString());
-            paramsMemory.put("ModelDownloadProgress", "0%");
-
-            downloadModelBtn->setValue(tr("Downloading %1...").arg(modelToDownload.remove(QRegularExpression("[🗺️👀📡]")).trimmed()));
-
-            QTimer *progressTimer = new QTimer(this);
-            progressTimer->setInterval(100);
-
-            QObject::connect(progressTimer, &QTimer::timeout, this, [=]() {
-              QString progress = QString::fromStdString(paramsMemory.get("ModelDownloadProgress"));
-              bool downloadComplete = progress.contains(QRegularExpression("downloaded", QRegularExpression::CaseInsensitiveOption));
-              bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|failed|offline", QRegularExpression::CaseInsensitiveOption));
-
-              if (!progress.isEmpty() && progress != "0%") {
-                downloadModelBtn->setValue(progress);
-              }
-
-              if (downloadComplete || downloadFailed) {
-                bool lastModelDownloaded = downloadComplete;
-
-                if (downloadComplete) {
-                  haveModelsDownloaded = true;
-                  update();
-                }
-
-                if (downloadComplete) {
-                  for (const QString &model : availableModels) {
-                    if (!QFile::exists(modelDir.filePath(model + ".thneed"))) {
-                      lastModelDownloaded = false;
-                      break;
-                    }
-                  }
-                }
-
-                downloadModelBtn->setValue(progress);
-
-                paramsMemory.remove("CancelModelDownload");
-                paramsMemory.remove("ModelDownloadProgress");
-
-                progressTimer->stop();
-                progressTimer->deleteLater();
-
-                QTimer::singleShot(2000, this, [=]() {
-                  cancellingDownload = false;
-                  modelDownloading = false;
-
-                  downloadModelBtn->setValue("");
-
-                  if (lastModelDownloaded) {
-                    modelsDownloaded = true;
-                    update();
-
-                    params.putBoolNonBlocking("ModelsDownloaded", modelsDownloaded);
-                  }
-
-                  device()->resetInteractiveTimeout(30);
-                });
-              }
-            });
-            progressTimer->start();
-          }
-        }
-      });
-      advancedDrivingToggle = reinterpret_cast<AbstractControl*>(downloadModelBtn);
-    } else if (param == "DownloadAllModels") {
-      downloadAllModelsBtn = new ButtonControl(title, tr("DOWNLOAD"), desc);
-      QObject::connect(downloadAllModelsBtn, &ButtonControl::clicked, [this]() {
-        if (downloadAllModelsBtn->text() == tr("CANCEL")) {
-          paramsMemory.remove("DownloadAllModels");
-          paramsMemory.putBool("CancelModelDownload", true);
-          cancellingDownload = true;
-
-          device()->resetInteractiveTimeout(30);
-        } else {
-          device()->resetInteractiveTimeout(300);
-
-          startDownloadAllModels();
-        }
-      });
-      advancedDrivingToggle = reinterpret_cast<AbstractControl*>(downloadAllModelsBtn);
-    } else if (param == "SelectModel") {
-      selectModelBtn = new ButtonControl(title, tr("SELECT"), desc);
-      QObject::connect(selectModelBtn, &ButtonControl::clicked, [this]() {
-        QSet<QString> modelFilesBaseNames = QSet<QString>::fromList(modelDir.entryList({"*.thneed"}, QDir::Files).replaceInStrings(QRegExp("\\.thneed$"), ""));
-        QStringList selectableModels;
-
-        for (int i = 0; i < availableModels.size(); ++i) {
-          if (modelFilesBaseNames.contains(availableModels[i]) || availableModelNames[i].contains("(Default)")) {
-            selectableModels.append(availableModelNames[i]);
-          }
-        }
-
-        QString modelToSelect = MultiOptionDialog::getSelection(tr("Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC"), selectableModels, "", this);
-        if (!modelToSelect.isEmpty()) {
-          selectModelBtn->setValue(modelToSelect);
-          int modelIndex = availableModelNames.indexOf(modelToSelect);
-
-          params.putNonBlocking("Model", availableModels.at(modelIndex).toStdString());
-          params.putNonBlocking("ModelName", modelToSelect.toStdString());
-
-          if (experimentalModels.contains(availableModels.at(modelIndex))) {
-            FrogPilotConfirmationDialog::toggleAlert(tr("WARNING: This is a very experimental model and may drive dangerously!"), tr("I understand the risks."), this);
-          }
-
-          QString model = availableModelNames.at(modelIndex);
-          QString part_model_param = processModelName(model);
-
-          if (!params.checkKey(part_model_param.toStdString() + "CalibrationParams") || !params.checkKey(part_model_param.toStdString() + "LiveTorqueParameters")) {
-            if (FrogPilotConfirmationDialog::yesorno(tr("Start with a fresh calibration for the newly selected model?"), this)) {
-              params.remove("CalibrationParams");
-              params.remove("LiveTorqueParameters");
-            }
-          }
-
-          if (started) {
-            if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) {
-              Hardware::reboot();
-            }
-          }
-        }
-      });
-      selectModelBtn->setValue(QString::fromStdString(params.get("ModelName")));
-      advancedDrivingToggle = reinterpret_cast<AbstractControl*>(selectModelBtn);
-    } else if (param == "ResetCalibrations") {
-      FrogPilotButtonsControl *resetCalibrationsBtn = new FrogPilotButtonsControl(title, desc, {tr("RESET ALL"), tr("RESET ONE")});
-      QObject::connect(resetCalibrationsBtn, &FrogPilotButtonsControl::showDescriptionEvent, this, &FrogPilotAdvancedDrivingPanel::updateCalibrationDescription);
-      QObject::connect(resetCalibrationsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
-        if (id == 0) {
-          if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset all of your model calibrations?"), this)) {
-            for (const QString &model : availableModelNames) {
-              QString cleanedModel = processModelName(model);
-              params.remove(QString("%1CalibrationParams").arg(cleanedModel).toStdString());
-              paramsStorage.remove(QString("%1CalibrationParams").arg(cleanedModel).toStdString());
-              params.remove(QString("%1LiveTorqueParameters").arg(cleanedModel).toStdString());
-              paramsStorage.remove(QString("%1LiveTorqueParameters").arg(cleanedModel).toStdString());
-            }
-          }
-        } else if (id == 1) {
-          QStringList selectableModelLabels;
-          for (int i = 0; i < availableModels.size(); ++i) {
-            selectableModelLabels.append(availableModelNames[i]);
-          }
-
-          QString modelToReset = MultiOptionDialog::getSelection(tr("Select a model to reset"), selectableModelLabels, "", this);
-          if (!modelToReset.isEmpty()) {
-            if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset this model's calibrations?"), this)) {
-              QString cleanedModel = processModelName(modelToReset);
-              params.remove(QString("%1CalibrationParams").arg(cleanedModel).toStdString());
-              paramsStorage.remove(QString("%1CalibrationParams").arg(cleanedModel).toStdString());
-              params.remove(QString("%1LiveTorqueParameters").arg(cleanedModel).toStdString());
-              paramsStorage.remove(QString("%1LiveTorqueParameters").arg(cleanedModel).toStdString());
-            }
-          }
-        }
-      });
-      advancedDrivingToggle = resetCalibrationsBtn;
-
-    } else {
-      advancedDrivingToggle = new ParamControl(param, title, desc, icon);
-    }
-
-    addItem(advancedDrivingToggle);
-    toggles[param] = advancedDrivingToggle;
-
-    makeConnections(advancedDrivingToggle);
-
-    if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast<FrogPilotParamManageControl*>(advancedDrivingToggle)) {
-      QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotAdvancedDrivingPanel::openParentToggle);
-    }
-
-    QObject::connect(advancedDrivingToggle, &AbstractControl::showDescriptionEvent, [this]() {
-      update();
-    });
-  }
-
-  QObject::connect(static_cast<ToggleControl*>(toggles["ModelManagement"]), &ToggleControl::toggleFlipped, [this](bool state) {
-    modelManagement = state;
-  });
-
-  QObject::connect(static_cast<ToggleControl*>(toggles["ModelRandomizer"]), &ToggleControl::toggleFlipped, [this](bool state) {
-    modelRandomizer = state;
-    if (state && !modelsDownloaded) {
-      if (FrogPilotConfirmationDialog::yesorno(tr("The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models?"), this)) {
-        startDownloadAllModels();
-      }
-    }
-  });
-
-  steerFrictionToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerFriction"]);
-  QObject::connect(steerFrictionToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
-    params.putFloat("SteerFriction", steerFrictionStock);
-    steerFrictionToggle->refresh();
-    updateFrogPilotToggles();
-  });
-
-  steerKPToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerKP"]);
-  QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
-    params.putFloat("SteerKP", steerKPStock);
-    steerKPToggle->refresh();
-    updateFrogPilotToggles();
-  });
-
-  steerLatAccelToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerLatAccel"]);
-  QObject::connect(steerLatAccelToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
-    params.putFloat("SteerLatAccel", steerLatAccelStock);
-    steerLatAccelToggle->refresh();
-    updateFrogPilotToggles();
-  });
-
-  steerRatioToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerRatio"]);
-  QObject::connect(steerRatioToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
-    params.putFloat("SteerRatio", steerRatioStock);
-    steerRatioToggle->refresh();
-    updateFrogPilotToggles();
-  });
-
-  FrogPilotParamValueControl *trafficFollowToggle = static_cast<FrogPilotParamValueControl*>(toggles["TrafficFollow"]);
-  FrogPilotParamValueControl *trafficAccelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["TrafficJerkAcceleration"]);
-  FrogPilotParamValueControl *trafficDecelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["TrafficJerkDeceleration"]);
-  FrogPilotParamValueControl *trafficDangerToggle = static_cast<FrogPilotParamValueControl*>(toggles["TrafficJerkDanger"]);
-  FrogPilotParamValueControl *trafficSpeedToggle = static_cast<FrogPilotParamValueControl*>(toggles["TrafficJerkSpeed"]);
-  FrogPilotParamValueControl *trafficSpeedDecreaseToggle = static_cast<FrogPilotParamValueControl*>(toggles["TrafficJerkSpeedDecrease"]);
-  FrogPilotButtonsControl *trafficResetButton = static_cast<FrogPilotButtonsControl*>(toggles["ResetTrafficPersonality"]);
-  QObject::connect(trafficResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() {
-    if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Traffic Mode' personality?"), this)) {
-      params.putFloat("TrafficFollow", 0.5);
-      params.putFloat("TrafficJerkAcceleration", 50);
-      params.putFloat("TrafficJerkDeceleration", 50);
-      params.putFloat("TrafficJerkDanger", 100);
-      params.putFloat("TrafficJerkSpeed", 50);
-      params.putFloat("TrafficJerkSpeedDecrease", 50);
-      trafficFollowToggle->refresh();
-      trafficAccelerationToggle->refresh();
-      trafficDecelerationToggle->refresh();
-      trafficDangerToggle->refresh();
-      trafficSpeedToggle->refresh();
-      trafficSpeedDecreaseToggle->refresh();
-      updateFrogPilotToggles();
-    }
-  });
-
-  FrogPilotParamValueControl *aggressiveFollowToggle = static_cast<FrogPilotParamValueControl*>(toggles["AggressiveFollow"]);
-  FrogPilotParamValueControl *aggressiveAccelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["AggressiveJerkAcceleration"]);
-  FrogPilotParamValueControl *aggressiveDecelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["AggressiveJerkDeceleration"]);
-  FrogPilotParamValueControl *aggressiveDangerToggle = static_cast<FrogPilotParamValueControl*>(toggles["AggressiveJerkDanger"]);
-  FrogPilotParamValueControl *aggressiveSpeedToggle = static_cast<FrogPilotParamValueControl*>(toggles["AggressiveJerkSpeed"]);
-  FrogPilotParamValueControl *aggressiveSpeedDecreaseToggle = static_cast<FrogPilotParamValueControl*>(toggles["AggressiveJerkSpeedDecrease"]);
-  FrogPilotButtonsControl *aggressiveResetButton = static_cast<FrogPilotButtonsControl*>(toggles["ResetAggressivePersonality"]);
-  QObject::connect(aggressiveResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() {
-    if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Aggressive' personality?"), this)) {
-      params.putFloat("AggressiveFollow", 1.25);
-      params.putFloat("AggressiveJerkAcceleration", 50);
-      params.putFloat("AggressiveJerkDeceleration", 50);
-      params.putFloat("AggressiveJerkDanger", 100);
-      params.putFloat("AggressiveJerkSpeed", 50);
-      params.putFloat("AggressiveJerkSpeedDecrease", 50);
-      aggressiveFollowToggle->refresh();
-      aggressiveAccelerationToggle->refresh();
-      aggressiveDecelerationToggle->refresh();
-      aggressiveDangerToggle->refresh();
-      aggressiveSpeedToggle->refresh();
-      aggressiveSpeedDecreaseToggle->refresh();
-      updateFrogPilotToggles();
-    }
-  });
-
-  FrogPilotParamValueControl *standardFollowToggle = static_cast<FrogPilotParamValueControl*>(toggles["StandardFollow"]);
-  FrogPilotParamValueControl *standardAccelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["StandardJerkAcceleration"]);
-  FrogPilotParamValueControl *standardDecelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["StandardJerkDeceleration"]);
-  FrogPilotParamValueControl *standardDangerToggle = static_cast<FrogPilotParamValueControl*>(toggles["StandardJerkDanger"]);
-  FrogPilotParamValueControl *standardSpeedToggle = static_cast<FrogPilotParamValueControl*>(toggles["StandardJerkSpeed"]);
-  FrogPilotParamValueControl *standardSpeedDecreaseToggle = static_cast<FrogPilotParamValueControl*>(toggles["StandardJerkSpeedDecrease"]);
-  FrogPilotButtonsControl *standardResetButton = static_cast<FrogPilotButtonsControl*>(toggles["ResetStandardPersonality"]);
-  QObject::connect(standardResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() {
-    if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Standard' personality?"), this)) {
-      params.putFloat("StandardFollow", 1.45);
-      params.putFloat("StandardJerkAcceleration", 100);
-      params.putFloat("StandardJerkDeceleration", 100);
-      params.putFloat("StandardJerkDanger", 100);
-      params.putFloat("StandardJerkSpeed", 100);
-      params.putFloat("StandardJerkSpeedDecrease", 100);
-      standardFollowToggle->refresh();
-      standardAccelerationToggle->refresh();
-      standardDecelerationToggle->refresh();
-      standardDangerToggle->refresh();
-      standardSpeedToggle->refresh();
-      standardSpeedDecreaseToggle->refresh();
-      updateFrogPilotToggles();
-    }
-  });
-
-  FrogPilotParamValueControl *relaxedFollowToggle = static_cast<FrogPilotParamValueControl*>(toggles["RelaxedFollow"]);
-  FrogPilotParamValueControl *relaxedAccelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["RelaxedJerkAcceleration"]);
-  FrogPilotParamValueControl *relaxedDecelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["RelaxedJerkDeceleration"]);
-  FrogPilotParamValueControl *relaxedDangerToggle = static_cast<FrogPilotParamValueControl*>(toggles["RelaxedJerkDanger"]);
-  FrogPilotParamValueControl *relaxedSpeedToggle = static_cast<FrogPilotParamValueControl*>(toggles["RelaxedJerkSpeed"]);
-  FrogPilotParamValueControl *relaxedSpeedDecreaseToggle = static_cast<FrogPilotParamValueControl*>(toggles["RelaxedJerkSpeedDecrease"]);
-  FrogPilotButtonsControl *relaxedResetButton = static_cast<FrogPilotButtonsControl*>(toggles["ResetRelaxedPersonality"]);
-  QObject::connect(relaxedResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() {
-    if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Relaxed' personality?"), this)) {
-      params.putFloat("RelaxedFollow", 1.75);
-      params.putFloat("RelaxedJerkAcceleration", 100);
-      params.putFloat("RelaxedJerkDeceleration", 100);
-      params.putFloat("RelaxedJerkDanger", 100);
-      params.putFloat("RelaxedJerkSpeed", 100);
-      params.putFloat("RelaxedJerkSpeedDecrease", 100);
-      relaxedFollowToggle->refresh();
-      relaxedAccelerationToggle->refresh();
-      relaxedDecelerationToggle->refresh();
-      relaxedDangerToggle->refresh();
-      relaxedSpeedToggle->refresh();
-      relaxedSpeedDecreaseToggle->refresh();
-      updateFrogPilotToggles();
-    }
-  });
-
-  QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotAdvancedDrivingPanel::hideToggles);
-  QObject::connect(parent, &FrogPilotSettingsWindow::closeSubParentToggle, this, &FrogPilotAdvancedDrivingPanel::hideSubToggles);
-  QObject::connect(parent, &FrogPilotSettingsWindow::closeSubSubParentToggle, this, &FrogPilotAdvancedDrivingPanel::hideSubSubToggles);
-  QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotAdvancedDrivingPanel::updateCarToggles);
-  QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotAdvancedDrivingPanel::updateMetric);
-  QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotAdvancedDrivingPanel::updateState);
-
-  updateMetric();
-}
-
-void FrogPilotAdvancedDrivingPanel::updateMetric() {
-  bool previousIsMetric = isMetric;
-  isMetric = params.getBool("IsMetric");
-
-  if (isMetric != previousIsMetric) {
-    double speedConversion = isMetric ? MILE_TO_KM : KM_TO_MILE;
-
-    params.putFloatNonBlocking("SetSpeedOffset", params.getFloat("SetSpeedOffset") * speedConversion);
-  }
-
-  FrogPilotParamValueControl *setSpeedOffsetToggle = static_cast<FrogPilotParamValueControl*>(toggles["SetSpeedOffset"]);
-
-  if (isMetric) {
-    setSpeedOffsetToggle->updateControl(0, 150, tr("kph"));
-  } else {
-    setSpeedOffsetToggle->updateControl(0, 99, tr("mph"));
-  }
-}
-
-void FrogPilotAdvancedDrivingPanel::showEvent(QShowEvent *event) {
-  modelManagement = params.getBool("ModelManagement");
-  modelRandomizer = params.getBool("ModelRandomizer");
-}
-
-void FrogPilotAdvancedDrivingPanel::updateCarToggles() {
-  disableOpenpilotLongitudinal = parent->disableOpenpilotLongitudinal;
-  hasAutoTune = parent->hasAutoTune;
-  hasNNFFLog = parent->hasNNFFLog;
-  hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal;
-  hasPCMCruise = parent->hasPCMCruise;
-  isPIDCar = parent->isPIDCar;
-  liveValid = parent->liveValid;
-  steerFrictionStock = parent->steerFrictionStock;
-  steerKPStock = parent->steerKPStock;
-  steerLatAccelStock = parent->steerLatAccelStock;
-  steerRatioStock = parent->steerRatioStock;
-
-  steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(steerFrictionStock, 'f', 2)));
-  steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(steerKPStock, 'f', 2)));
-  steerKPToggle->updateControl(steerKPStock * 0.50, steerKPStock * 1.50);
-  steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(steerLatAccelStock, 'f', 2)));
-  steerLatAccelToggle->updateControl(steerLatAccelStock * 0.75, steerLatAccelStock * 1.25);
-  steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2)));
-  steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25);
-
-  hideToggles();
-}
-
-void FrogPilotAdvancedDrivingPanel::updateState(const UIState &s) {
-  if (!isVisible()) return;
-
-  if (modelManagementOpen) {
-    downloadAllModelsBtn->setText(modelDownloading && allModelsDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
-    downloadModelBtn->setText(modelDownloading && !allModelsDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
-
-    deleteModelBtn->setEnabled(!modelDeleting && !modelDownloading);
-    downloadAllModelsBtn->setEnabled(s.scene.online && !cancellingDownload && !modelDeleting && (!modelDownloading || allModelsDownloading) && !modelsDownloaded);
-    downloadModelBtn->setEnabled(s.scene.online && !cancellingDownload && !modelDeleting && !allModelsDownloading && !modelsDownloaded);
-    selectModelBtn->setEnabled(!modelDeleting && !modelDownloading && !modelRandomizer);
-  }
-
-  started = s.scene.started;
-}
-
-void FrogPilotAdvancedDrivingPanel::startDownloadAllModels() {
-  allModelsDownloading = true;
-  modelDownloading = true;
-
-  paramsMemory.putBool("DownloadAllModels", true);
-
-  downloadAllModelsBtn->setValue(tr("Downloading models..."));
-
-  QTimer *progressTimer = new QTimer(this);
-  progressTimer->setInterval(100);
-
-  QObject::connect(progressTimer, &QTimer::timeout, this, [=]() {
-    QString progress = QString::fromStdString(paramsMemory.get("ModelDownloadProgress"));
-    bool downloadComplete = progress.contains(QRegularExpression("All models downloaded!", QRegularExpression::CaseInsensitiveOption));
-    bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|failed|offline", QRegularExpression::CaseInsensitiveOption));
-
-    if (!progress.isEmpty() && progress != "0%") {
-      downloadAllModelsBtn->setValue(progress);
-    }
-
-    if (downloadComplete || downloadFailed) {
-      if (downloadComplete) {
-        haveModelsDownloaded = true;
-        update();
-      }
-
-      downloadAllModelsBtn->setValue(progress);
-
-      paramsMemory.remove("CancelModelDownload");
-      paramsMemory.remove("ModelDownloadProgress");
-
-      progressTimer->stop();
-      progressTimer->deleteLater();
-
-      QTimer::singleShot(2000, this, [=]() {
-        cancellingDownload = false;
-        modelDownloading = false;
-
-        paramsMemory.remove("DownloadAllModels");
-
-        downloadAllModelsBtn->setValue("");
-
-        device()->resetInteractiveTimeout(30);
-      });
-    }
-  });
-  progressTimer->start();
-}
-
-void FrogPilotAdvancedDrivingPanel::updateCalibrationDescription() {
-  QString model = QString::fromStdString(params.get("ModelName"));
-  QString part_model_param = processModelName(model);
-
-  QString desc =
-      tr("openpilot requires the device to be mounted within 4° left or right and "
-         "within 5° up or 9° down. openpilot is continuously calibrating, resetting is rarely required.");
-  std::string calib_bytes = params.get(part_model_param.toStdString() + "CalibrationParams");
-  if (!calib_bytes.empty()) {
-    try {
-      AlignedBuffer aligned_buf;
-      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
-      auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
-      if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) {
-        double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
-        double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
-        desc += tr(" Your device is pointed %1° %2 and %3° %4.")
-                    .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"),
-                         QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right"));
-      }
-    } catch (kj::Exception) {
-      qInfo() << "invalid CalibrationParams";
-    }
-  }
-  qobject_cast<FrogPilotButtonsControl *>(sender())->setDescription(desc);
-}
-
-void FrogPilotAdvancedDrivingPanel::updateModelLabels() {
-  QVector<QPair<QString, int>> modelScores;
-  for (QString &model : availableModelNames) {
-    QString cleanedModel = processModelName(model);
-    int score = params.getInt((cleanedModel + "Score").toStdString());
-
-    if (model.contains("(Default)")) {
-      modelScores.prepend(qMakePair(model, score));
-    } else {
-      modelScores.append(qMakePair(model, score));
-    }
-  }
-
-  labelControls.clear();
-
-  for (QPair<QString, int> &pair : modelScores) {
-    QString scoreDisplay = pair.second == 0 ? "N/A" : QString::number(pair.second) + "%";
-    LabelControl *labelControl = new LabelControl(pair.first, scoreDisplay, "");
-    labelControls.append(labelControl);
-    addItem(labelControl);
-  }
-
-  for (LabelControl *label : labelControls) {
-    label->setVisible(false);
-  }
-}
-
-void FrogPilotAdvancedDrivingPanel::showToggles(const std::set<QString> &keys) {
-  setUpdatesEnabled(false);
-
-  for (auto &[key, toggle] : toggles) {
-    toggle->setVisible(keys.find(key) != keys.end());
-  }
-
-  setUpdatesEnabled(true);
-  update();
-}
-
-void FrogPilotAdvancedDrivingPanel::hideToggles() {
-  setUpdatesEnabled(false);
-
-  customPersonalityOpen = false;
-  modelManagementOpen = false;
-
-  for (LabelControl *label : labelControls) {
-    label->setVisible(false);
-  }
-
-  std::set<QString> longitudinalKeys = {"AdvancedLongitudinalTune", "CustomPersonalities"};
-  for (auto &[key, toggle] : toggles) {
-    bool subToggles = aggressivePersonalityKeys.find(key) != aggressivePersonalityKeys.end() ||
-                      customDrivingPersonalityKeys.find(key) != customDrivingPersonalityKeys.end() ||
-                      lateralTuneKeys.find(key) != lateralTuneKeys.end() ||
-                      longitudinalTuneKeys.find(key) != longitudinalTuneKeys.end() ||
-                      modelManagementKeys.find(key) != modelManagementKeys.end() ||
-                      modelRandomizerKeys.find(key) != modelRandomizerKeys.end() ||
-                      qolKeys.find(key) != qolKeys.end() ||
-                      relaxedPersonalityKeys.find(key) != relaxedPersonalityKeys.end() ||
-                      standardPersonalityKeys.find(key) != standardPersonalityKeys.end() ||
-                      trafficPersonalityKeys.find(key) != trafficPersonalityKeys.end();
-
-    if (disableOpenpilotLongitudinal || !hasOpenpilotLongitudinal) {
-      if (longitudinalKeys.find(key) != longitudinalKeys.end()) {
-        toggle->setVisible(false);
-        continue;
-      }
-    }
-
-    toggle->setVisible(!subToggles);
-  }
-
-  setUpdatesEnabled(true);
-  update();
-}
-
-void FrogPilotAdvancedDrivingPanel::hideSubToggles() {
-  if (customPersonalityOpen) {
-    customPersonalityOpen = false;
-    showToggles(customDrivingPersonalityKeys);
-  } else if (modelManagementOpen) {
-    for (LabelControl *label : labelControls) {
-      label->setVisible(false);
-    }
-    showToggles(modelManagementKeys);
-  }
-}
-
-void FrogPilotAdvancedDrivingPanel::hideSubSubToggles() {
-  if (modelManagementOpen) {
-    for (LabelControl *label : labelControls) {
-      label->setVisible(false);
-    }
-    showToggles(modelRandomizerKeys);
-  }
-}
diff --git a/selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.h b/selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.h
deleted file mode 100644
index 2e89c0a9629a93..00000000000000
--- a/selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.h
+++ /dev/null
@@ -1,137 +0,0 @@
-#pragma once
-
-#include <set>
-
-#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h"
-
-class FrogPilotAdvancedDrivingPanel : public FrogPilotListWidget {
-  Q_OBJECT
-
-public:
-  explicit FrogPilotAdvancedDrivingPanel(FrogPilotSettingsWindow *parent);
-
-signals:
-  void openParentToggle();
-  void openSubParentToggle();
-  void openSubSubParentToggle();
-
-protected:
-  void showEvent(QShowEvent *event) override;
-
-private:
-  void hideSubToggles();
-  void hideSubSubToggles();
-  void hideToggles();
-  void showToggles(const std::set<QString> &keys);
-
-  void startDownloadAllModels();
-  void updateCalibrationDescription();
-  void updateCarToggles();
-  void updateMetric();
-  void updateModelLabels();
-  void updateState(const UIState &s);
-
-  std::set<QString> aggressivePersonalityKeys = {
-    "AggressiveFollow", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration",
-    "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease",
-    "ResetAggressivePersonality"
-  };
-
-  std::set<QString> customDrivingPersonalityKeys = {
-    "AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile",
-    "TrafficPersonalityProfile"
-  };
-
-  std::set<QString> lateralTuneKeys = {
-    "ForceAutoTune", "ForceAutoTuneOff", "SteerFriction",
-    "SteerLatAccel", "SteerKP", "SteerRatio", "TacoTune",
-    "TurnDesires"
-  };
-
-  std::set<QString> longitudinalTuneKeys = {
-    "LeadDetectionThreshold", "MaxDesiredAcceleration"
-  };
-
-  std::set<QString> modelManagementKeys = {
-    "AutomaticallyUpdateModels", "DeleteModel", "DownloadModel",
-    "DownloadAllModels", "ModelRandomizer", "ResetCalibrations",
-    "SelectModel"
-  };
-
-  std::set<QString> modelRandomizerKeys = {
-    "ManageBlacklistedModels", "ResetScores", "ReviewScores"
-  };
-
-  std::set<QString> qolKeys = {
-    "ForceStandstill", "ForceStops", "SetSpeedOffset"
-  };
-
-  std::set<QString> relaxedPersonalityKeys = {
-    "RelaxedFollow", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration",
-    "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease",
-    "ResetRelaxedPersonality"
-  };
-
-  std::set<QString> standardPersonalityKeys = {
-    "StandardFollow", "StandardJerkAcceleration", "StandardJerkDeceleration",
-    "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease",
-    "ResetStandardPersonality"
-  };
-
-  std::set<QString> trafficPersonalityKeys = {
-    "TrafficFollow", "TrafficJerkAcceleration", "TrafficJerkDeceleration",
-    "TrafficJerkDanger", "TrafficJerkSpeed", "TrafficJerkSpeedDecrease",
-    "ResetTrafficPersonality"
-  };
-
-  ButtonControl *deleteModelBtn;
-  ButtonControl *downloadAllModelsBtn;
-  ButtonControl *downloadModelBtn;
-  ButtonControl *selectModelBtn;
-
-  FrogPilotParamValueButtonControl *steerFrictionToggle;
-  FrogPilotParamValueButtonControl *steerLatAccelToggle;
-  FrogPilotParamValueButtonControl *steerKPToggle;
-  FrogPilotParamValueButtonControl *steerRatioToggle;
-
-  FrogPilotSettingsWindow *parent;
-
-  Params params;
-  Params paramsMemory{"/dev/shm/params"};
-  Params paramsStorage{"/persist/params"};
-
-  QDir modelDir{"/data/models/"};
-
-  QList<LabelControl*> labelControls;
-
-  QStringList availableModelNames;
-  QStringList availableModels;
-  QStringList experimentalModels;
-
-  bool allModelsDownloading;
-  bool cancellingDownload;
-  bool customPersonalityOpen;
-  bool disableOpenpilotLongitudinal;
-  bool hasAutoTune;
-  bool hasNNFFLog;
-  bool hasOpenpilotLongitudinal;
-  bool hasPCMCruise;
-  bool haveModelsDownloaded;
-  bool isMetric = params.getBool("IsMetric");
-  bool isPIDCar;
-  bool liveValid;
-  bool modelDeleting;
-  bool modelDownloading;
-  bool modelManagement;
-  bool modelManagementOpen;
-  bool modelRandomizer;
-  bool modelsDownloaded;
-  bool started;
-
-  float steerFrictionStock;
-  float steerLatAccelStock;
-  float steerKPStock;
-  float steerRatioStock;
-
-  std::map<QString, AbstractControl*> toggles;
-};
diff --git a/selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.cc
deleted file mode 100644
index c66d0c6e274210..00000000000000
--- a/selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.cc
+++ /dev/null
@@ -1,226 +0,0 @@
-#include "selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.h"
-
-FrogPilotAdvancedVisualsPanel::FrogPilotAdvancedVisualsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) {
-  const std::vector<std::tuple<QString, QString, QString, QString>> advancedToggles {
-    {"AdvancedCustomUI", tr("Advanced Onroad UI Widgets"), tr("Advanced user customizations for the Onroad UI."), "../frogpilot/assets/toggle_icons/icon_advanced_road.png"},
-    {"CameraView", tr("Camera View"), tr("Camera view for the onroad UI. This is purely a visual change and doesn't impact how openpilot drives."), ""},
-    {"ShowStoppingPoint", tr("Display Stopping Points"), tr("Display an image on the screen where openpilot is detecting a potential red light/stop sign."), ""},
-    {"HideLeadMarker", tr("Hide Lead Marker"), tr("Hide the marker for the vehicle ahead on the screen."), ""},
-    {"HideSpeed", tr("Hide Speed"), tr("Hide the speed indicator in the onroad UI. Additional toggle allows it to be hidden/shown via tapping the speed itself."), ""},
-    {"HideUIElements", tr("Hide UI Elements"), tr("Hide the selected UI elements from the onroad screen."), ""},
-    {"WheelSpeed", tr("Use Wheel Speed"), tr("Use the wheel speed instead of the cluster speed in the onroad UI."), ""},
-
-    {"DeveloperUI", tr("Developer UI"), tr("Show detailed information about openpilot's internal operations."), "../frogpilot/assets/toggle_icons/icon_advanced_device.png"},
-    {"BorderMetrics", tr("Border Metrics"), tr("Display performance metrics around the edge of the screen while driving."), ""},
-    {"FPSCounter", tr("FPS Display"), tr("Display the 'Frames Per Second' (FPS) at the bottom of the screen while driving."), ""},
-    {"LateralMetrics", tr("Lateral Metrics"), tr("Display metrics related to steering control at the top of the screen while driving."), ""},
-    {"LongitudinalMetrics", tr("Longitudinal Metrics"), tr("Display metrics related to acceleration, speed, and desired following distance at the top of the screen while driving."), ""},
-    {"NumericalTemp", tr("Numerical Temperature Gauge"), tr("Show exact temperature readings instead of general status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar."), ""},
-    {"SidebarMetrics", tr("Sidebar"), tr("Display system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar."), ""},
-    {"UseSI", tr("Use International System of Units"), tr("Display measurements using the 'International System of Units' (SI)."), ""},
-
-    {"ModelUI", tr("Model UI"), tr("Customize the model visualizations on the screen."), "../frogpilot/assets/toggle_icons/icon_advanced_calibration.png"},
-    {"LaneLinesWidth", tr("Lane Lines Width"), tr("How thick the lane lines appear on the display.\n\nDefault matches the MUTCD standard of 4 inches."), ""},
-    {"PathEdgeWidth", tr("Path Edges Width"), tr("The width of the edges of the driving path to represent different modes and statuses.\n\nDefault is 20% of the total path width.\n\nColor Guide:\n- Blue: Navigation\n- Light Blue: 'Always On Lateral'\n- Green: Default\n- Orange: 'Experimental Mode'\n- Red: 'Traffic Mode'\n- Yellow: 'Conditional Experimental Mode' Overridden"), ""},
-    {"PathWidth", tr("Path Width"), tr("How wide the driving path appears on your screen.\n\nDefault (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350."), ""},
-    {"RoadEdgesWidth", tr("Road Edges Width"), tr("How thick the road edges appear on the display.\n\nDefault matches half of the MUTCD standard lane line width of 4 inches."), ""},
-    {"UnlimitedLength", tr("'Unlimited' Road UI"), tr("Extend the display of the path, lane lines, and road edges as far as the model can see."), ""},
-  };
-
-  for (const auto &[param, title, desc, icon] : advancedToggles) {
-    AbstractControl *advancedVisualToggle;
-
-    if (param == "AdvancedCustomUI") {
-      FrogPilotParamManageControl *advancedCustomUIToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(advancedCustomUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        showToggles(advancedCustomOnroadUIKeys);
-      });
-      advancedVisualToggle = advancedCustomUIToggle;
-    } else if (param == "CameraView") {
-      std::vector<QString> cameraOptions{tr("Auto"), tr("Driver"), tr("Standard"), tr("Wide")};
-      ButtonParamControl *preferredCamera = new ButtonParamControl(param, title, desc, icon, cameraOptions);
-      advancedVisualToggle = preferredCamera;
-    } else if (param == "HideSpeed") {
-      std::vector<QString> hideSpeedToggles{"HideSpeedUI"};
-      std::vector<QString> hideSpeedToggleNames{tr("Control Via UI")};
-      advancedVisualToggle = new FrogPilotButtonToggleControl(param, title, desc, hideSpeedToggles, hideSpeedToggleNames);
-    } else if (param == "HideUIElements") {
-      std::vector<QString> uiElementsToggles{"HideAlerts", "HideMapIcon", "HideMaxSpeed"};
-      std::vector<QString> uiElementsToggleNames{tr("Alerts"), tr("Map Icon"), tr("Max Speed")};
-      advancedVisualToggle = new FrogPilotButtonToggleControl(param, title, desc, uiElementsToggles, uiElementsToggleNames);
-    } else if (param == "ShowStoppingPoint") {
-      std::vector<QString> stoppingPointToggles{"ShowStoppingPointMetrics"};
-      std::vector<QString> stoppingPointToggleNames{tr("Show Distance")};
-      advancedVisualToggle = new FrogPilotButtonToggleControl(param, title, desc, stoppingPointToggles, stoppingPointToggleNames);
-
-    } else if (param == "DeveloperUI") {
-      FrogPilotParamManageControl *developerUIToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(developerUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        borderMetricsBtn->setVisibleButton(0, hasBSM);
-        lateralMetricsBtn->setVisibleButton(1, hasAutoTune);
-
-        std::set<QString> modifiedDeveloperUIKeys = developerUIKeys;
-
-        if (disableOpenpilotLongitudinal || !hasOpenpilotLongitudinal) {
-          modifiedDeveloperUIKeys.erase("LongitudinalMetrics");
-        }
-
-        showToggles(modifiedDeveloperUIKeys);
-      });
-      advancedVisualToggle = developerUIToggle;
-    } else if (param == "BorderMetrics") {
-      std::vector<QString> borderToggles{"BlindSpotMetrics", "ShowSteering", "SignalMetrics"};
-      std::vector<QString> borderToggleNames{tr("Blind Spot"), tr("Steering Torque"), tr("Turn Signal")};
-      borderMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, borderToggles, borderToggleNames);
-      advancedVisualToggle = borderMetricsBtn;
-    } else if (param == "LateralMetrics") {
-      std::vector<QString> lateralToggles{"AdjacentPathMetrics", "TuningInfo"};
-      std::vector<QString> lateralToggleNames{tr("Adjacent Path Metrics"), tr("Auto Tune")};
-      lateralMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, lateralToggles, lateralToggleNames);
-      advancedVisualToggle = lateralMetricsBtn;
-    } else if (param == "LongitudinalMetrics") {
-      std::vector<QString> longitudinalToggles{"LeadInfo", "JerkInfo"};
-      std::vector<QString> longitudinalToggleNames{tr("Lead Info"), tr("Jerk Values")};
-      longitudinalMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, longitudinalToggles, longitudinalToggleNames);
-      advancedVisualToggle = longitudinalMetricsBtn;
-    } else if (param == "NumericalTemp") {
-      std::vector<QString> temperatureToggles{"Fahrenheit"};
-      std::vector<QString> temperatureToggleNames{tr("Fahrenheit")};
-      advancedVisualToggle = new FrogPilotButtonToggleControl(param, title, desc, temperatureToggles, temperatureToggleNames);
-    } else if (param == "SidebarMetrics") {
-      std::vector<QString> sidebarMetricsToggles{"ShowCPU", "ShowGPU", "ShowIP", "ShowMemoryUsage", "ShowStorageLeft", "ShowStorageUsed"};
-      std::vector<QString> sidebarMetricsToggleNames{tr("CPU"), tr("GPU"), tr("IP"), tr("RAM"), tr("SSD Left"), tr("SSD Used")};
-      FrogPilotButtonToggleControl *sidebarMetricsToggle = new FrogPilotButtonToggleControl(param, title, desc, sidebarMetricsToggles, sidebarMetricsToggleNames, false, 150);
-      QObject::connect(sidebarMetricsToggle, &FrogPilotButtonToggleControl::buttonClicked, [this](int index) {
-        if (index == 0) {
-          params.putBool("ShowGPU", false);
-        } else if (index == 1) {
-          params.putBool("ShowCPU", false);
-        } else if (index == 3) {
-          params.putBool("ShowStorageLeft", false);
-          params.putBool("ShowStorageUsed", false);
-        } else if (index == 4) {
-          params.putBool("ShowMemoryUsage", false);
-          params.putBool("ShowStorageUsed", false);
-        } else if (index == 5) {
-          params.putBool("ShowMemoryUsage", false);
-          params.putBool("ShowStorageLeft", false);
-        }
-      });
-      advancedVisualToggle = sidebarMetricsToggle;
-
-    } else if (param == "ModelUI") {
-      FrogPilotParamManageControl *modelUIToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(modelUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        std::set<QString> modifiedModelUIKeysKeys = modelUIKeys;
-
-        if (disableOpenpilotLongitudinal || !hasOpenpilotLongitudinal) {
-          modifiedModelUIKeysKeys.erase("HideLeadMarker");
-        }
-
-        showToggles(modifiedModelUIKeysKeys);
-      });
-      advancedVisualToggle = modelUIToggle;
-    } else if (param == "LaneLinesWidth" || param == "RoadEdgesWidth") {
-      advancedVisualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 24, tr(" inches"));
-    } else if (param == "PathEdgeWidth") {
-      advancedVisualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, tr("%"));
-    } else if (param == "PathWidth") {
-      advancedVisualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, tr(" feet"), std::map<int, QString>(), 0.1);
-
-    } else {
-      advancedVisualToggle = new ParamControl(param, title, desc, icon);
-    }
-
-    addItem(advancedVisualToggle);
-    toggles[param] = advancedVisualToggle;
-
-    makeConnections(advancedVisualToggle);
-
-    if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast<FrogPilotParamManageControl*>(advancedVisualToggle)) {
-      QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotAdvancedVisualsPanel::openParentToggle);
-    }
-
-    QObject::connect(advancedVisualToggle, &AbstractControl::showDescriptionEvent, [this]() {
-      update();
-    });
-  }
-
-  QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotAdvancedVisualsPanel::hideToggles);
-  QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotAdvancedVisualsPanel::updateCarToggles);
-  QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotAdvancedVisualsPanel::updateMetric);
-
-  updateMetric();
-}
-
-void FrogPilotAdvancedVisualsPanel::updateCarToggles() {
-  disableOpenpilotLongitudinal = parent->disableOpenpilotLongitudinal;
-  hasAutoTune = parent->hasAutoTune;
-  hasBSM = parent->hasBSM;
-  hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal;
-
-  hideToggles();
-}
-
-void FrogPilotAdvancedVisualsPanel::updateMetric() {
-  bool previousIsMetric = isMetric;
-  isMetric = params.getBool("IsMetric");
-
-  if (isMetric != previousIsMetric) {
-    double smallDistanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH;
-    double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
-
-    params.putFloatNonBlocking("LaneLinesWidth", params.getFloat("LaneLinesWidth") * smallDistanceConversion);
-    params.putFloatNonBlocking("RoadEdgesWidth", params.getFloat("RoadEdgesWidth") * smallDistanceConversion);
-
-    params.putFloatNonBlocking("PathWidth", params.getFloat("PathWidth") * distanceConversion);
-  }
-
-  FrogPilotParamValueControl *laneLinesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["LaneLinesWidth"]);
-  FrogPilotParamValueControl *pathWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["PathWidth"]);
-  FrogPilotParamValueControl *roadEdgesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["RoadEdgesWidth"]);
-
-  if (isMetric) {
-    laneLinesWidthToggle->setDescription(tr("Adjust how thick the lane lines appear on the display.\n\nDefault matches the Vienna standard of 10 centimeters."));
-    roadEdgesWidthToggle->setDescription(tr("Adjust how thick the road edges appear on the display.\n\nDefault matches half of the Vienna standard of 10 centimeters."));
-
-    laneLinesWidthToggle->updateControl(0, 60, tr(" centimeters"));
-    roadEdgesWidthToggle->updateControl(0, 60, tr(" centimeters"));
-
-    pathWidthToggle->updateControl(0, 3, tr(" meters"));
-  } else {
-    laneLinesWidthToggle->setDescription(tr("Adjust how thick the lane lines appear on the display.\n\nDefault matches the MUTCD standard of 4 inches."));
-    roadEdgesWidthToggle->setDescription(tr("Adjust how thick the road edges appear on the display.\n\nDefault matches half of the MUTCD standard of 4 inches."));
-
-    laneLinesWidthToggle->updateControl(0, 24, tr(" inches"));
-    roadEdgesWidthToggle->updateControl(0, 24, tr(" inches"));
-
-    pathWidthToggle->updateControl(0, 10, tr(" feet"));
-  }
-}
-
-void FrogPilotAdvancedVisualsPanel::showToggles(const std::set<QString> &keys) {
-  setUpdatesEnabled(false);
-
-  for (auto &[key, toggle] : toggles) {
-    toggle->setVisible(keys.find(key) != keys.end());
-  }
-
-  setUpdatesEnabled(true);
-  update();
-}
-
-void FrogPilotAdvancedVisualsPanel::hideToggles() {
-  setUpdatesEnabled(false);
-
-  for (auto &[key, toggle] : toggles) {
-    bool subToggles = advancedCustomOnroadUIKeys.find(key) != advancedCustomOnroadUIKeys.end() ||
-                      developerUIKeys.find(key) != developerUIKeys.end() ||
-                      modelUIKeys.find(key) != modelUIKeys.end();
-
-    toggle->setVisible(!subToggles);
-  }
-
-  setUpdatesEnabled(true);
-  update();
-}
diff --git a/selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.h b/selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.h
deleted file mode 100644
index 20ad990119e05a..00000000000000
--- a/selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.h
+++ /dev/null
@@ -1,53 +0,0 @@
-#pragma once
-
-#include <set>
-
-#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h"
-
-class FrogPilotAdvancedVisualsPanel : public FrogPilotListWidget {
-  Q_OBJECT
-
-public:
-  explicit FrogPilotAdvancedVisualsPanel(FrogPilotSettingsWindow *parent);
-
-signals:
-  void openParentToggle();
-
-private:
-  void hideToggles();
-  void showToggles(const std::set<QString> &keys);
-  void updateCarToggles();
-  void updateMetric();
-
-  std::set<QString> advancedCustomOnroadUIKeys = {
-    "CameraView", "HideLeadMarker", "HideSpeed",
-    "HideUIElements", "ShowStoppingPoint", "WheelSpeed"
-  };
-
-  std::set<QString> developerUIKeys = {
-    "BorderMetrics", "FPSCounter", "LateralMetrics",
-    "LongitudinalMetrics", "NumericalTemp",
-    "SidebarMetrics", "UseSI"
-  };
-
-  std::set<QString> modelUIKeys = {
-    "LaneLinesWidth", "PathEdgeWidth", "PathWidth",
-    "RoadEdgesWidth", "UnlimitedLength"
-  };
-
-  FrogPilotButtonToggleControl *borderMetricsBtn;
-  FrogPilotButtonToggleControl *lateralMetricsBtn;
-  FrogPilotButtonToggleControl *longitudinalMetricsBtn;
-
-  FrogPilotSettingsWindow *parent;
-
-  Params params;
-
-  bool disableOpenpilotLongitudinal;
-  bool hasAutoTune;
-  bool hasBSM;
-  bool hasOpenpilotLongitudinal;
-  bool isMetric = params.getBool("IsMetric");
-
-  std::map<QString, AbstractControl*> toggles;
-};
diff --git a/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc
index 930e82c9d9d455..8cd605a15655da 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc
+++ b/selfdrive/frogpilot/ui/qt/offroad/data_settings.cc
@@ -3,16 +3,21 @@
 #include "selfdrive/frogpilot/ui/qt/offroad/data_settings.h"
 
 FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) {
-  ButtonControl *deleteDrivingDataBtn = new ButtonControl(tr("Delete Driving Footage and Data"), tr("DELETE"), tr("This button provides a swift and secure way to permanently delete all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space."));
+  ButtonControl *deleteDrivingDataBtn = new ButtonControl(tr("Delete Driving Footage and Data"), tr("DELETE"), tr("Permanently deletes all stored driving footage and data from your device. Ideal for maintaining privacy or freeing up space."));
   QObject::connect(deleteDrivingDataBtn, &ButtonControl::clicked, [=]() {
+    QDir realdataDir("/data/media/0/realdata");
+
     if (ConfirmationDialog::confirm(tr("Are you sure you want to permanently delete all of your driving footage and data?"), tr("Delete"), this)) {
-      std::thread([=] {
+      std::thread([=]() mutable {
         deleteDrivingDataBtn->setEnabled(false);
         deleteDrivingDataBtn->setValue(tr("Deleting..."));
 
-        std::system("rm -rf /data/media/0/realdata");
-
-        deleteDrivingDataBtn->setValue(tr("Deleted!"));
+        if (realdataDir.removeRecursively()) {
+          realdataDir.mkpath(".");
+          deleteDrivingDataBtn->setValue(tr("Deleted!"));
+        } else {
+          deleteDrivingDataBtn->setValue(tr("Failed..."));
+        }
 
         util::sleep_for(2000);
         deleteDrivingDataBtn->setValue("");
@@ -22,7 +27,7 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
   });
   addItem(deleteDrivingDataBtn);
 
-  FrogPilotButtonsControl *screenRecordingsBtn = new FrogPilotButtonsControl(tr("Screen Recordings"), tr("Manage your screen recordings."), {tr("DELETE"), tr("RENAME")});
+  FrogPilotButtonsControl *screenRecordingsBtn = new FrogPilotButtonsControl(tr("Screen Recordings"), tr("Manage your screen recordings."), {tr("DELETE"), tr("DELETE ALL"), tr("RENAME")});
   QObject::connect(screenRecordingsBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
     QDir recordingsDir("/data/media/screen_recordings");
     QStringList recordingsNames = recordingsDir.entryList(QDir::Files | QDir::NoDotAndDotDot);
@@ -31,8 +36,10 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
       QString selection = MultiOptionDialog::getSelection(tr("Select a recording to delete"), recordingsNames, "", this);
       if (!selection.isEmpty()) {
         if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this recording?"), tr("Delete"), this)) {
-          std::thread([=]() {
+          std::thread([=]() mutable {
             screenRecordingsBtn->setEnabled(false);
+            screenRecordingsBtn->setVisibleButton(1, false);
+            screenRecordingsBtn->setVisibleButton(2, false);
             screenRecordingsBtn->setValue(tr("Deleting..."));
 
             QFile fileToDelete(recordingsDir.absoluteFilePath(selection));
@@ -45,21 +52,49 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
             util::sleep_for(2000);
             screenRecordingsBtn->setValue("");
             screenRecordingsBtn->setEnabled(true);
+            screenRecordingsBtn->setVisibleButton(1, true);
+            screenRecordingsBtn->setVisibleButton(2, true);
           }).detach();
         }
       }
 
     } else if (id == 1) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to delete all screen recordings?"), tr("Delete All"), this)) {
+        std::thread([=]() mutable {
+          screenRecordingsBtn->setEnabled(false);
+          screenRecordingsBtn->setVisibleButton(0, false);
+          screenRecordingsBtn->setVisibleButton(2, false);
+          screenRecordingsBtn->setValue(tr("Deleting..."));
+
+          if (recordingsDir.removeRecursively()) {
+            recordingsDir.mkpath(".");
+            screenRecordingsBtn->setValue(tr("Deleted!"));
+          } else {
+            screenRecordingsBtn->setValue(tr("Failed..."));
+          }
+
+          util::sleep_for(2000);
+          screenRecordingsBtn->setValue("");
+          screenRecordingsBtn->setEnabled(true);
+          screenRecordingsBtn->setVisibleButton(0, true);
+          screenRecordingsBtn->setVisibleButton(2, true);
+        }).detach();
+      }
+
+    } else if (id == 2) {
       QString selection = MultiOptionDialog::getSelection(tr("Select a recording to rename"), recordingsNames, "", this);
       if (!selection.isEmpty()) {
         QString newName = InputDialog::getText(tr("Enter a new name"), this, tr("Rename Recording"));
         if (!newName.isEmpty()) {
-          std::thread([=]() {
+          std::thread([=]() mutable {
             screenRecordingsBtn->setEnabled(false);
+            screenRecordingsBtn->setVisibleButton(0, false);
+            screenRecordingsBtn->setVisibleButton(1, false);
             screenRecordingsBtn->setValue(tr("Renaming..."));
 
             QString oldPath = recordingsDir.absoluteFilePath(selection);
             QString newPath = recordingsDir.absoluteFilePath(newName);
+
             if (QFile::rename(oldPath, newPath)) {
               screenRecordingsBtn->setValue(tr("Renamed!"));
             } else {
@@ -69,6 +104,8 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
             util::sleep_for(2000);
             screenRecordingsBtn->setValue("");
             screenRecordingsBtn->setEnabled(true);
+            screenRecordingsBtn->setVisibleButton(0, true);
+            screenRecordingsBtn->setVisibleButton(1, true);
           }).detach();
         }
       }
@@ -76,7 +113,7 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
   });
   addItem(screenRecordingsBtn);
 
-  FrogPilotButtonsControl *frogpilotBackupBtn = new FrogPilotButtonsControl(tr("FrogPilot Backups"), tr("Manage your FrogPilot backups."), {tr("BACKUP"), tr("DELETE"), tr("RESTORE")});
+  FrogPilotButtonsControl *frogpilotBackupBtn = new FrogPilotButtonsControl(tr("FrogPilot Backups"), tr("Manage your FrogPilot backups."), {tr("BACKUP"), tr("DELETE"), tr("DELETE ALL"), tr("RESTORE")});
   QObject::connect(frogpilotBackupBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
     QDir backupDir("/data/backups");
     QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot, QDir::Name).filter(QRegularExpression("^(?!.*_in_progress$).*$"));
@@ -85,11 +122,14 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
       QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1);
       if (!nameSelection.isEmpty()) {
         bool compressed = FrogPilotConfirmationDialog::yesorno(tr("Do you want to compress this backup? The end file size will be 2.25x smaller, but can take 10+ minutes."), this);
-        std::thread([=]() {
-          device()->resetInteractiveTimeout(300);
+        std::thread([=]() mutable {
+          uiState()->scene.keep_screen_on = true;
 
           frogpilotBackupBtn->setEnabled(false);
-          frogpilotBackupBtn->setValue(tr("Backing..."));
+          frogpilotBackupBtn->setVisibleButton(1, false);
+          frogpilotBackupBtn->setVisibleButton(2, false);
+          frogpilotBackupBtn->setVisibleButton(3, false);
+          frogpilotBackupBtn->setValue(tr("Backing up..."));
 
           std::string fullBackupPath = backupDir.absolutePath().toStdString() + "/" + nameSelection.toStdString();
           std::string inProgressBackupPath = fullBackupPath + "_in_progress";
@@ -115,8 +155,11 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
           util::sleep_for(2000);
           frogpilotBackupBtn->setValue("");
           frogpilotBackupBtn->setEnabled(true);
+          frogpilotBackupBtn->setVisibleButton(1, true);
+          frogpilotBackupBtn->setVisibleButton(2, true);
+          frogpilotBackupBtn->setVisibleButton(3, true);
 
-          device()->resetInteractiveTimeout(30);
+          uiState()->scene.keep_screen_on = false;
         }).detach();
       }
 
@@ -124,8 +167,11 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
       QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this);
       if (!selection.isEmpty()) {
         if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) {
-          std::thread([=]() {
+          std::thread([=]() mutable {
             frogpilotBackupBtn->setEnabled(false);
+            frogpilotBackupBtn->setVisibleButton(0, false);
+            frogpilotBackupBtn->setVisibleButton(2, false);
+            frogpilotBackupBtn->setVisibleButton(3, false);
             frogpilotBackupBtn->setValue(tr("Deleting..."));
 
             QDir dirToDelete(backupDir.absoluteFilePath(selection));
@@ -146,18 +192,49 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
             util::sleep_for(2000);
             frogpilotBackupBtn->setValue("");
             frogpilotBackupBtn->setEnabled(true);
+            frogpilotBackupBtn->setVisibleButton(0, true);
+            frogpilotBackupBtn->setVisibleButton(2, true);
+            frogpilotBackupBtn->setVisibleButton(3, true);
           }).detach();
         }
       }
 
     } else if (id == 2) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to delete all FrogPilot backups?"), tr("Delete All"), this)) {
+        std::thread([=]() mutable {
+          frogpilotBackupBtn->setEnabled(false);
+          frogpilotBackupBtn->setVisibleButton(0, false);
+          frogpilotBackupBtn->setVisibleButton(1, false);
+          frogpilotBackupBtn->setVisibleButton(3, false);
+          frogpilotBackupBtn->setValue(tr("Deleting..."));
+
+          if (backupDir.removeRecursively()) {
+            backupDir.mkpath(".");
+            frogpilotBackupBtn->setValue(tr("Deleted!"));
+          } else {
+            frogpilotBackupBtn->setValue(tr("Failed..."));
+          }
+
+          util::sleep_for(2000);
+          frogpilotBackupBtn->setValue("");
+          frogpilotBackupBtn->setEnabled(true);
+          frogpilotBackupBtn->setVisibleButton(0, true);
+          frogpilotBackupBtn->setVisibleButton(1, true);
+          frogpilotBackupBtn->setVisibleButton(3, true);
+        }).detach();
+      }
+
+    } else if (id == 3) {
       QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this);
       if (!selection.isEmpty()) {
         if (ConfirmationDialog::confirm(tr("Are you sure you want to restore this version of FrogPilot?"), tr("Restore"), this)) {
-          std::thread([=]() {
-            device()->resetInteractiveTimeout(300);
+          std::thread([=]() mutable {
+            uiState()->scene.keep_screen_on = true;
 
             frogpilotBackupBtn->setEnabled(false);
+            frogpilotBackupBtn->setVisibleButton(0, false);
+            frogpilotBackupBtn->setVisibleButton(1, false);
+            frogpilotBackupBtn->setVisibleButton(2, false);
             frogpilotBackupBtn->setValue(tr("Restoring..."));
 
             std::string sourcePath = backupDir.absolutePath().toStdString() + "/" + selection.toStdString();
@@ -194,11 +271,16 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
                 Hardware::reboot();
               } else {
                 frogpilotBackupBtn->setValue(tr("Failed..."));
+
                 util::sleep_for(2000);
+
                 frogpilotBackupBtn->setValue("");
                 frogpilotBackupBtn->setEnabled(true);
+                frogpilotBackupBtn->setVisibleButton(0, true);
+                frogpilotBackupBtn->setVisibleButton(1, true);
+                frogpilotBackupBtn->setVisibleButton(2, true);
 
-                device()->resetInteractiveTimeout(30);
+                uiState()->scene.keep_screen_on = false;
               }
             } else {
               frogpilotBackupBtn->setValue(tr("Failed..."));
@@ -206,7 +288,7 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
               frogpilotBackupBtn->setValue("");
               frogpilotBackupBtn->setEnabled(true);
 
-              device()->resetInteractiveTimeout(30);
+              uiState()->scene.keep_screen_on = false;
             }
           }).detach();
         }
@@ -215,7 +297,7 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
   });
   addItem(frogpilotBackupBtn);
 
-  FrogPilotButtonsControl *toggleBackupBtn = new FrogPilotButtonsControl(tr("Toggle Backups"), tr("Manage your toggle backups."), {tr("BACKUP"), tr("DELETE"), tr("RESTORE")});
+  FrogPilotButtonsControl *toggleBackupBtn = new FrogPilotButtonsControl(tr("Toggle Backups"), tr("Manage your toggle backups."), {tr("BACKUP"), tr("DELETE"), tr("DELETE ALL"), tr("RESTORE")});
   QObject::connect(toggleBackupBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
     QDir backupDir("/data/toggle_backups");
     QStringList backupNames = backupDir.entryList(QDir::Dirs | QDir::Files | QDir::NoDotAndDotDot, QDir::Name).filter(QRegularExpression("^(?!.*_in_progress$).*$"));
@@ -223,13 +305,15 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
     if (id == 0) {
       QString nameSelection = InputDialog::getText(tr("Name your backup"), this, "", false, 1);
       if (!nameSelection.isEmpty()) {
-        std::thread([=]() {
+        std::thread([=]() mutable {
           toggleBackupBtn->setEnabled(false);
-          toggleBackupBtn->setValue(tr("Backing..."));
+          toggleBackupBtn->setVisibleButton(1, false);
+          toggleBackupBtn->setVisibleButton(2, false);
+          toggleBackupBtn->setVisibleButton(3, false);
+          toggleBackupBtn->setValue(tr("Backing up..."));
 
           std::string command = "mkdir -p " + backupDir.absolutePath().toStdString() + "/" + nameSelection.toStdString() + " && rsync -av /data/params/d/ " + backupDir.absolutePath().toStdString() + "/" + nameSelection.toStdString();
           int result = std::system(command.c_str());
-
           if (result == 0) {
             toggleBackupBtn->setValue(tr("Success!"));
           } else {
@@ -239,6 +323,9 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
           util::sleep_for(2000);
           toggleBackupBtn->setValue("");
           toggleBackupBtn->setEnabled(true);
+          toggleBackupBtn->setVisibleButton(1, true);
+          toggleBackupBtn->setVisibleButton(2, true);
+          toggleBackupBtn->setVisibleButton(3, true);
         }).detach();
       }
 
@@ -246,8 +333,11 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
       QString selection = MultiOptionDialog::getSelection(tr("Select a backup to delete"), backupNames, "", this);
       if (!selection.isEmpty()) {
         if (ConfirmationDialog::confirm(tr("Are you sure you want to delete this backup?"), tr("Delete"), this)) {
-          std::thread([=]() {
+          std::thread([=]() mutable {
             toggleBackupBtn->setEnabled(false);
+            toggleBackupBtn->setVisibleButton(0, false);
+            toggleBackupBtn->setVisibleButton(2, false);
+            toggleBackupBtn->setVisibleButton(3, false);
             toggleBackupBtn->setValue(tr("Deleting..."));
 
             QDir dirToDelete(backupDir.absoluteFilePath(selection));
@@ -260,26 +350,55 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
             util::sleep_for(2000);
             toggleBackupBtn->setValue("");
             toggleBackupBtn->setEnabled(true);
+            toggleBackupBtn->setVisibleButton(0, true);
+            toggleBackupBtn->setVisibleButton(2, true);
+            toggleBackupBtn->setVisibleButton(3, true);
           }).detach();
         }
       }
 
     } else if (id == 2) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to delete all toggle backups?"), tr("Delete All"), this)) {
+        std::thread([=]() mutable {
+          toggleBackupBtn->setEnabled(false);
+          toggleBackupBtn->setVisibleButton(0, false);
+          toggleBackupBtn->setVisibleButton(1, false);
+          toggleBackupBtn->setVisibleButton(3, false);
+          toggleBackupBtn->setValue(tr("Deleting..."));
+
+          if (backupDir.removeRecursively()) {
+            backupDir.mkpath(".");
+            toggleBackupBtn->setValue(tr("Deleted!"));
+          } else {
+            toggleBackupBtn->setValue(tr("Failed..."));
+          }
+
+          util::sleep_for(2000);
+          toggleBackupBtn->setValue("");
+          toggleBackupBtn->setEnabled(true);
+          toggleBackupBtn->setVisibleButton(0, true);
+          toggleBackupBtn->setVisibleButton(1, true);
+          toggleBackupBtn->setVisibleButton(3, true);
+        }).detach();
+      }
+
+    } else if (id == 3) {
       QString selection = MultiOptionDialog::getSelection(tr("Select a restore point"), backupNames, "", this);
       if (!selection.isEmpty()) {
         if (ConfirmationDialog::confirm(tr("Are you sure you want to restore this toggle backup?"), tr("Restore"), this)) {
-          std::thread([=]() {
+          std::thread([=]() mutable {
             toggleBackupBtn->setEnabled(false);
+            toggleBackupBtn->setVisibleButton(0, false);
+            toggleBackupBtn->setVisibleButton(1, false);
+            toggleBackupBtn->setVisibleButton(2, false);
             toggleBackupBtn->setValue(tr("Restoring..."));
 
             std::string targetPath = "/data/params/d/";
             std::string tempBackupPath = "/data/params/d_backup/";
 
             int backupResult = std::system(("rsync -av --delete -l " + targetPath + " " + tempBackupPath).c_str());
-
             if (backupResult == 0) {
               toggleBackupBtn->setValue(tr("Restoring..."));
-
               std::string restoreCommand = "rsync -av --delete -l " + backupDir.absolutePath().toStdString() + "/" + selection.toStdString() + "/ " + targetPath;
               int restoreResult = std::system(restoreCommand.c_str());
 
@@ -287,7 +406,6 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
                 toggleBackupBtn->setValue(tr("Success!"));
               } else {
                 toggleBackupBtn->setValue(tr("Failed..."));
-
                 std::system(("rsync -av --delete -l " + tempBackupPath + " " + targetPath).c_str());
               }
 
@@ -299,6 +417,9 @@ FrogPilotDataPanel::FrogPilotDataPanel(FrogPilotSettingsWindow *parent) : FrogPi
             util::sleep_for(2000);
             toggleBackupBtn->setValue("");
             toggleBackupBtn->setEnabled(true);
+            toggleBackupBtn->setVisibleButton(0, true);
+            toggleBackupBtn->setVisibleButton(1, true);
+            toggleBackupBtn->setVisibleButton(2, true);
           }).detach();
         }
       }
diff --git a/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc
index f74da2bf45166a..f0005eddbf14d5 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc
+++ b/selfdrive/frogpilot/ui/qt/offroad/device_settings.cc
@@ -1,21 +1,21 @@
 #include "selfdrive/frogpilot/ui/qt/offroad/device_settings.h"
 
-FrogPilotDevicePanel::FrogPilotDevicePanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) {
+FrogPilotDevicePanel::FrogPilotDevicePanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) {
   const std::vector<std::tuple<QString, QString, QString, QString>> deviceToggles {
     {"DeviceManagement", tr("Device Settings"), tr("Device behavior settings."), "../frogpilot/assets/toggle_icons/icon_device.png"},
-    {"DeviceShutdown", tr("Device Shutdown Timer"), tr("How long the device stays on after you stop driving."), ""},
-    {"OfflineMode", tr("Disable Internet Requirement"), tr("The device can work without an internet connection for as long as you need."), ""},
-    {"IncreaseThermalLimits", tr("Increase Thermal Safety Limit"), tr("The device can run at higher temperatures than recommended."), ""},
-    {"LowVoltageShutdown", tr("Low Battery Shutdown Threshold"), tr("Shut down the device when the car's battery gets too low to prevent damage to the 12V battery."), ""},
-    {"NoLogging", tr("Turn Off Data Tracking"), tr("Disable all tracking to improve privacy."), ""},
-    {"NoUploads", tr("Turn Off Data Uploads"), tr("Stop the device from sending any data to the servers."), ""},
+    {"DeviceShutdown", tr("Device Shutdown Timer"), tr("Controls how long the device stays on after you stop driving."), ""},
+    {"OfflineMode", tr("Disable Internet Requirement"), tr("Allows the device to work without an internet connection."), ""},
+    {"IncreaseThermalLimits", tr("Increase Thermal Safety Limit"), tr("Allows the device to run at higher temperatures than recommended."), ""},
+    {"LowVoltageShutdown", tr("Low Battery Shutdown Threshold"), tr("Manages the threshold for shutting down the device to protect the car's battery from excessive drain and potential damage."), ""},
+    {"NoLogging", tr("Turn Off Data Tracking"), tr("Disables all data tracking to improve privacy."), ""},
+    {"NoUploads", tr("Turn Off Data Uploads"), tr("Stops the device from sending any data to the servers."), ""},
 
     {"ScreenManagement", tr("Screen Settings"), tr("Screen behavior settings."), "../frogpilot/assets/toggle_icons/icon_light.png"},
-    {"ScreenBrightness", tr("Screen Brightness (Offroad)"), tr("The screen brightness when you're not driving."), ""},
-    {"ScreenBrightnessOnroad", tr("Screen Brightness (Onroad)"), tr("The screen brightness while you're driving."), ""},
-    {"ScreenRecorder", tr("Screen Recorder"), tr("Display a button in the onroad UI to record the screen."), ""},
-    {"ScreenTimeout", tr("Screen Timeout (Offroad)"), tr("How long it takes for the screen to turn off when you're not driving."), ""},
-    {"ScreenTimeoutOnroad", tr("Screen Timeout (Onroad)"), tr("How long it takes for the screen to turn off while you're driving."), ""}
+    {"ScreenBrightness", tr("Screen Brightness (Offroad)"), tr("Controls the screen brightness when you're not driving."), ""},
+    {"ScreenBrightnessOnroad", tr("Screen Brightness (Onroad)"), tr("Controls the screen brightness while you're driving."), ""},
+    {"ScreenRecorder", tr("Screen Recorder"), tr("Enables a button in the onroad UI to record the screen."), ""},
+    {"ScreenTimeout", tr("Screen Timeout (Offroad)"), tr("Controls how long it takes for the screen to turn off when you're not driving."), ""},
+    {"ScreenTimeoutOnroad", tr("Screen Timeout (Onroad)"), tr("Controls how long it takes for the screen to turn off while you're driving."), ""}
   };
 
   for (const auto &[param, title, desc, icon] : deviceToggles) {
@@ -24,7 +24,17 @@ FrogPilotDevicePanel::FrogPilotDevicePanel(FrogPilotSettingsWindow *parent) : Fr
     if (param == "DeviceManagement") {
       FrogPilotParamManageControl *deviceManagementToggle = new FrogPilotParamManageControl(param, title, desc, icon);
       QObject::connect(deviceManagementToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        showToggles(deviceManagementKeys);
+        std::set<QString> modifiedDeviceManagementKeys = deviceManagementKeys;
+
+        if (customizationLevel != 2) {
+          modifiedDeviceManagementKeys.erase("IncreaseThermalLimits");
+          modifiedDeviceManagementKeys.erase("LowVoltageShutdown");
+          modifiedDeviceManagementKeys.erase("NoLogging");
+          modifiedDeviceManagementKeys.erase("NoUploads");
+          modifiedDeviceManagementKeys.erase("OfflineMode");
+        }
+
+        showToggles(modifiedDeviceManagementKeys);
       });
       deviceToggle = deviceManagementToggle;
     } else if (param == "DeviceShutdown") {
@@ -43,14 +53,16 @@ FrogPilotDevicePanel::FrogPilotDevicePanel(FrogPilotSettingsWindow *parent) : Fr
     } else if (param == "ScreenManagement") {
       FrogPilotParamManageControl *screenToggle = new FrogPilotParamManageControl(param, title, desc, icon);
       QObject::connect(screenToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        showToggles(screenKeys);
+        std::set<QString> modifiedScreenKeys = screenKeys;
+
+        showToggles(modifiedScreenKeys);
       });
       deviceToggle = screenToggle;
     } else if (param == "ScreenBrightness" || param == "ScreenBrightnessOnroad") {
       std::map<int, QString> brightnessLabels;
       int minBrightness = (param == "ScreenBrightnessOnroad") ? 0 : 1;
-      for (int i = 1; i <= 101; ++i) {
-        brightnessLabels[i] = (i == 101) ? tr("Auto") : QString::number(i) + "%";
+      for (int i = 0; i <= 101; ++i) {
+        brightnessLabels[i] = i == 101 ? tr("Auto") : i == 0 ? tr("Screen Off") : QString::number(i) + "%";
       }
       deviceToggle = new FrogPilotParamValueControl(param, title, desc, icon, minBrightness, 101, QString(), brightnessLabels, 1, false, true);
     } else if (param == "ScreenTimeout" || param == "ScreenTimeoutOnroad") {
@@ -99,14 +111,14 @@ FrogPilotDevicePanel::FrogPilotDevicePanel(FrogPilotSettingsWindow *parent) : Fr
   });
 
   FrogPilotParamValueControl *screenBrightnessToggle = static_cast<FrogPilotParamValueControl*>(toggles["ScreenBrightness"]);
-  QObject::connect(screenBrightnessToggle, &FrogPilotParamValueControl::valueChanged, [this](float value) {
+  QObject::connect(screenBrightnessToggle, &FrogPilotParamValueControl::valueChanged, [this](int value) {
     if (!started) {
       uiState()->scene.screen_brightness = value;
     }
   });
 
   FrogPilotParamValueControl *screenBrightnessOnroadToggle = static_cast<FrogPilotParamValueControl*>(toggles["ScreenBrightnessOnroad"]);
-  QObject::connect(screenBrightnessOnroadToggle, &FrogPilotParamValueControl::valueChanged, [this](float value) {
+  QObject::connect(screenBrightnessOnroadToggle, &FrogPilotParamValueControl::valueChanged, [this](int value) {
     if (started) {
       uiState()->scene.screen_brightness_onroad = value;
     }
@@ -114,11 +126,19 @@ FrogPilotDevicePanel::FrogPilotDevicePanel(FrogPilotSettingsWindow *parent) : Fr
 
   QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotDevicePanel::hideToggles);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotDevicePanel::updateState);
+}
 
-  hideToggles();
+void FrogPilotDevicePanel::showEvent(QShowEvent *event) {
+  customizationLevel = parent->customizationLevel;
+
+  toggles["ScreenManagement"]->setVisible(customizationLevel == 2);
 }
 
 void FrogPilotDevicePanel::updateState(const UIState &s) {
+  if (!isVisible()) {
+    return;
+  }
+
   started = s.scene.started;
 }
 
@@ -142,6 +162,8 @@ void FrogPilotDevicePanel::hideToggles() {
     toggle->setVisible(!subToggles);
   }
 
+  toggles["ScreenManagement"]->setVisible(customizationLevel == 2);
+
   setUpdatesEnabled(true);
   update();
 }
diff --git a/selfdrive/frogpilot/ui/qt/offroad/device_settings.h b/selfdrive/frogpilot/ui/qt/offroad/device_settings.h
index d8d552b3322402..24d26c9eb5e1ce 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/device_settings.h
+++ b/selfdrive/frogpilot/ui/qt/offroad/device_settings.h
@@ -15,6 +15,7 @@ class FrogPilotDevicePanel : public FrogPilotListWidget {
 
 private:
   void hideToggles();
+  void showEvent(QShowEvent *event) override;
   void showToggles(const std::set<QString> &keys);
   void updateState(const UIState &s);
 
@@ -28,9 +29,11 @@ class FrogPilotDevicePanel : public FrogPilotListWidget {
     "ScreenTimeout", "ScreenTimeoutOnroad"
   };
 
-  Params params;
+  FrogPilotSettingsWindow *parent;
 
   bool started;
 
+  int customizationLevel;
+
   std::map<QString, AbstractControl*> toggles;
 };
diff --git a/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc
index 213a763c10fe58..b74d9602206b13 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc
+++ b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.cc
@@ -5,13 +5,12 @@
 
 #include "selfdrive/frogpilot/navigation/ui/maps_settings.h"
 #include "selfdrive/frogpilot/navigation/ui/primeless_settings.h"
-#include "selfdrive/frogpilot/ui/qt/offroad/advanced_driving_settings.h"
-#include "selfdrive/frogpilot/ui/qt/offroad/advanced_visual_settings.h"
 #include "selfdrive/frogpilot/ui/qt/offroad/data_settings.h"
 #include "selfdrive/frogpilot/ui/qt/offroad/device_settings.h"
 #include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h"
 #include "selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h"
 #include "selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h"
+#include "selfdrive/frogpilot/ui/qt/offroad/model_settings.h"
 #include "selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h"
 #include "selfdrive/frogpilot/ui/qt/offroad/theme_settings.h"
 #include "selfdrive/frogpilot/ui/qt/offroad/utilities.h"
@@ -45,13 +44,15 @@ FrogPilotSettingsWindow::FrogPilotSettingsWindow(SettingsWindow *parent) : QFram
 
   FrogPilotListWidget *list = new FrogPilotListWidget(frogpilotSettingsWidget);
 
-  FrogPilotAdvancedDrivingPanel *frogpilotAdvancedDrivingPanel = new FrogPilotAdvancedDrivingPanel(this);
-  QObject::connect(frogpilotAdvancedDrivingPanel, &FrogPilotAdvancedDrivingPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle);
-  QObject::connect(frogpilotAdvancedDrivingPanel, &FrogPilotAdvancedDrivingPanel::openSubParentToggle, this, &FrogPilotSettingsWindow::openSubParentToggle);
-  QObject::connect(frogpilotAdvancedDrivingPanel, &FrogPilotAdvancedDrivingPanel::openSubSubParentToggle, this, &FrogPilotSettingsWindow::openSubSubParentToggle);
-
-  FrogPilotAdvancedVisualsPanel *frogpilotAdvancedVisualsPanel = new FrogPilotAdvancedVisualsPanel(this);
-  QObject::connect(frogpilotAdvancedVisualsPanel, &FrogPilotAdvancedVisualsPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle);
+  std::vector<QString> toggle_presets{tr("Basic"), tr("Standard"), tr("Advanced")};
+  ButtonParamControl *toggle_preset = new ButtonParamControl("CustomizationLevel", tr("Customization Level"),
+                                            tr("Choose your preferred customization level. 'Standard' is recommended for most users, offering a balanced experience and automatically managing more 'Advanced' features,"
+                                               " while 'Basic' is designed for those new to customization or seeking simplicity."),
+                                            "../frogpilot/assets/toggle_icons/icon_customization.png",
+                                            toggle_presets);
+  QObject::connect(toggle_preset, &ButtonParamControl::buttonClicked, this, &FrogPilotSettingsWindow::updatePanelVisibility);
+  QObject::connect(toggle_preset, &ButtonParamControl::buttonClicked, this, &updateFrogPilotToggles);
+  list->addItem(toggle_preset);
 
   FrogPilotDevicePanel *frogpilotDevicePanel = new FrogPilotDevicePanel(this);
   QObject::connect(frogpilotDevicePanel, &FrogPilotDevicePanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle);
@@ -63,10 +64,15 @@ FrogPilotSettingsWindow::FrogPilotSettingsWindow(SettingsWindow *parent) : QFram
   QObject::connect(frogpilotLongitudinalPanel, &FrogPilotLongitudinalPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle);
   QObject::connect(frogpilotLongitudinalPanel, &FrogPilotLongitudinalPanel::openSubParentToggle, this, &FrogPilotSettingsWindow::openSubParentToggle);
 
+  FrogPilotModelPanel *frogpilotModelPanel = new FrogPilotModelPanel(this);
+  QObject::connect(frogpilotModelPanel, &FrogPilotModelPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle);
+  QObject::connect(frogpilotModelPanel, &FrogPilotModelPanel::openSubParentToggle, this, &FrogPilotSettingsWindow::openSubParentToggle);
+
   FrogPilotMapsPanel *frogpilotMapsPanel = new FrogPilotMapsPanel(this);
   QObject::connect(frogpilotMapsPanel, &FrogPilotMapsPanel::openMapSelection, this, &FrogPilotSettingsWindow::openMapSelection);
 
   FrogPilotPrimelessPanel *frogpilotPrimelessPanel = new FrogPilotPrimelessPanel(this);
+  QObject::connect(frogpilotPrimelessPanel, &FrogPilotPrimelessPanel::closeMapBoxInstructions, this, &FrogPilotSettingsWindow::closeMapBoxInstructions);
   QObject::connect(frogpilotPrimelessPanel, &FrogPilotPrimelessPanel::openMapBoxInstructions, this, &FrogPilotSettingsWindow::openMapBoxInstructions);
 
   FrogPilotSoundsPanel *frogpilotSoundsPanel = new FrogPilotSoundsPanel(this);
@@ -79,9 +85,8 @@ FrogPilotSettingsWindow::FrogPilotSettingsWindow(SettingsWindow *parent) : QFram
   QObject::connect(frogpilotVisualsPanel, &FrogPilotVisualsPanel::openParentToggle, this, &FrogPilotSettingsWindow::openParentToggle);
 
   std::vector<std::pair<QString, std::vector<QWidget*>>> panels = {
-    {tr("Advanced Settings"), {frogpilotAdvancedDrivingPanel, frogpilotAdvancedVisualsPanel}},
     {tr("Alerts and Sounds"), {frogpilotSoundsPanel}},
-    {tr("Driving Controls"), {frogpilotLongitudinalPanel, frogpilotLateralPanel}},
+    {tr("Driving Controls"), {frogpilotModelPanel, frogpilotLongitudinalPanel, frogpilotLateralPanel}},
     {tr("Navigation"), {frogpilotMapsPanel, frogpilotPrimelessPanel}},
     {tr("System Management"), {new FrogPilotDataPanel(this), frogpilotDevicePanel, new UtilitiesPanel(this)}},
     {tr("Theme and Appearance"), {frogpilotVisualsPanel, frogpilotThemesPanel}},
@@ -89,7 +94,6 @@ FrogPilotSettingsWindow::FrogPilotSettingsWindow(SettingsWindow *parent) : QFram
   };
 
   std::vector<QString> icons = {
-    "../frogpilot/assets/toggle_icons/icon_advanced.png",
     "../frogpilot/assets/toggle_icons/icon_sound.png",
     "../frogpilot/assets/toggle_icons/icon_steering.png",
     "../frogpilot/assets/toggle_icons/icon_map.png",
@@ -99,7 +103,6 @@ FrogPilotSettingsWindow::FrogPilotSettingsWindow(SettingsWindow *parent) : QFram
   };
 
   std::vector<QString> descriptions = {
-    tr("Advanced FrogPilot features for more experienced users."),
     tr("Options to customize FrogPilot's sound alerts and notifications."),
     tr("FrogPilot features that impact acceleration, braking, and steering."),
     tr("Offline maps downloader and 'Navigate On openpilot (NOO)' settings."),
@@ -109,9 +112,8 @@ FrogPilotSettingsWindow::FrogPilotSettingsWindow(SettingsWindow *parent) : QFram
   };
 
   std::vector<std::vector<QString>> buttonLabels = {
-    {tr("DRIVING"), tr("VISUALS")},
     {tr("MANAGE")},
-    {tr("GAS / BRAKE"), tr("STEERING")},
+    {tr("DRIVING MODEL"), tr("GAS / BRAKE"), tr("STEERING")},
     {tr("OFFLINE MAPS"), tr("PRIMELESS NAVIGATION")},
     {tr("DATA"), tr("DEVICE"), tr("UTILITIES")},
     {tr("APPEARANCE"), tr("THEME")},
@@ -119,7 +121,7 @@ FrogPilotSettingsWindow::FrogPilotSettingsWindow(SettingsWindow *parent) : QFram
   };
 
   for (size_t i = 0; i < panels.size(); ++i) {
-    addPanelControl(list, panels[i].first, descriptions[i], buttonLabels[i], icons[i], panels[i].second, panels[i].first == tr("Driving Controls"), panels[i].first == tr("Navigation"));
+    addPanelControl(list, panels[i].first, descriptions[i], buttonLabels[i], icons[i], panels[i].second, panels[i].first);
   }
 
   frogpilotSettingsLayout->addWidget(new ScrollView(list, frogpilotSettingsWidget));
@@ -133,11 +135,10 @@ FrogPilotSettingsWindow::FrogPilotSettingsWindow(SettingsWindow *parent) : QFram
   QObject::connect(parent, &SettingsWindow::closePanel, this, &FrogPilotSettingsWindow::closePanel);
   QObject::connect(parent, &SettingsWindow::closeParentToggle, this, &FrogPilotSettingsWindow::closeParentToggle);
   QObject::connect(parent, &SettingsWindow::closeSubParentToggle, this, &FrogPilotSettingsWindow::closeSubParentToggle);
-  QObject::connect(parent, &SettingsWindow::closeSubSubParentToggle, this, &FrogPilotSettingsWindow::closeSubSubParentToggle);
   QObject::connect(parent, &SettingsWindow::updateMetric, this, &FrogPilotSettingsWindow::updateMetric);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &FrogPilotSettingsWindow::updateCarVariables);
 
-  updateCarVariables();
+  closeParentToggle();
 }
 
 void FrogPilotSettingsWindow::showEvent(QShowEvent *event) {
@@ -149,25 +150,37 @@ void FrogPilotSettingsWindow::closePanel() {
   if (currentWidget != frogpilotSettingsWidget) {
     mainLayout->removeWidget(currentWidget);
   }
+
+  uiState()->scene.keep_screen_on = false;
 }
 
 void FrogPilotSettingsWindow::updatePanelVisibility() {
+  customizationLevel = params.getInt("CustomizationLevel");
   disableOpenpilotLongitudinal = params.getBool("DisableOpenpilotLongitudinal");
 
-  drivingButton->setVisibleButton(0, hasOpenpilotLongitudinal && !disableOpenpilotLongitudinal);
+  if ((hasOpenpilotLongitudinal && !disableOpenpilotLongitudinal) || customizationLevel != 0) {
+    drivingButton->setVisible(true);
+    drivingButton->setVisibleButton(0, customizationLevel == 2);
+    drivingButton->setVisibleButton(1, hasOpenpilotLongitudinal && !disableOpenpilotLongitudinal);
+    drivingButton->setVisibleButton(2, customizationLevel != 0);
+    update();
+  } else {
+    drivingButton->setVisible(false);
+    update();
+  }
   navigationButton->setVisibleButton(1, !uiState()->hasPrime());
+  systemButton->setVisibleButton(1, customizationLevel != 0);
 
   mainLayout->setCurrentWidget(frogpilotSettingsWidget);
 }
 
 void FrogPilotSettingsWindow::updateCarVariables() {
-  float currentFrictionStock = params.getFloat("SteerFrictionStock");
-  float currentKPStock = params.getFloat("SteerKPStock");
-  float currentLatAccelStock = params.getFloat("SteerLatAccelStock");
-  float currentRatioStock = params.getFloat("SteerRatioStock");
+  std::thread([this] {
+    std::string carParams = params.get("CarParamsPersistent");
+    if (carParams.empty()) {
+      carParams = params.get("CarParams", true);
+    }
 
-  std::string carParams = params.get("CarParamsPersistent");
-  if (!carParams.empty()) {
     AlignedBuffer aligned_buf;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(carParams.data(), carParams.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
@@ -183,7 +196,9 @@ void FrogPilotSettingsWindow::updateCarVariables() {
     hasNNFFLog = checkNNFFLogFileExists(carFingerprint);
     hasOpenpilotLongitudinal = hasLongitudinalControl(CP);
     hasPCMCruise = CP.getPcmCruise();
+    hasRadar = !CP.getRadarUnavailable();
     hasSNG = CP.getMinEnableSpeed() <= 0;
+    isBolt = carFingerprint == "CHEVROLET_BOLT_CC" || carFingerprint == "CHEVROLET_BOLT_EUV";
     isGM = carModel == "gm";
     isGMPCMCruise = CP.getCarName() == "gm" && CP.getPcmCruise();
     isHKGCanFd = carModel == "hyundai" && safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD;
@@ -191,7 +206,6 @@ void FrogPilotSettingsWindow::updateCarVariables() {
     isPIDCar = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID;
     isSubaru = carModel == "subaru";
     isToyota = carModel == "toyota";
-    isToyotaTuneSupported = carFingerprint == "LEXUS_ES_TSS2";
     isVolt = carFingerprint == "CHEVROLET_VOLT";
     forcingAutoTune = params.getBool("AdvancedLateralTune") && params.getBool("ForceAutoTune");
     steerFrictionStock = CP.getLateralTuning().getTorque().getFriction();
@@ -199,6 +213,11 @@ void FrogPilotSettingsWindow::updateCarVariables() {
     steerLatAccelStock = CP.getLateralTuning().getTorque().getLatAccelFactor();
     steerRatioStock = CP.getSteerRatio();
 
+    float currentFrictionStock = params.getFloat("SteerFrictionStock");
+    float currentKPStock = params.getFloat("SteerKPStock");
+    float currentLatAccelStock = params.getFloat("SteerLatAccelStock");
+    float currentRatioStock = params.getFloat("SteerRatioStock");
+
     if (currentFrictionStock != steerFrictionStock && steerFrictionStock != 0) {
       if (params.getFloat("SteerFriction") == currentFrictionStock) {
         params.putFloatNonBlocking("SteerFriction", steerFrictionStock);
@@ -228,53 +247,28 @@ void FrogPilotSettingsWindow::updateCarVariables() {
     }
 
     uiState()->scene.has_auto_tune = hasAutoTune || forcingAutoTune;
-  } else {
-    hasAutoTune = true;
-    hasBSM = true;
-    hasDashSpeedLimits = true;
-    hasExperimentalOpenpilotLongitudinal = false;
-    hasNNFFLog = true;
-    hasOpenpilotLongitudinal = true;
-    hasPCMCruise = true;
-    hasSNG = false;
-    isGMPCMCruise = false;
-    isHKGCanFd = true;
-    isImpreza = true;
-    isSubaru = false;
-    isToyota = true;
-    isVolt = true;
-  }
-
-  std::string liveTorqueParamsKey;
-  if (params.getBool("ModelManagement")) {
-    QString model = QString::fromStdString(params.get("ModelName"));
-    QString part_model_param = processModelName(model);
-    liveTorqueParamsKey = part_model_param.toStdString() + "LiveTorqueParameters";
-  } else {
-    liveTorqueParamsKey = "LiveTorqueParameters";
-  }
 
-  if (params.checkKey(liveTorqueParamsKey)) {
-    auto torqueParams = params.get(liveTorqueParamsKey);
-    if (!torqueParams.empty()) {
-      AlignedBuffer aligned_buf;
-      capnp::FlatArrayMessageReader cmsg(aligned_buf.align(torqueParams.data(), torqueParams.size()));
-      cereal::Event::Reader LTP = cmsg.getRoot<cereal::Event>();
+    if (params.checkKey("LiveTorqueParameters")) {
+      std::string torqueParams = params.get("LiveTorqueParameters");
+      if (!torqueParams.empty()) {
+        capnp::FlatArrayMessageReader cmsgtp(aligned_buf.align(torqueParams.data(), torqueParams.size()));
+        cereal::Event::Reader LTP = cmsgtp.getRoot<cereal::Event>();
 
-      auto liveTorqueParams = LTP.getLiveTorqueParameters();
+        cereal::LiveTorqueParametersData::Reader liveTorqueParams = LTP.getLiveTorqueParameters();
 
-      liveValid = liveTorqueParams.getLiveValid();
+        liveValid = liveTorqueParams.getLiveValid();
+      } else {
+        liveValid = false;
+      }
     } else {
       liveValid = false;
     }
-  } else {
-    liveValid = false;
-  }
 
-  emit updateCarToggles();
+    emit updateCarToggles();
+  }).detach();
 }
 
-void FrogPilotSettingsWindow::addPanelControl(FrogPilotListWidget *list, QString &title, QString &desc, std::vector<QString> &button_labels, QString &icon, std::vector<QWidget*> &panels, bool isDrivingPanel, bool isNavigationPanel) {
+void FrogPilotSettingsWindow::addPanelControl(FrogPilotListWidget *list, QString &title, QString &desc, std::vector<QString> &button_labels, QString &icon, std::vector<QWidget*> &panels, QString &currentPanel) {
   std::vector<QWidget*> panelContainers;
   panelContainers.reserve(panels.size());
 
@@ -287,12 +281,15 @@ void FrogPilotSettingsWindow::addPanelControl(FrogPilotListWidget *list, QString
   }
 
   FrogPilotButtonsControl *button;
-  if (isDrivingPanel) {
+  if (currentPanel == tr("Driving Controls")) {
     drivingButton = new FrogPilotButtonsControl(title, desc, button_labels, false, true, icon);
     button = drivingButton;
-  } else if (isNavigationPanel) {
+  } else if (currentPanel == tr("Navigation")) {
     navigationButton = new FrogPilotButtonsControl(title, desc, button_labels, false, true, icon);
     button = navigationButton;
+  } else if (currentPanel == tr("System Management")) {
+    systemButton = new FrogPilotButtonsControl(title, desc, button_labels, false, true, icon);
+    button = systemButton;
   } else {
     button = new FrogPilotButtonsControl(title, desc, button_labels, false, true, icon);
   }
diff --git a/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h
index be87b1547f8f3b..a8c27615fb4e44 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h
+++ b/selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h
@@ -8,49 +8,50 @@ class FrogPilotSettingsWindow : public QFrame {
 public:
   explicit FrogPilotSettingsWindow(SettingsWindow *parent);
 
-  bool disableOpenpilotLongitudinal;
-  bool hasAutoTune;
-  bool hasBSM;
-  bool hasDashSpeedLimits;
-  bool hasExperimentalOpenpilotLongitudinal;
-  bool hasNNFFLog;
-  bool hasOpenpilotLongitudinal;
-  bool hasPCMCruise;
-  bool hasSNG;
-  bool isGM;
-  bool isGMPCMCruise;
-  bool isHKGCanFd;
-  bool isImpreza;
-  bool isPIDCar;
-  bool isSubaru;
-  bool isToyota;
-  bool isToyotaTuneSupported;
-  bool isVolt;
-  bool forcingAutoTune;
-  bool liveValid;
+  bool disableOpenpilotLongitudinal = false;
+  bool forcingAutoTune = false;
+  bool hasAutoTune = true;
+  bool hasBSM = true;
+  bool hasDashSpeedLimits = true;
+  bool hasExperimentalOpenpilotLongitudinal = false;
+  bool hasNNFFLog = true;
+  bool hasOpenpilotLongitudinal = true;
+  bool hasPCMCruise = true;
+  bool hasRadar = true;
+  bool hasSNG = false;
+  bool isBolt = false;
+  bool isGM = true;
+  bool isGMPCMCruise = false;
+  bool isHKGCanFd = true;
+  bool isImpreza = true;
+  bool isPIDCar = false;
+  bool isSubaru = true;
+  bool isToyota = true;
+  bool isVolt = true;
+  bool liveValid = false;
 
   float steerFrictionStock;
   float steerKPStock;
   float steerLatAccelStock;
   float steerRatioStock;
 
+  int customizationLevel;
+
 signals:
   void closeMapBoxInstructions();
   void closeMapSelection();
   void closeParentToggle();
   void closeSubParentToggle();
-  void closeSubSubParentToggle();
   void openMapBoxInstructions();
   void openMapSelection();
   void openPanel();
   void openParentToggle();
   void openSubParentToggle();
-  void openSubSubParentToggle();
   void updateCarToggles();
   void updateMetric();
 
 private:
-  void addPanelControl(FrogPilotListWidget *list, QString &title, QString &desc, std::vector<QString> &button_labels, QString &icon, std::vector<QWidget*> &panels, bool isDrivingPanel, bool isNavigationPanel);
+  void addPanelControl(FrogPilotListWidget *list, QString &title, QString &desc, std::vector<QString> &button_labels, QString &icon, std::vector<QWidget*> &panels, QString &currentPanel);
   void closePanel();
   void showEvent(QShowEvent *event) override;
   void updateCarVariables();
@@ -58,6 +59,7 @@ class FrogPilotSettingsWindow : public QFrame {
 
   FrogPilotButtonsControl *drivingButton;
   FrogPilotButtonsControl *navigationButton;
+  FrogPilotButtonsControl *systemButton;
 
   Params params;
 
diff --git a/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc
index c6040a9119dc33..dcaa426e298993 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc
+++ b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.cc
@@ -2,22 +2,31 @@
 
 FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) {
   const std::vector<std::tuple<QString, QString, QString, QString>> lateralToggles {
+    {"AdvancedLateralTune", tr("Advanced Lateral Tuning"), tr("Advanced settings for fine tuning openpilot's lateral controls."), "../frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png"},
+    {"SteerFriction", steerFrictionStock != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(steerFrictionStock, 'f', 2)) : tr("Friction"), tr("Adjusts the resistance in steering. Higher values provide more stable steering but can make it feel heavy, while lower values allow lighter steering but may feel too sensitive."), ""},
+    {"SteerKP", steerKPStock != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(steerKPStock, 'f', 2)) : tr("Kp Factor"), tr("Adjusts how aggressively the car corrects its steering. Higher values offer quicker corrections but may feel jerky, while lower values make steering smoother but slower to respond."), ""},
+    {"SteerLatAccel", steerLatAccelStock != 0 ? QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(steerLatAccelStock, 'f', 2)) : tr("Lateral Accel"), tr("Adjusts how fast the car can steer from side to side. Higher values allow quicker lane changes but can feel unstable, while lower values provide smoother steering but may feel sluggish."), ""},
+    {"SteerRatio", steerRatioStock != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2)) : tr("Steer Ratio"), tr("Adjusts how much openpilot needs to turn the wheel to steer. Higher values feel like driving a truck, more stable at high speeds, but harder to steer quickly at low speeds, while lower values feel like a go-kart, easier to steer in tight spots but more sensitive and less stable at high speeds."), ""},
+    {"ForceAutoTune", tr("Force Auto Tune On"), tr("Forces comma's auto lateral tuning for unsupported vehicles."), ""},
+    {"ForceAutoTuneOff", tr("Force Auto Tune Off"), tr("Forces comma's auto lateral tuning off for supported vehicles."), ""},
+
     {"AlwaysOnLateral", tr("Always on Lateral"), tr("openpilot's steering control stays active even when the brake or gas pedals are pressed.\n\nDeactivate only occurs with the 'Cruise Control' button."), "../frogpilot/assets/toggle_icons/icon_always_on_lateral.png"},
-    {"AlwaysOnLateralLKAS", tr("Control with LKAS Button"), tr("'Always on Lateral' gets turned on or off using the 'LKAS' button."), ""},
-    {"AlwaysOnLateralMain", tr("Enable with Cruise Control"), tr("'Always on Lateral' gets turned on by pressing the 'Cruise Control' button bypassing the requirement to enable openpilot first."), ""},
-    {"PauseAOLOnBrake", tr("Pause on Brake Below"), tr("'Always on Lateral' pauses when the brake pedal is pressed below the set speed."), ""},
-    {"HideAOLStatusBar", tr("Hide the Status Bar"), tr("The status bar for 'Always on Lateral' is hidden."), ""},
+    {"AlwaysOnLateralLKAS", tr("Control with LKAS Button"), tr("Controls the current state of 'Always on Lateral' with the 'LKAS' button."), ""},
+    {"AlwaysOnLateralMain", tr("Enable with Cruise Control"), tr("Activates 'Always on Lateral' whenever 'Cruise Control' is active bypassing the requirement to enable openpilot first."), ""},
+    {"PauseAOLOnBrake", tr("Pause on Brake Below"), tr("Pauses 'Always on Lateral' when the brake pedal is pressed below the set speed."), ""},
+    {"HideAOLStatusBar", tr("Hide the Status Bar"), tr("Hides status bar for 'Always On Lateral'."), ""},
 
     {"LaneChangeCustomizations", tr("Lane Change Settings"), tr("How openpilot handles lane changes."), "../frogpilot/assets/toggle_icons/icon_lane.png"},
-    {"NudgelessLaneChange", tr("Hands-Free Lane Change"), tr("Lane changes are conducted without needing to touch the steering wheel upon turn signal activation."), ""},
-    {"LaneChangeTime", tr("Lane Change Delay"), tr("How long openpilot waits before changing lanes."), ""},
-    {"LaneDetectionWidth", tr("Lane Width Requirement"), tr("The minimum lane width for openpilot to detect a lane as a lane."), ""},
-    {"MinimumLaneChangeSpeed", tr("Minimum Speed for Lane Change"), tr("The minimum speed required for openpilot to perform a lane change."), ""},
-    {"OneLaneChange", tr("Single Lane Change Per Signal"), tr("Lane changes are limited to one per turn signal activation."), ""},
+    {"NudgelessLaneChange", tr("Automatic Lane Changes"), tr("Conducts lane changes without needing to touch the steering wheel upon turn signal activation."), ""},
+    {"LaneChangeTime", tr("Lane Change Delay"), tr("Delays lane changes by the set time to prevent sudden changes."), ""},
+    {"LaneDetectionWidth", tr("Lane Width Requirement"), tr("Sets the minimum lane width for openpilot to detect a lane as a lane."), ""},
+    {"MinimumLaneChangeSpeed", tr("Minimum Speed for Lane Change"), tr("Sets the minimum speed required for openpilot to perform a lane change."), ""},
+    {"OneLaneChange", tr("Only One Lane Change Per Signal"), tr("Limits lane changes to one per turn signal activation."), ""},
 
-    {"LateralTune", tr("Lateral Tuning"), tr("Settings that control how openpilot manages steering."), "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
-    {"NNFF", tr("Neural Network Feedforward (NNFF)"), tr("Twilsonco's 'Neural Network FeedForward' for more precise steering control."), ""},
-    {"NNFFLite", tr("Smooth Curve Handling"), tr("Smoother steering when entering and exiting curves with Twilsonco's torque adjustments."), ""},
+    {"LateralTune", tr("Lateral Tuning"), tr("Settings for fine tuning openpilot's lateral controls."), "../frogpilot/assets/toggle_icons/icon_lateral_tune.png"},
+    {"TurnDesires", tr("Force Turn Desires Below Lane Change Speed"), tr("Forces the model to use turn desires when driving below the minimum lane change speed to help make left and right turns more precisely."), ""},
+    {"NNFF", tr("Neural Network Feedforward (NNFF)"), tr("Uses Twilsonco's 'Neural Network FeedForward' for more precise steering control."), ""},
+    {"NNFFLite", tr("Smooth Curve Handling"), tr("Smoothens the steering control when entering and exiting curves by using Twilsonco's torque adjustments."), ""},
 
     {"QOLLateral", tr("Quality of Life Improvements"), tr("Miscellaneous lateral focused features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"},
     {"PauseLateralSpeed", tr("Pause Steering Below"), tr("Pauses steering control when driving below the set speed."), ""}
@@ -26,7 +35,50 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
   for (const auto &[param, title, desc, icon] : lateralToggles) {
     AbstractControl *lateralToggle;
 
-    if (param == "AlwaysOnLateral") {
+    if (param == "AdvancedLateralTune") {
+      FrogPilotParamManageControl *advancedLateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(advancedLateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        std::set<QString> modifiedAdvancedLateralTuneKeys = advancedLateralTuneKeys;
+
+        bool usingNNFF = hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF");
+        if (usingNNFF) {
+          modifiedAdvancedLateralTuneKeys.erase("ForceAutoTune");
+          modifiedAdvancedLateralTuneKeys.erase("ForceAutoTuneOff");
+        } else {
+          if (hasAutoTune) {
+            modifiedAdvancedLateralTuneKeys.erase("ForceAutoTune");
+          } else if (isPIDCar) {
+            modifiedAdvancedLateralTuneKeys.erase("ForceAutoTuneOff");
+            modifiedAdvancedLateralTuneKeys.erase("SteerFriction");
+            modifiedAdvancedLateralTuneKeys.erase("SteerKP");
+            modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel");
+          } else {
+            modifiedAdvancedLateralTuneKeys.erase("ForceAutoTuneOff");
+          }
+        }
+
+        if (!liveValid || usingNNFF) {
+          modifiedAdvancedLateralTuneKeys.erase("SteerFriction");
+          modifiedAdvancedLateralTuneKeys.erase("SteerLatAccel");
+        }
+
+        showToggles(modifiedAdvancedLateralTuneKeys);
+      });
+      lateralToggle = advancedLateralTuneToggle;
+    } else if (param == "SteerFriction") {
+      std::vector<QString> steerFrictionButton{"Reset"};
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0.01, 0.25, QString(), std::map<int, QString>(), 0.01, {}, steerFrictionButton, false, false);
+    } else if (param == "SteerKP") {
+      std::vector<QString> steerKPButton{"Reset"};
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerKPStock * 0.50, steerKPStock * 1.50, QString(), std::map<int, QString>(), 0.01, {}, steerKPButton, false, false);
+    } else if (param == "SteerLatAccel") {
+      std::vector<QString> steerLatAccelButton{"Reset"};
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerLatAccelStock * 0.25, steerLatAccelStock * 1.25, QString(), std::map<int, QString>(), 0.01, {}, steerLatAccelButton, false, false);
+    } else if (param == "SteerRatio") {
+      std::vector<QString> steerRatioButton{"Reset"};
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerRatioStock * 0.75, steerRatioStock * 1.25, QString(), std::map<int, QString>(), 0.01, {}, steerRatioButton, false, false);
+
+    } else if (param == "AlwaysOnLateral") {
       FrogPilotParamManageControl *aolToggle = new FrogPilotParamManageControl(param, title, desc, icon);
       QObject::connect(aolToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
         std::set<QString> modifiedAOLKeys = aolKeys;
@@ -35,12 +87,37 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
           modifiedAOLKeys.erase("AlwaysOnLateralLKAS");
         }
 
+        if (customizationLevel != 2) {
+          modifiedAOLKeys.erase("AlwaysOnLateralMain");
+          modifiedAOLKeys.erase("HideAOLStatusBar");
+        }
+
         showToggles(modifiedAOLKeys);
       });
       lateralToggle = aolToggle;
     } else if (param == "PauseAOLOnBrake") {
       lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph"));
 
+    } else if (param == "LaneChangeCustomizations") {
+      FrogPilotParamManageControl *laneChangeToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(laneChangeToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        std::set<QString> modifiedLaneChangeKeys = laneChangeKeys;
+
+        if (customizationLevel != 2) {
+          modifiedLaneChangeKeys.erase("LaneDetectionWidth");
+          modifiedLaneChangeKeys.erase("MinimumLaneChangeSpeed");
+        }
+
+        showToggles(modifiedLaneChangeKeys);
+      });
+      lateralToggle = laneChangeToggle;
+    } else if (param == "LaneChangeTime") {
+      lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 5, tr(" seconds"), {{0, "Instant"}, {10, "1.0 second"}}, 0.1);
+    } else if (param == "LaneDetectionWidth") {
+      lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 15, tr(" feet"), std::map<int, QString>(), 0.1);
+    } else if (param == "MinimumLaneChangeSpeed") {
+      lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph"));
+
     } else if (param == "LateralTune") {
       FrogPilotParamManageControl *lateralTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon);
       QObject::connect(lateralTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
@@ -53,6 +130,10 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
           modifiedLateralTuneKeys.erase("NNFFLite");
         }
 
+        if (customizationLevel != 2) {
+          modifiedLateralTuneKeys.erase("TurnDesires");
+        }
+
         showToggles(modifiedLateralTuneKeys);
       });
       lateralToggle = lateralTuneToggle;
@@ -66,27 +147,10 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
     } else if (param == "PauseLateralSpeed") {
       std::vector<QString> pauseLateralToggles{"PauseLateralOnSignal"};
       std::vector<QString> pauseLateralToggleNames{"Turn Signal Only"};
-      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 99, tr("mph"), std::map<int, QString>(), 1, pauseLateralToggles, pauseLateralToggleNames);
+      lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 99, tr("mph"), std::map<int, QString>(), 1, pauseLateralToggles, pauseLateralToggleNames, true);
     } else if (param == "PauseLateralOnSignal") {
       lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph"));
 
-    } else if (param == "LaneChangeCustomizations") {
-      FrogPilotParamManageControl *laneChangeToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(laneChangeToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        showToggles(laneChangeKeys);
-      });
-      lateralToggle = laneChangeToggle;
-    } else if (param == "LaneChangeTime") {
-      std::map<int, QString> laneChangeTimeLabels;
-      for (int i = 0; i <= 10; ++i) {
-        laneChangeTimeLabels[i] = i == 0 ? "Instant" : QString::number(i / 2.0) + " seconds";
-      }
-      lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, QString(), laneChangeTimeLabels);
-    } else if (param == "LaneDetectionWidth") {
-      lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 15, tr(" feet"), std::map<int, QString>(), 0.1);
-    } else if (param == "MinimumLaneChangeSpeed") {
-      lateralToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph"));
-
     } else {
       lateralToggle = new ParamControl(param, title, desc, icon);
     }
@@ -141,6 +205,34 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
     });
   }
 
+  steerFrictionToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerFriction"]);
+  QObject::connect(steerFrictionToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
+    params.putFloat("SteerFriction", steerFrictionStock);
+    steerFrictionToggle->refresh();
+    updateFrogPilotToggles();
+  });
+
+  steerKPToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerKP"]);
+  QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
+    params.putFloat("SteerKP", steerKPStock);
+    steerKPToggle->refresh();
+    updateFrogPilotToggles();
+  });
+
+  steerLatAccelToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerLatAccel"]);
+  QObject::connect(steerLatAccelToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
+    params.putFloat("SteerLatAccel", steerLatAccelStock);
+    steerLatAccelToggle->refresh();
+    updateFrogPilotToggles();
+  });
+
+  steerRatioToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerRatio"]);
+  QObject::connect(steerRatioToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
+    params.putFloat("SteerRatio", steerRatioStock);
+    steerRatioToggle->refresh();
+    updateFrogPilotToggles();
+  });
+
   QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotLateralPanel::hideToggles);
   QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotLateralPanel::updateCarToggles);
   QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotLateralPanel::updateMetric);
@@ -149,10 +241,30 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
   updateMetric();
 }
 
+void FrogPilotLateralPanel::showEvent(QShowEvent *event) {
+  customizationLevel = parent->customizationLevel;
+
+  toggles["AdvancedLateralTune"]->setVisible(customizationLevel == 2);
+}
+
 void FrogPilotLateralPanel::updateCarToggles() {
   hasAutoTune = parent->hasAutoTune;
   hasNNFFLog = parent->hasNNFFLog;
+  isPIDCar = parent->isPIDCar;
   isSubaru = parent->isSubaru;
+  liveValid = parent->liveValid;
+  steerFrictionStock = parent->steerFrictionStock;
+  steerKPStock = parent->steerKPStock;
+  steerLatAccelStock = parent->steerLatAccelStock;
+  steerRatioStock = parent->steerRatioStock;
+
+  steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(steerFrictionStock, 'f', 2)));
+  steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(steerKPStock, 'f', 2)));
+  steerKPToggle->updateControl(steerKPStock * 0.50, steerKPStock * 1.50);
+  steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(steerLatAccelStock, 'f', 2)));
+  steerLatAccelToggle->updateControl(steerLatAccelStock * 0.75, steerLatAccelStock * 1.25);
+  steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatioStock, 'f', 2)));
+  steerRatioToggle->updateControl(steerRatioStock * 0.75, steerRatioStock * 1.25);
 
   hideToggles();
 }
@@ -214,7 +326,8 @@ void FrogPilotLateralPanel::hideToggles() {
   setUpdatesEnabled(false);
 
   for (auto &[key, toggle] : toggles) {
-    bool subToggles = aolKeys.find(key) != aolKeys.end() ||
+    bool subToggles = advancedLateralTuneKeys.find(key) != advancedLateralTuneKeys.end() ||
+                      aolKeys.find(key) != aolKeys.end() ||
                       laneChangeKeys.find(key) != laneChangeKeys.end() ||
                       lateralTuneKeys.find(key) != lateralTuneKeys.end() ||
                       qolKeys.find(key) != qolKeys.end();
@@ -222,6 +335,8 @@ void FrogPilotLateralPanel::hideToggles() {
     toggle->setVisible(!subToggles);
   }
 
+  toggles["AdvancedLateralTune"]->setVisible(customizationLevel == 2);
+
   setUpdatesEnabled(true);
   update();
 }
diff --git a/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h
index 82d39415b2e3cc..3e55157ba30678 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h
+++ b/selfdrive/frogpilot/ui/qt/offroad/lateral_settings.h
@@ -15,30 +15,40 @@ class FrogPilotLateralPanel : public FrogPilotListWidget {
 
 private:
   void hideToggles();
+  void showEvent(QShowEvent *event) override;
   void showToggles(const std::set<QString> &keys);
   void updateMetric();
   void updateCarToggles();
   void updateState(const UIState &s);
 
+  std::set<QString> advancedLateralTuneKeys = {
+    "ForceAutoTune", "ForceAutoTuneOff", "SteerFriction",
+    "SteerLatAccel", "SteerKP", "SteerRatio"
+  };
+
   std::set<QString> aolKeys = {
-    "AlwaysOnLateralLKAS", "AlwaysOnLateralMain",
-    "HideAOLStatusBar", "PauseAOLOnBrake"
+    "AlwaysOnLateralLKAS", "AlwaysOnLateralMain", "HideAOLStatusBar",
+    "PauseAOLOnBrake"
   };
 
   std::set<QString> laneChangeKeys = {
-    "LaneChangeTime", "LaneDetectionWidth",
-    "MinimumLaneChangeSpeed", "NudgelessLaneChange",
-    "OneLaneChange"
+    "LaneChangeTime", "LaneDetectionWidth", "MinimumLaneChangeSpeed",
+    "NudgelessLaneChange", "OneLaneChange"
   };
 
   std::set<QString> lateralTuneKeys = {
-    "NNFF", "NNFFLite"
+    "NNFF", "NNFFLite", "TurnDesires"
   };
 
   std::set<QString> qolKeys = {
     "PauseLateralSpeed"
   };
 
+  FrogPilotParamValueButtonControl *steerFrictionToggle;
+  FrogPilotParamValueButtonControl *steerLatAccelToggle;
+  FrogPilotParamValueButtonControl *steerKPToggle;
+  FrogPilotParamValueButtonControl *steerRatioToggle;
+
   FrogPilotSettingsWindow *parent;
 
   Params params;
@@ -46,8 +56,17 @@ class FrogPilotLateralPanel : public FrogPilotListWidget {
   bool hasAutoTune;
   bool hasNNFFLog;
   bool isMetric = params.getBool("IsMetric");
+  bool isPIDCar;
   bool isSubaru;
+  bool liveValid;
   bool started;
 
+  float steerFrictionStock;
+  float steerLatAccelStock;
+  float steerKPStock;
+  float steerRatioStock;
+
+  int customizationLevel;
+
   std::map<QString, AbstractControl*> toggles;
 };
diff --git a/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc
index 2f85dd0d2d67df..2e95819ee247b7 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc
+++ b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.cc
@@ -2,68 +2,170 @@
 
 FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) {
   const std::vector<std::tuple<QString, QString, QString, QString>> longitudinalToggles {
-    {"ConditionalExperimental", tr("Conditional Experimental Mode"), tr("Automatically switches to 'Experimental Mode' when specific conditions are met."), "../frogpilot/assets/toggle_icons/icon_conditional.png"},
-    {"CESpeed", tr("Below"), tr("'Experimental Mode' is active when driving below the set speed without a lead vehicle."), ""},
-    {"CECurves", tr("Curve Detected Ahead"), tr("'Experimental Mode' is active when a curve is detected in the road ahead."), ""},
-    {"CELead", tr("Lead Detected Ahead"), tr("'Experimental Mode' is active when a slower or stopped vehicle is detected ahead."), ""},
-    {"CENavigation", tr("Navigation Data"), tr("'Experimental Mode' is active based on navigation data, such as upcoming intersections or turns."), ""},
-    {"CEModelStopTime", tr("openpilot Wants to Stop In"), tr("'Experimental Mode' is active when openpilot wants to stop such as for a stop sign or red light."), ""},
-    {"CESignalSpeed", tr("Turn Signal Below"), tr("'Experimental Mode' is active when using turn signals below the set speed."), ""},
-    {"HideCEMStatusBar", tr("Hide the Status Bar"), tr("The status bar for 'Conditional Experimental Mode' is hidden."), ""},
+    {"ConditionalExperimental", tr("Conditional Experimental Mode"), tr("Automatically switch to 'Experimental Mode' when specific conditions are met."), "../frogpilot/assets/toggle_icons/icon_conditional.png"},
+    {"CESpeed", tr("Below"), tr("Triggers 'Experimental Mode' when driving below the set speed without a lead vehicle."), ""},
+    {"CECurves", tr("Curve Detected Ahead"), tr("Triggers 'Experimental Mode' when a curve is detected in the road ahead."), ""},
+    {"CELead", tr("Lead Detected Ahead"), tr("Triggers 'Experimental Mode' when a slower or stopped vehicle is detected ahead."), ""},
+    {"CENavigation", tr("Navigation Data"), tr("Triggers 'Experimental Mode' based on navigation data, such as upcoming intersections or turns."), ""},
+    {"CEModelStopTime", tr("openpilot Wants to Stop In"), tr("Triggers 'Experimental Mode' when openpilot wants to stop such as for a stop sign or red light."), ""},
+    {"CESignalSpeed", tr("Turn Signal Below"), tr("Triggers 'Experimental Mode' when using turn signals below the set speed."), ""},
+    {"HideCEMStatusBar", tr("Hide the Status Bar"), tr("Hides status bar for 'Conditional Experimental Mode'."), ""},
 
     {"CurveSpeedControl", tr("Curve Speed Control"), tr("Automatically slow down for curves detected ahead or through the downloaded maps."), "../frogpilot/assets/toggle_icons/icon_speed_map.png"},
-    {"CurveDetectionMethod", tr("Curve Detection Method"), tr("The method used to detect curves."), ""},
-    {"MTSCCurvatureCheck", tr("Curve Detection Failsafe"), tr("Curve control is triggered only when a curve is detected ahead. Use this as a failsafe to prevent false positives when using the 'Map Based' method."), ""},
-    {"CurveSensitivity", tr("Curve Sensitivity"), tr("How sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently."), ""},
-    {"TurnAggressiveness", tr("Turn Speed Aggressiveness"), tr("How aggressive openpilot takes turns. Higher values result in quicker turns, while lower values provide gentler turns."), ""},
+    {"CurveDetectionMethod", tr("Curve Detection Method"), tr("Uses data from either the downloaded maps or the model to determine where curves are."), ""},
+    {"MTSCCurvatureCheck", tr("Curve Detection Failsafe"), tr("Triggers 'Curve Speed Control' only when a curve is detected with the model as well when using the 'Map Based' method."), ""},
+    {"CurveSensitivity", tr("Curve Detection Sensitivity"), tr("Controls how sensitive openpilot is to detecting curves. Higher values trigger earlier responses at the risk of triggering too often, while lower values increase confidence at the risk of triggering too infrequently."), ""},
+    {"TurnAggressiveness", tr("Speed Aggressiveness"), tr("Controls how aggressive openpilot takes turns. Higher values result in faster turns, while lower values result in slower turns."), ""},
     {"DisableCurveSpeedSmoothing", tr("Disable Speed Value Smoothing In the UI"), tr("Speed value smoothing is disabled in the UI to instead display the exact speed requested by the curve control."), ""},
 
-    {"ExperimentalModeActivation", tr("Experimental Mode Activation"), tr("'Experimental Mode' is toggled off/on using the steering wheel buttons or the on-screen controls.\n\nThis overrides 'Conditional Experimental Mode'."), "../assets/img_experimental_white.svg"},
-    {"ExperimentalModeViaLKAS", tr("Click the LKAS Button"), tr("'Experimental Mode' is toggled by pressing the 'LKAS' button on the steering wheel."), ""},
-    {"ExperimentalModeViaTap", tr("Double-Tap the Screen"), tr("'Experimental Mode' is toggled by double-tapping the onroad UI within 0.5 seconds."), ""},
-    {"ExperimentalModeViaDistance", tr("Long Press the Distance Button"), tr("'Experimental Mode' is toggled by holding the 'distance' button on the steering wheel for 0.5+ seconds."), ""},
+    {"CustomPersonalities", tr("Customize Driving Personalities"), tr("Customize the personality profiles to suit your driving style."), "../frogpilot/assets/toggle_icons/icon_personality.png"},
+    {"TrafficPersonalityProfile", tr("Traffic Personality"), tr("Customizes the 'Traffic' personality profile, tailored for navigating through traffic."), "../frogpilot/assets/stock_theme/distance_icons/traffic.png"},
+    {"TrafficFollow", tr("Following Distance"), tr("Controls the minimum following distance in 'Traffic' mode. openpilot will automatically dynamically between this value and the 'Aggressive' profile distance based on your current speed."), ""},
+    {"TrafficJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in acceleration in 'Traffic' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt."), ""},
+    {"TrafficJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Traffic' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt."), ""},
+    {"TrafficJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Traffic' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time."), ""},
+    {"TrafficJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot increases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt."), ""},
+    {"TrafficJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Controls how quickly openpilot decreases speed in 'Traffic' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt."), ""},
+    {"ResetTrafficPersonality", tr("Reset Settings"), tr("Restores the 'Traffic Mode' settings to their default values."), ""},
+
+    {"AggressivePersonalityProfile", tr("Aggressive Personality"), tr("Customize the 'Aggressive' personality profile, designed for a more assertive driving style."), "../frogpilot/assets/stock_theme/distance_icons/aggressive.png"},
+    {"AggressiveFollow", tr("Following Distance"), tr("Sets the following distance for 'Aggressive' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.25 seconds."), ""},
+    {"AggressiveJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in acceleration in 'Aggressive' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 0.5."), ""},
+    {"AggressiveJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Aggressive' mode. Higher values result in smoother, more gradual deceleration, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 0.5."), ""},
+    {"AggressiveJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Aggressive' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time.\n\nDefault: 1.0."), ""},
+    {"AggressiveJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot increases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 0.5."), ""},
+    {"AggressiveJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Controls how quickly openpilot decreases speed in 'Aggressive' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 0.5."), ""},
+    {"ResetAggressivePersonality", tr("Reset Settings"), tr("Restores the 'Aggressive' settings to their default values."), ""},
+
+    {"StandardPersonalityProfile", tr("Standard Personality"), tr("Customize the 'Standard' personality profile, optimized for balanced driving."), "../frogpilot/assets/stock_theme/distance_icons/standard.png"},
+    {"StandardFollow", tr("Following Distance"), tr("Set the following distance for 'Standard' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.45 seconds."), ""},
+    {"StandardJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in acceleration in 'Standard' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""},
+    {"StandardJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Standard' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt.\n\nDefault: 1.0."), ""},
+    {"StandardJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Standard' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time.\n\nDefault: 1.0."), ""},
+    {"StandardJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot increases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""},
+    {"StandardJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Controls how quickly openpilot decreases speed in 'Standard' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""},
+    {"ResetStandardPersonality", tr("Reset Settings"), tr("Restores the 'Standard' settings to their default values."), ""},
+
+    {"RelaxedPersonalityProfile", tr("Relaxed Personality"), tr("Customize the 'Relaxed' personality profile, ideal for a more laid-back driving style."), "../frogpilot/assets/stock_theme/distance_icons/relaxed.png"},
+    {"RelaxedFollow", tr("Following Distance"), tr("Set the following distance for 'Relaxed' mode. This determines roughly how many seconds you'll follow behind the car ahead.\n\nDefault: 1.75 seconds."), ""},
+    {"RelaxedJerkAcceleration", tr("Acceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in acceleration in 'Relaxed' mode. Higher values result in smoother, more gradual acceleration, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""},
+    {"RelaxedJerkDeceleration", tr("Deceleration Sensitivity"), tr("Controls how sensitive openpilot is to changes in deceleration in 'Relaxed' mode. Higher values result in smoother braking, while lower values allow for quicker, more immediate braking that may feel abrupt.\n\nDefault: 1.0."), ""},
+    {"RelaxedJerkDanger", tr("Safety Distance Sensitivity"), tr("Adjusts how cautious openpilot is around other vehicles or obstacles in 'Relaxed' mode. Higher values increase following distances and prioritize safety, leading to more cautious driving, while lower values allow for closer following but may reduce reaction time.\n\nDefault: 1.0."), ""},
+    {"RelaxedJerkSpeed", tr("Speed Increase Responsiveness"), tr("Controls how quickly openpilot increases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when accelerating, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""},
+    {"RelaxedJerkSpeedDecrease", tr("Speed Decrease Responsiveness"), tr("Controls how quickly openpilot decreases speed in 'Relaxed' mode. Higher values ensure smoother, more gradual speed changes when slowing down, while lower values allow for quicker, more responsive changes that may feel abrupt.\n\nDefault: 1.0."), ""},
+    {"ResetRelaxedPersonality", tr("Reset Settings"), tr("Restores the 'Relaxed' settings to their default values."), ""},
+
+    {"ExperimentalModeActivation", tr("Experimental Mode Activation"), tr("Toggle 'Experimental Mode' on/off using either the steering wheel buttons or screen.\n\nThis overrides 'Conditional Experimental Mode'."), "../assets/img_experimental_white.svg"},
+    {"ExperimentalModeViaLKAS", tr("Click the LKAS Button"), tr("Toggles 'Experimental Mode' by pressing the 'LKAS' button on the steering wheel."), ""},
+    {"ExperimentalModeViaTap", tr("Double-Tap the Screen"), tr("Toggles 'Experimental Mode' by double-tapping the onroad UI within a 0.5 second period."), ""},
+    {"ExperimentalModeViaDistance", tr("Long Press the Distance Button"), tr("Toggles 'Experimental Mode' by holding down the 'distance' button on the steering wheel for 0.5 seconds."), ""},
 
     {"LongitudinalTune", tr("Longitudinal Tuning"), tr("Settings that control how openpilot manages speed and acceleration."), "../frogpilot/assets/toggle_icons/icon_longitudinal_tune.png"},
-    {"AccelerationProfile", tr("Acceleration Profile"), tr("Choose between a sporty or eco-friendly acceleration rate."), ""},
-    {"DecelerationProfile", tr("Deceleration Profile"), tr("Choose between a sporty or eco-friendly deceleration rate."), ""},
-    {"HumanAcceleration", tr("Human-Like Acceleration"), tr("Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a smoother max speed approach."), ""},
-    {"HumanFollowing", tr("Human-Like Following Distance"), tr("Dynamically adjusts the following distance to feel more natural when approaching slower or stopped vehicles."), ""},
-    {"IncreasedStoppedDistance", tr("Increase Stopped Distance"), tr("Increases the distance to stop behind vehicles."), ""},
+    {"AccelerationProfile", tr("Acceleration Profile"), tr("Enables either a sporty or eco-friendly acceleration rate. 'Sport+' aims to make openpilot accelerate as fast as possible."), ""},
+    {"DecelerationProfile", tr("Deceleration Profile"), tr("Enables either a sporty or eco-friendly deceleration rate."), ""},
+    {"HumanAcceleration", tr("Human-Like Acceleration"), tr("Uses the lead's acceleration rate when at a takeoff and ramps off the acceleration rate when approaching the maximum set speed for a more 'human-like' driving experience."), ""},
+    {"HumanFollowing", tr("Human-Like Approach Behind Leads"), tr("Dynamically adjusts the following distance when approaching slower or stopped vehicles for a more 'human-like' driving experience."), ""},
+    {"LeadDetectionThreshold", tr("Lead Detection Confidence"), tr("Controls how sensitive openpilot is to detecting vehicles ahead. A lower value can help detect vehicles sooner and from farther away, but increases the chance openpilot mistakes other objects for vehicles."), ""},
+    {"MaxDesiredAcceleration", tr("Maximum Acceleration Rate"), tr("Sets a cap on how fast openpilot can accelerate."), ""},
+    {"TacoTune", tr("'Taco Bell Run' Turn Speed Hack"), tr("Uses comma's speed hack they used to help handle left and right turns more precisely during their 2022 'Taco Bell' drive by reducing the maximum allowed speed and acceleration while turning."), ""},
 
     {"QOLLongitudinal", tr("Quality of Life Improvements"), tr("Miscellaneous longitudinal focused features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"},
-    {"CustomCruise", tr("Cruise Increase Interval"), tr("Interval used when increasing the cruise control speed."), ""},
-    {"CustomCruiseLong", tr("Custom Cruise Interval (Long Press)"), tr("Interval used when increasing the cruise control speed when holding down the button for 0.5+ seconds."), ""},
-    {"MapGears", tr("Map Accel/Decel to Gears"), tr("Map the acceleration and deceleration profiles to the 'Eco' or 'Sport' gear modes."), ""},
-    {"OnroadDistanceButton", tr("Onroad Personality Button"), tr("The current driving personality is displayed on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic Mode'."), ""},
-    {"ReverseCruise", tr("Reverse Cruise Increase"), tr("The long press feature is reversed in order to increase speed by 5 mph instead of 1."), ""},
-
-    {"SpeedLimitController", tr("Speed Limit Controller"), tr("Automatically adjust your max speed to match the speed limit using 'Open Street Maps', 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only)."), "../assets/offroad/icon_speed_limit.png"},
-    {"SLCConfirmation", tr("Confirm New Speed Limits"), tr("Require manual confirmation before using a new speed limit."), ""},
-    {"SLCFallback", tr("Fallback Method"), tr("Choose what happens when no speed limit data is available."), ""},
-    {"SLCOverride", tr("Override Method"), tr("Choose how you want to override the current speed limit.\n\n"), ""},
-    {"SLCPriority", tr("Speed Limit Source Priority"), tr("Set the order of priority for speed limit data sources."), ""},
-    {"SLCOffsets", tr("Speed Limit Offsets"), tr("Manage toggles related to 'Speed Limit Controller's controls."), ""},
-    {"Offset1", tr("Speed Limit Offset (0-34 mph)"), tr("Set the speed limit offset for speeds between 0 and 34 mph."), ""},
-    {"Offset2", tr("Speed Limit Offset (35-54 mph)"), tr("Set the speed limit offset for speeds between 35 and 54 mph."), ""},
-    {"Offset3", tr("Speed Limit Offset (55-64 mph)"), tr("Set the speed limit offset for speeds between 55 and 64 mph."), ""},
-    {"Offset4", tr("Speed Limit Offset (65-99 mph)"), tr("Set the speed limit offset for speeds between 65 and 99 mph."), ""},
+    {"CustomCruise", tr("Cruise Increase Interval"), tr("Controls the interval used when increasing the cruise control speed."), ""},
+    {"CustomCruiseLong", tr("Custom Cruise Interval (Long Press)"), tr("Controls the interval used when increasing the cruise control speed while holding down the button for 0.5+ seconds."), ""},
+    {"ForceStandstill", tr("Force Keep openpilot in the Standstill State"), tr("Keeps openpilot in the 'standstill' state until the gas pedal or 'resume' button is pressed."), ""},
+    {"ForceStops", tr("Force Stop for 'Detected' Stop Lights/Signs"), tr("Forces a stop whenever openpilot 'detects' a potential red light/stop sign to prevent it from running the red light/stop sign."), ""},
+    {"IncreasedStoppedDistance", tr("Increase Stopped Distance"), tr("Increases the distance to stop behind vehicles."), ""},
+    {"SetSpeedOffset", tr("Set Speed Offset"), tr("Controls how much higher or lower the set speed should be compared to your current set speed. For example, if you prefer to drive 5 mph above the speed limit, this setting will automatically add that difference when you adjust your set speed."), ""},
+    {"MapGears", tr("Map Accel/Decel to Gears"), tr("Maps the acceleration and deceleration profiles to your car's 'Eco' or 'Sport' gear modes."), ""},
+    {"ReverseCruise", tr("Reverse Cruise Increase"), tr("Reverses the long press cruise increase feature to increase the max speed by 5 mph instead of 1 on short presses."), ""},
+
+    {"SpeedLimitController", tr("Speed Limit Controller"), tr("Automatically adjust your max speed to match the speed limit using downloaded 'Open Street Maps' data, 'Navigate on openpilot', or your car's dashboard (Toyota/Lexus/HKG only)."), "../assets/offroad/icon_speed_limit.png"},
+    {"SLCConfirmation", tr("Confirm New Speed Limits"), tr("Enables manual confirmations before using a new speed limit."), ""},
+    {"SLCFallback", tr("Fallback Method"), tr("Controls what happens when no speed limit data is available."), ""},
+    {"SLCOverride", tr("Override Method"), tr("Controls how the current speed limit is overriden.\n\n"), ""},
     {"SLCQOL", tr("Quality of Life Improvements"), tr("Miscellaneous 'Speed Limit Controller' focused features to improve your overall openpilot experience."), ""},
-    {"ForceMPHDashboard", tr("Force MPH Readings from Dashboard"), tr("Force speed limit readings in MPH from the dashboard if it normally displays in KPH."), ""},
-    {"SLCLookaheadHigher", tr("Prepare for Higher Speed Limits"), tr("Set a lookahead value to prepare for upcoming higher speed limits based on map data."), ""},
-    {"SLCLookaheadLower", tr("Prepare for Lower Speed Limits"), tr("Set a lookahead value to prepare for upcoming lower speed limits based on map data."), ""},
-    {"SetSpeedLimit", tr("Set Speed to Current Limit"), tr("Set your max speed to match the current speed limit when enabling openpilot."), ""},
-    {"SLCVisuals", tr("Visual Settings"), tr("Manage visual settings for the 'Speed Limit Controller'."), ""},
-    {"UseVienna", tr("Use Vienna-Style Speed Signs"), tr("Switch to Vienna-style (EU) speed limit signs instead of MUTCD (US)."), ""},
-    {"ShowSLCOffset", tr("Show Speed Limit Offset"), tr("Display the speed limit offset separately in the onroad UI when using the Speed Limit Controller."), ""},
+    {"ForceMPHDashboard", tr("Force MPH Readings from Dashboard"), tr("Forces speed limit readings from the dashboard to MPH if it normally displays them in KPH."), ""},
+    {"SLCLookaheadHigher", tr("Prepare for Higher Speed Limits"), tr("Sets a lookahead value to prepare for upcoming higher speed limits when using downloaded map data."), ""},
+    {"SLCLookaheadLower", tr("Prepare for Lower Speed Limits"), tr("Sets a lookahead value to prepare for upcoming lower speed limits when using downloaded map data."), ""},
+    {"SetSpeedLimit", tr("Set Speed to Current Limit"), tr("Sets your max speed to match the current speed limit when enabling openpilot."), ""},
+    {"SLCPriority", tr("Speed Limit Source Priority Order"), tr("Sets the order of priority for speed limit data sources."), ""},
+    {"SLCOffsets", tr("Speed Limit Offsets"), tr("Set speed limit offsets to drive over the posted speed limit."), ""},
+    {"Offset1", tr("Speed Limit Offset (0-34 mph)"), tr("Sets the speed limit offset for speeds between 0 and 34 mph."), ""},
+    {"Offset2", tr("Speed Limit Offset (35-54 mph)"), tr("Sets the speed limit offset for speeds between 35 and 54 mph."), ""},
+    {"Offset3", tr("Speed Limit Offset (55-64 mph)"), tr("Sets the speed limit offset for speeds between 55 and 64 mph."), ""},
+    {"Offset4", tr("Speed Limit Offset (65-99 mph)"), tr("Sets the speed limit offset for speeds between 65 and 99 mph."), ""},
   };
 
   for (const auto &[param, title, desc, icon] : longitudinalToggles) {
     AbstractControl *longitudinalToggle;
 
-    if (param == "ConditionalExperimental") {
+    if (param == "CustomPersonalities") {
+      FrogPilotParamManageControl *customPersonalitiesToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(customPersonalitiesToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        showToggles(customDrivingPersonalityKeys);
+      });
+      longitudinalToggle = customPersonalitiesToggle;
+    } else if (param == "ResetTrafficPersonality" || param == "ResetAggressivePersonality" || param == "ResetStandardPersonality" || param == "ResetRelaxedPersonality") {
+      FrogPilotButtonsControl *profileBtn = new FrogPilotButtonsControl(title, desc, {tr("Reset")});
+      longitudinalToggle = profileBtn;
+    } else if (param == "TrafficPersonalityProfile") {
+      FrogPilotParamManageControl *trafficPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(trafficPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        customPersonalityOpen = true;
+        openSubParentToggle();
+        showToggles(trafficPersonalityKeys);
+      });
+      longitudinalToggle = trafficPersonalityToggle;
+    } else if (param == "AggressivePersonalityProfile") {
+      FrogPilotParamManageControl *aggressivePersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(aggressivePersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        customPersonalityOpen = true;
+        openSubParentToggle();
+        showToggles(aggressivePersonalityKeys);
+      });
+      longitudinalToggle = aggressivePersonalityToggle;
+    } else if (param == "StandardPersonalityProfile") {
+      FrogPilotParamManageControl *standardPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(standardPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        customPersonalityOpen = true;
+        openSubParentToggle();
+        showToggles(standardPersonalityKeys);
+      });
+      longitudinalToggle = standardPersonalityToggle;
+    } else if (param == "RelaxedPersonalityProfile") {
+      FrogPilotParamManageControl *relaxedPersonalityToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(relaxedPersonalityToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        customPersonalityOpen = true;
+        openSubParentToggle();
+        showToggles(relaxedPersonalityKeys);
+      });
+      longitudinalToggle = relaxedPersonalityToggle;
+    } else if (trafficPersonalityKeys.find(param) != trafficPersonalityKeys.end() ||
+               aggressivePersonalityKeys.find(param) != aggressivePersonalityKeys.end() ||
+               standardPersonalityKeys.find(param) != standardPersonalityKeys.end() ||
+               relaxedPersonalityKeys.find(param) != relaxedPersonalityKeys.end()) {
+      if (param == "TrafficFollow" || param == "AggressiveFollow" || param == "StandardFollow" || param == "RelaxedFollow") {
+        if (param == "TrafficFollow") {
+          longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0.5, 5, tr(" seconds"), std::map<int, QString>(), 0.01);
+        } else {
+          longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 5, tr(" seconds"), std::map<int, QString>(), 0.01);
+        }
+      } else {
+        longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 500, "%");
+      }
+
+    } else if (param == "ConditionalExperimental") {
       FrogPilotParamManageControl *conditionalExperimentalToggle = new FrogPilotParamManageControl(param, title, desc, icon);
       QObject::connect(conditionalExperimentalToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        showToggles(conditionalExperimentalKeys);
+        std::set<QString> modifiedConditionalExperimentalKeys = conditionalExperimentalKeys;
+
+        if (customizationLevel != 2) {
+          modifiedConditionalExperimentalKeys.erase("CENavigation");
+          modifiedConditionalExperimentalKeys.erase("CESignalSpeed");
+          modifiedConditionalExperimentalKeys.erase("HideCEMStatusBar");
+        }
+
+        showToggles(modifiedConditionalExperimentalKeys);
       });
       longitudinalToggle = conditionalExperimentalToggle;
     } else if (param == "CESpeed") {
@@ -84,15 +186,11 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *
       std::vector<QString> navigationToggleNames{tr("Intersections"), tr("Turns"), tr("With Lead")};
       longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, navigationToggles, navigationToggleNames);
     } else if (param == "CEModelStopTime") {
-      std::map<int, QString> modelStopTimeLabels;
-      for (int i = 0; i <= 10; ++i) {
-        modelStopTimeLabels[i] = (i == 0) ? tr("Off") : QString::number(i) + " seconds";
-      }
-      longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, QString(), modelStopTimeLabels);
+      longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, tr(" seconds"), {{0, "Off"}});
     } else if (param == "CESignalSpeed") {
       std::vector<QString> ceSignalToggles{"CESignalLaneDetection"};
-      std::vector<QString> ceSignalToggleNames{"Lane Detection"};
-      longitudinalToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 99, tr("mph"), std::map<int, QString>(), 1.0, ceSignalToggles, ceSignalToggleNames);
+      std::vector<QString> ceSignalToggleNames{"Only For Detected Lanes"};
+      longitudinalToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 99, tr("mph"), std::map<int, QString>(), 1.0, ceSignalToggles, ceSignalToggleNames, true);
 
     } else if (param == "CurveSpeedControl") {
       FrogPilotParamManageControl *curveControlToggle = new FrogPilotParamManageControl(param, title, desc, icon);
@@ -107,6 +205,12 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *
           modifiedCurveSpeedKeys.erase("MTSCCurvatureCheck");
         }
 
+        if (customizationLevel != 2) {
+          modifiedCurveSpeedKeys.erase("CurveSensitivity");
+          modifiedCurveSpeedKeys.erase("MTSCCurvatureCheck");
+          modifiedCurveSpeedKeys.erase("TurnAggressiveness");
+        }
+
         showToggles(modifiedCurveSpeedKeys);
       });
       longitudinalToggle = curveControlToggle;
@@ -162,19 +266,35 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *
     } else if (param == "LongitudinalTune") {
       FrogPilotParamManageControl *longitudinalTuneToggle = new FrogPilotParamManageControl(param, title, desc, icon);
       QObject::connect(longitudinalTuneToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        showToggles(longitudinalTuneKeys);
+        std::set<QString> modifiedLongitudinalTuneKeys = longitudinalTuneKeys;
+
+        if (customizationLevel == 0) {
+          modifiedLongitudinalTuneKeys.erase("HumanAcceleration");
+          modifiedLongitudinalTuneKeys.erase("HumanFollowing");
+          modifiedLongitudinalTuneKeys.erase("LeadDetectionThreshold");
+          modifiedLongitudinalTuneKeys.erase("MaxDesiredAcceleration");
+        } else if (customizationLevel == 1) {
+          modifiedLongitudinalTuneKeys.erase("HumanAcceleration");
+          modifiedLongitudinalTuneKeys.erase("HumanFollowing");
+          modifiedLongitudinalTuneKeys.erase("LeadDetectionThreshold");
+          modifiedLongitudinalTuneKeys.erase("MaxDesiredAcceleration");
+        }
+
+        showToggles(modifiedLongitudinalTuneKeys);
       });
       longitudinalToggle = longitudinalTuneToggle;
     } else if (param == "AccelerationProfile") {
-      std::vector<QString> profileOptions{tr("Standard"), tr("Eco"), tr("Sport"), tr("Sport+")};
-      ButtonParamControl *profileSelection = new ButtonParamControl(param, title, desc, icon, profileOptions);
-      longitudinalToggle = profileSelection;
+      std::vector<QString> accelerationProfiles{tr("Standard"), tr("Eco"), tr("Sport"), tr("Sport+")};
+      ButtonParamControl *accelerationProfileToggle = new ButtonParamControl(param, title, desc, icon, accelerationProfiles);
+      longitudinalToggle = accelerationProfileToggle;
     } else if (param == "DecelerationProfile") {
-      std::vector<QString> profileOptions{tr("Standard"), tr("Eco"), tr("Sport")};
-      ButtonParamControl *profileSelection = new ButtonParamControl(param, title, desc, icon, profileOptions);
-      longitudinalToggle = profileSelection;
-    } else if (param == "IncreasedStoppedDistance") {
-      longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 15, tr(" feet"));
+      std::vector<QString> decelerationProfiles{tr("Standard"), tr("Eco"), tr("Sport")};
+      ButtonParamControl *decelerationProfileToggle = new ButtonParamControl(param, title, desc, icon, decelerationProfiles);
+      longitudinalToggle = decelerationProfileToggle;
+    } else if (param == "LeadDetectionThreshold") {
+      longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, "%");
+    } else if (param == "MaxDesiredAcceleration") {
+      longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0.1, 4.0, "m/s", std::map<int, QString>(), 0.1);
 
     } else if (param == "QOLLongitudinal") {
       FrogPilotParamManageControl *qolLongitudinalToggle = new FrogPilotParamManageControl(param, title, desc, icon);
@@ -186,12 +306,20 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *
         } else {
           modifiedQolKeys.erase("CustomCruise");
           modifiedQolKeys.erase("CustomCruiseLong");
+          modifiedQolKeys.erase("SetSpeedOffset");
         }
 
-        if (!isToyota && !isGM && !isHKGCanFd) {
+        if (!(isGM || isHKGCanFd || isToyota)) {
           modifiedQolKeys.erase("MapGears");
         }
 
+        if (customizationLevel != 2) {
+          modifiedQolKeys.erase("ForceStandstill");
+          modifiedQolKeys.erase("ForceStops");
+          modifiedQolKeys.erase("ReverseCruise");
+          modifiedQolKeys.erase("SetSpeedOffset");
+        }
+
         showToggles(modifiedQolKeys);
       });
       longitudinalToggle = qolLongitudinalToggle;
@@ -199,62 +327,45 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *
       longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, tr("mph"));
     } else if (param == "CustomCruiseLong") {
       longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 1, 99, tr("mph"));
+    } else if (param == "IncreasedStoppedDistance") {
+      longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, tr(" feet"));
     } else if (param == "MapGears") {
       std::vector<QString> mapGearsToggles{"MapAcceleration", "MapDeceleration"};
       std::vector<QString> mapGearsToggleNames{tr("Acceleration"), tr("Deceleration")};
       longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, mapGearsToggles, mapGearsToggleNames);
+    } else if (param == "SetSpeedOffset") {
+      longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 99, tr("mph"));
 
     } else if (param == "SpeedLimitController") {
       FrogPilotParamManageControl *speedLimitControllerToggle = new FrogPilotParamManageControl(param, title, desc, icon);
       QObject::connect(speedLimitControllerToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        bool slcLower = params.getBool("SLCConfirmationLower");
-        bool slcHigher = params.getBool("SLCConfirmationHigher");
+        std::set<QString> modifiedSpeedLimitControllerKeys = speedLimitControllerKeys;
+
+        if (customizationLevel == 0) {
+          modifiedSpeedLimitControllerKeys.erase("SLCFallback");
+          modifiedSpeedLimitControllerKeys.erase("SLCOverride");
+          modifiedSpeedLimitControllerKeys.erase("SLCPriority");
+          modifiedSpeedLimitControllerKeys.erase("SLCQOL");
+        } else if (customizationLevel != 2) {
+          modifiedSpeedLimitControllerKeys.erase("SLCPriority");
+          modifiedSpeedLimitControllerKeys.erase("SLCQOL");
+        }
 
-        slcConfirmationBtn->setCheckedButton(0, slcLower);
-        slcConfirmationBtn->setCheckedButton(1, slcHigher);
-        slcConfirmationBtn->setCheckedButton(2, !(slcLower || slcHigher));
+        showToggles(modifiedSpeedLimitControllerKeys);
 
         slcOpen = true;
-        showToggles(speedLimitControllerKeys);
       });
       longitudinalToggle = speedLimitControllerToggle;
     } else if (param == "SLCConfirmation") {
-      slcConfirmationBtn = new FrogPilotButtonsControl(title, desc, {tr("Lower Limits"), tr("Higher Limits"), tr("None")}, true, false);
-      QObject::connect(slcConfirmationBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
-        bool lowerEnabled = params.getBool("SLCConfirmationLower");
-        bool higherEnabled = params.getBool("SLCConfirmationHigher");
-
-        if (id == 0) {
-          params.putBool("SLCConfirmationLower", !lowerEnabled);
-          slcConfirmationBtn->setCheckedButton(0, !lowerEnabled);
-          slcConfirmationBtn->setCheckedButton(2, false);
-
-          if (lowerEnabled & !higherEnabled) {
-            slcConfirmationBtn->setCheckedButton(2, true);
-          }
-        } else if (id == 1) {
-          params.putBool("SLCConfirmationHigher", !higherEnabled);
-          slcConfirmationBtn->setCheckedButton(1, !higherEnabled);
-          slcConfirmationBtn->setCheckedButton(2, false);
-
-          if (higherEnabled & !lowerEnabled) {
-            slcConfirmationBtn->setCheckedButton(2, true);
-          }
-        } else {
-          params.putBool("SLCConfirmationLower", false);
-          params.putBool("SLCConfirmationHigher", false);
-          slcConfirmationBtn->setCheckedButton(0, false);
-          slcConfirmationBtn->setCheckedButton(1, false);
-          slcConfirmationBtn->setCheckedButton(2, true);
-        }
-      });
-      longitudinalToggle = slcConfirmationBtn;
+      std::vector<QString> confirmationToggles{"SLCConfirmationLower", "SLCConfirmationHigher"};
+      std::vector<QString> confirmationToggleNames{tr("Lower Limits"), tr("Higher Limits")};
+      longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, confirmationToggles, confirmationToggleNames);
     } else if (param == "SLCFallback") {
       std::vector<QString> fallbackOptions{tr("Set Speed"), tr("Experimental Mode"), tr("Previous Limit")};
       ButtonParamControl *fallbackSelection = new ButtonParamControl(param, title, desc, icon, fallbackOptions);
       longitudinalToggle = fallbackSelection;
     } else if (param == "SLCOverride") {
-      std::vector<QString> overrideOptions{tr("None"), tr("Gas Pedal Press"), tr("Cruise Set Speed")};
+      std::vector<QString> overrideOptions{tr("None"), tr("Set With Gas Pedal"), tr("Max Set Speed")};
       ButtonParamControl *overrideSelection = new ButtonParamControl(param, title, desc, icon, overrideOptions);
       longitudinalToggle = overrideSelection;
     } else if (param == "SLCPriority") {
@@ -269,7 +380,8 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *
         for (int i = 1; i <= 3; ++i) {
           QStringList currentPriorities = (i == 1) ? primaryPriorities : secondaryTertiaryPriorities;
           QStringList prioritiesToDisplay = currentPriorities;
-          for (const auto &selectedPriority : qAsConst(selectedPriorities)) {
+
+          for (QString selectedPriority : qAsConst(selectedPriorities)) {
             prioritiesToDisplay.removeAll(selectedPriority);
           }
 
@@ -284,12 +396,24 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *
           QString priorityKey = QString("SLCPriority%1").arg(i);
           QString selection = MultiOptionDialog::getSelection(priorityPrompts[i - 1], prioritiesToDisplay, "", this);
 
-          if (selection.isEmpty()) break;
+          if (selection.isEmpty()) {
+            break;
+          }
 
           params.putNonBlocking(priorityKey.toStdString(), selection.toStdString());
           selectedPriorities.append(selection);
 
-          if (selection == tr("Lowest") || selection == tr("Highest") || selection == tr("None")) break;
+          if (selection == tr("None")) {
+            for (int j = i + 1; j <= 3; ++j) {
+              QString priorityKeyNext = QString("SLCPriority%1").arg(j);
+              params.putNonBlocking(priorityKeyNext.toStdString(), "None");
+            }
+            break;
+          }
+
+          if (selection == tr("Lowest") || selection == tr("Highest")) {
+            break;
+          }
 
           updateFrogPilotToggles();
         }
@@ -334,20 +458,9 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *
       });
       longitudinalToggle = reinterpret_cast<AbstractControl*>(manageSLCQOLBtn);
     } else if (param == "SLCLookaheadHigher" || param == "SLCLookaheadLower") {
-      longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 60, tr(" seconds"));
-    } else if (param == "SLCVisuals") {
-      ButtonControl *manageSLCVisualsBtn = new ButtonControl(title, tr("MANAGE"), desc);
-      QObject::connect(manageSLCVisualsBtn, &ButtonControl::clicked, [this]() {
-        openSubParentToggle();
-        showToggles(speedLimitControllerVisualsKeys);
-      });
-      longitudinalToggle = reinterpret_cast<AbstractControl*>(manageSLCVisualsBtn);
+      longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 30, tr(" seconds"));
     } else if (param == "Offset1" || param == "Offset2" || param == "Offset3" || param == "Offset4") {
       longitudinalToggle = new FrogPilotParamValueControl(param, title, desc, icon, -99, 99, tr("mph"));
-    } else if (param == "ShowSLCOffset") {
-      std::vector<QString> slcOffsetToggles{"ShowSLCOffsetUI"};
-      std::vector<QString> slcOffsetToggleNames{tr("Control Via UI")};
-      longitudinalToggle = new FrogPilotButtonToggleControl(param, title, desc, slcOffsetToggles, slcOffsetToggleNames);
 
     } else {
       longitudinalToggle = new ParamControl(param, title, desc, icon);
@@ -373,6 +486,106 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *
     }
   });
 
+  FrogPilotParamValueControl *trafficFollowToggle = static_cast<FrogPilotParamValueControl*>(toggles["TrafficFollow"]);
+  FrogPilotParamValueControl *trafficAccelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["TrafficJerkAcceleration"]);
+  FrogPilotParamValueControl *trafficDecelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["TrafficJerkDeceleration"]);
+  FrogPilotParamValueControl *trafficDangerToggle = static_cast<FrogPilotParamValueControl*>(toggles["TrafficJerkDanger"]);
+  FrogPilotParamValueControl *trafficSpeedToggle = static_cast<FrogPilotParamValueControl*>(toggles["TrafficJerkSpeed"]);
+  FrogPilotParamValueControl *trafficSpeedDecreaseToggle = static_cast<FrogPilotParamValueControl*>(toggles["TrafficJerkSpeedDecrease"]);
+  FrogPilotButtonsControl *trafficResetButton = static_cast<FrogPilotButtonsControl*>(toggles["ResetTrafficPersonality"]);
+  QObject::connect(trafficResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() {
+    if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for 'Traffic Mode'?"), this)) {
+      params.putFloat("TrafficFollow", 0.5);
+      params.putFloat("TrafficJerkAcceleration", 50);
+      params.putFloat("TrafficJerkDeceleration", 50);
+      params.putFloat("TrafficJerkDanger", 100);
+      params.putFloat("TrafficJerkSpeed", 50);
+      params.putFloat("TrafficJerkSpeedDecrease", 50);
+      trafficFollowToggle->refresh();
+      trafficAccelerationToggle->refresh();
+      trafficDecelerationToggle->refresh();
+      trafficDangerToggle->refresh();
+      trafficSpeedToggle->refresh();
+      trafficSpeedDecreaseToggle->refresh();
+      updateFrogPilotToggles();
+    }
+  });
+
+  FrogPilotParamValueControl *aggressiveFollowToggle = static_cast<FrogPilotParamValueControl*>(toggles["AggressiveFollow"]);
+  FrogPilotParamValueControl *aggressiveAccelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["AggressiveJerkAcceleration"]);
+  FrogPilotParamValueControl *aggressiveDecelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["AggressiveJerkDeceleration"]);
+  FrogPilotParamValueControl *aggressiveDangerToggle = static_cast<FrogPilotParamValueControl*>(toggles["AggressiveJerkDanger"]);
+  FrogPilotParamValueControl *aggressiveSpeedToggle = static_cast<FrogPilotParamValueControl*>(toggles["AggressiveJerkSpeed"]);
+  FrogPilotParamValueControl *aggressiveSpeedDecreaseToggle = static_cast<FrogPilotParamValueControl*>(toggles["AggressiveJerkSpeedDecrease"]);
+  FrogPilotButtonsControl *aggressiveResetButton = static_cast<FrogPilotButtonsControl*>(toggles["ResetAggressivePersonality"]);
+  QObject::connect(aggressiveResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() {
+    if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Aggressive' personality?"), this)) {
+      params.putFloat("AggressiveFollow", 1.25);
+      params.putFloat("AggressiveJerkAcceleration", 50);
+      params.putFloat("AggressiveJerkDeceleration", 50);
+      params.putFloat("AggressiveJerkDanger", 100);
+      params.putFloat("AggressiveJerkSpeed", 50);
+      params.putFloat("AggressiveJerkSpeedDecrease", 50);
+      aggressiveFollowToggle->refresh();
+      aggressiveAccelerationToggle->refresh();
+      aggressiveDecelerationToggle->refresh();
+      aggressiveDangerToggle->refresh();
+      aggressiveSpeedToggle->refresh();
+      aggressiveSpeedDecreaseToggle->refresh();
+      updateFrogPilotToggles();
+    }
+  });
+
+  FrogPilotParamValueControl *standardFollowToggle = static_cast<FrogPilotParamValueControl*>(toggles["StandardFollow"]);
+  FrogPilotParamValueControl *standardAccelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["StandardJerkAcceleration"]);
+  FrogPilotParamValueControl *standardDecelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["StandardJerkDeceleration"]);
+  FrogPilotParamValueControl *standardDangerToggle = static_cast<FrogPilotParamValueControl*>(toggles["StandardJerkDanger"]);
+  FrogPilotParamValueControl *standardSpeedToggle = static_cast<FrogPilotParamValueControl*>(toggles["StandardJerkSpeed"]);
+  FrogPilotParamValueControl *standardSpeedDecreaseToggle = static_cast<FrogPilotParamValueControl*>(toggles["StandardJerkSpeedDecrease"]);
+  FrogPilotButtonsControl *standardResetButton = static_cast<FrogPilotButtonsControl*>(toggles["ResetStandardPersonality"]);
+  QObject::connect(standardResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() {
+    if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Standard' personality?"), this)) {
+      params.putFloat("StandardFollow", 1.45);
+      params.putFloat("StandardJerkAcceleration", 100);
+      params.putFloat("StandardJerkDeceleration", 100);
+      params.putFloat("StandardJerkDanger", 100);
+      params.putFloat("StandardJerkSpeed", 100);
+      params.putFloat("StandardJerkSpeedDecrease", 100);
+      standardFollowToggle->refresh();
+      standardAccelerationToggle->refresh();
+      standardDecelerationToggle->refresh();
+      standardDangerToggle->refresh();
+      standardSpeedToggle->refresh();
+      standardSpeedDecreaseToggle->refresh();
+      updateFrogPilotToggles();
+    }
+  });
+
+  FrogPilotParamValueControl *relaxedFollowToggle = static_cast<FrogPilotParamValueControl*>(toggles["RelaxedFollow"]);
+  FrogPilotParamValueControl *relaxedAccelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["RelaxedJerkAcceleration"]);
+  FrogPilotParamValueControl *relaxedDecelerationToggle = static_cast<FrogPilotParamValueControl*>(toggles["RelaxedJerkDeceleration"]);
+  FrogPilotParamValueControl *relaxedDangerToggle = static_cast<FrogPilotParamValueControl*>(toggles["RelaxedJerkDanger"]);
+  FrogPilotParamValueControl *relaxedSpeedToggle = static_cast<FrogPilotParamValueControl*>(toggles["RelaxedJerkSpeed"]);
+  FrogPilotParamValueControl *relaxedSpeedDecreaseToggle = static_cast<FrogPilotParamValueControl*>(toggles["RelaxedJerkSpeedDecrease"]);
+  FrogPilotButtonsControl *relaxedResetButton = static_cast<FrogPilotButtonsControl*>(toggles["ResetRelaxedPersonality"]);
+  QObject::connect(relaxedResetButton, &FrogPilotButtonsControl::buttonClicked, this, [=]() {
+    if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely reset your settings for the 'Relaxed' personality?"), this)) {
+      params.putFloat("RelaxedFollow", 1.75);
+      params.putFloat("RelaxedJerkAcceleration", 100);
+      params.putFloat("RelaxedJerkDeceleration", 100);
+      params.putFloat("RelaxedJerkDanger", 100);
+      params.putFloat("RelaxedJerkSpeed", 100);
+      params.putFloat("RelaxedJerkSpeedDecrease", 100);
+      relaxedFollowToggle->refresh();
+      relaxedAccelerationToggle->refresh();
+      relaxedDecelerationToggle->refresh();
+      relaxedDangerToggle->refresh();
+      relaxedSpeedToggle->refresh();
+      relaxedSpeedDecreaseToggle->refresh();
+      updateFrogPilotToggles();
+    }
+  });
+
   QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotLongitudinalPanel::hideToggles);
   QObject::connect(parent, &FrogPilotSettingsWindow::closeSubParentToggle, this, &FrogPilotLongitudinalPanel::hideSubToggles);
   QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotLongitudinalPanel::updateCarToggles);
@@ -381,6 +594,16 @@ FrogPilotLongitudinalPanel::FrogPilotLongitudinalPanel(FrogPilotSettingsWindow *
   updateMetric();
 }
 
+void FrogPilotLongitudinalPanel::showEvent(QShowEvent *event) {
+  customizationLevel = parent->customizationLevel;
+
+  toggles["ConditionalExperimental"]->setVisible(customizationLevel != 0);
+  toggles["CurveSpeedControl"]->setVisible(customizationLevel != 0);
+  toggles["CustomPersonalities"]->setVisible(customizationLevel == 2);
+  toggles["ExperimentalModeActivation"]->setVisible(customizationLevel != 0);
+  toggles["QOLLongitudinal"]->setVisible(customizationLevel != 0);
+}
+
 void FrogPilotLongitudinalPanel::updateCarToggles() {
   hasDashSpeedLimits = parent->hasDashSpeedLimits;
   hasPCMCruise = parent->hasPCMCruise;
@@ -411,6 +634,7 @@ void FrogPilotLongitudinalPanel::updateMetric() {
     params.putFloatNonBlocking("Offset2", params.getFloat("Offset2") * speedConversion);
     params.putFloatNonBlocking("Offset3", params.getFloat("Offset3") * speedConversion);
     params.putFloatNonBlocking("Offset4", params.getFloat("Offset4") * speedConversion);
+    params.putFloatNonBlocking("SetSpeedOffset", params.getFloat("SetSpeedOffset") * speedConversion);
   }
 
   FrogPilotDualParamControl *ceSpeedToggle = reinterpret_cast<FrogPilotDualParamControl*>(toggles["CESpeed"]);
@@ -422,6 +646,7 @@ void FrogPilotLongitudinalPanel::updateMetric() {
   FrogPilotParamValueControl *offset3Toggle = static_cast<FrogPilotParamValueControl*>(toggles["Offset3"]);
   FrogPilotParamValueControl *offset4Toggle = static_cast<FrogPilotParamValueControl*>(toggles["Offset4"]);
   FrogPilotParamValueControl *increasedStoppedDistanceToggle = static_cast<FrogPilotParamValueControl*>(toggles["IncreasedStoppedDistance"]);
+  FrogPilotParamValueControl *setSpeedOffsetToggle = static_cast<FrogPilotParamValueControl*>(toggles["SetSpeedOffset"]);
 
   if (isMetric) {
     offset1Toggle->setTitle(tr("Speed Limit Offset (0-34 kph)"));
@@ -429,10 +654,10 @@ void FrogPilotLongitudinalPanel::updateMetric() {
     offset3Toggle->setTitle(tr("Speed Limit Offset (55-64 kph)"));
     offset4Toggle->setTitle(tr("Speed Limit Offset (65-99 kph)"));
 
-    offset1Toggle->setDescription(tr("Set speed limit offset for limits between 0-34 kph."));
-    offset2Toggle->setDescription(tr("Set speed limit offset for limits between 35-54 kph."));
-    offset3Toggle->setDescription(tr("Set speed limit offset for limits between 55-64 kph."));
-    offset4Toggle->setDescription(tr("Set speed limit offset for limits between 65-99 kph."));
+    offset1Toggle->setDescription(tr("Sets the speed limit offset for speeds between 0-34 kph."));
+    offset2Toggle->setDescription(tr("Sets the speed limit offset for speeds between 35-54 kph."));
+    offset3Toggle->setDescription(tr("Sets the speed limit offset for speeds between 55-64 kph."));
+    offset4Toggle->setDescription(tr("Sets the speed limit offset for speeds between 65-99 kph."));
 
     ceSignal->updateControl(0, 150, tr("kph"));
     ceSpeedToggle->updateControl(0, 150, tr("kph"));
@@ -442,18 +667,19 @@ void FrogPilotLongitudinalPanel::updateMetric() {
     offset2Toggle->updateControl(-99, 99, tr("kph"));
     offset3Toggle->updateControl(-99, 99, tr("kph"));
     offset4Toggle->updateControl(-99, 99, tr("kph"));
+    setSpeedOffsetToggle->updateControl(0, 150, tr("kph"));
 
-    increasedStoppedDistanceToggle->updateControl(0, 5, tr(" meters"));
+    increasedStoppedDistanceToggle->updateControl(0, 3, tr(" meters"));
   } else {
     offset1Toggle->setTitle(tr("Speed Limit Offset (0-34 mph)"));
     offset2Toggle->setTitle(tr("Speed Limit Offset (35-54 mph)"));
     offset3Toggle->setTitle(tr("Speed Limit Offset (55-64 mph)"));
     offset4Toggle->setTitle(tr("Speed Limit Offset (65-99 mph)"));
 
-    offset1Toggle->setDescription(tr("Set speed limit offset for limits between 0-34 mph."));
-    offset2Toggle->setDescription(tr("Set speed limit offset for limits between 35-54 mph."));
-    offset3Toggle->setDescription(tr("Set speed limit offset for limits between 55-64 mph."));
-    offset4Toggle->setDescription(tr("Set speed limit offset for limits between 65-99 mph."));
+    offset1Toggle->setDescription(tr("Sets the speed limit offset for speeds between 0-34 mph."));
+    offset2Toggle->setDescription(tr("Sets the speed limit offset for speeds between 35-54 mph."));
+    offset3Toggle->setDescription(tr("Sets the speed limit offset for speeds between 55-64 mph."));
+    offset4Toggle->setDescription(tr("Sets the speed limit offset for speeds between 65-99 mph."));
 
     ceSignal->updateControl(0, 99, tr("mph"));
     ceSpeedToggle->updateControl(0, 99, tr("mph"));
@@ -463,8 +689,9 @@ void FrogPilotLongitudinalPanel::updateMetric() {
     offset2Toggle->updateControl(-99, 99, tr("mph"));
     offset3Toggle->updateControl(-99, 99, tr("mph"));
     offset4Toggle->updateControl(-99, 99, tr("mph"));
+    setSpeedOffsetToggle->updateControl(0, 99, tr("mph"));
 
-    increasedStoppedDistanceToggle->updateControl(0, 15, tr(" feet"));
+    increasedStoppedDistanceToggle->updateControl(0, 10, tr(" feet"));
   }
 }
 
@@ -482,28 +709,51 @@ void FrogPilotLongitudinalPanel::showToggles(const std::set<QString> &keys) {
 void FrogPilotLongitudinalPanel::hideToggles() {
   setUpdatesEnabled(false);
 
+  customPersonalityOpen = false;
   slcOpen = false;
 
   for (auto &[key, toggle] : toggles) {
-    bool subToggles = conditionalExperimentalKeys.find(key) != conditionalExperimentalKeys.end() ||
+    bool subToggles = aggressivePersonalityKeys.find(key) != aggressivePersonalityKeys.end() ||
+                      conditionalExperimentalKeys.find(key) != conditionalExperimentalKeys.end() ||
                       curveSpeedKeys.find(key) != curveSpeedKeys.end() ||
+                      customDrivingPersonalityKeys.find(key) != customDrivingPersonalityKeys.end() ||
                       experimentalModeActivationKeys.find(key) != experimentalModeActivationKeys.end() ||
                       longitudinalTuneKeys.find(key) != longitudinalTuneKeys.end() ||
                       qolKeys.find(key) != qolKeys.end() ||
+                      relaxedPersonalityKeys.find(key) != relaxedPersonalityKeys.end() ||
                       speedLimitControllerKeys.find(key) != speedLimitControllerKeys.end() ||
                       speedLimitControllerOffsetsKeys.find(key) != speedLimitControllerOffsetsKeys.end() ||
                       speedLimitControllerQOLKeys.find(key) != speedLimitControllerQOLKeys.end() ||
-                      speedLimitControllerVisualsKeys.find(key) != speedLimitControllerVisualsKeys.end();
+                      standardPersonalityKeys.find(key) != standardPersonalityKeys.end() ||
+                      trafficPersonalityKeys.find(key) != trafficPersonalityKeys.end();
 
     toggle->setVisible(!subToggles);
   }
 
+  toggles["ConditionalExperimental"]->setVisible(customizationLevel != 0);
+  toggles["CurveSpeedControl"]->setVisible(customizationLevel != 0);
+  toggles["CustomPersonalities"]->setVisible(customizationLevel == 2);
+  toggles["ExperimentalModeActivation"]->setVisible(customizationLevel != 0);
+  toggles["QOLLongitudinal"]->setVisible(customizationLevel != 0);
+
   setUpdatesEnabled(true);
   update();
 }
 
 void FrogPilotLongitudinalPanel::hideSubToggles() {
-  if (slcOpen) {
-    showToggles(speedLimitControllerKeys);
+  if (customPersonalityOpen) {
+    customPersonalityOpen = false;
+    showToggles(customDrivingPersonalityKeys);
+  } else if (slcOpen) {
+    std::set<QString> modifiedSpeedLimitControllerKeys = speedLimitControllerKeys;
+
+    if (customizationLevel == 0) {
+      modifiedSpeedLimitControllerKeys.erase("SLCFallback");
+      modifiedSpeedLimitControllerKeys.erase("SLCOverride");
+      modifiedSpeedLimitControllerKeys.erase("SLCPriority");
+      modifiedSpeedLimitControllerKeys.erase("SLCQOL");
+    }
+
+    showToggles(modifiedSpeedLimitControllerKeys);
   }
 }
diff --git a/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h
index 306abfc44ed79d..c188e12ae6d30c 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h
+++ b/selfdrive/frogpilot/ui/qt/offroad/longitudinal_settings.h
@@ -17,40 +17,58 @@ class FrogPilotLongitudinalPanel : public FrogPilotListWidget {
 private:
   void hideSubToggles();
   void hideToggles();
+  void showEvent(QShowEvent *event) override;
   void showToggles(const std::set<QString> &keys);
   void updateCarToggles();
   void updateMetric();
 
+  std::set<QString> aggressivePersonalityKeys = {
+    "AggressiveFollow", "AggressiveJerkAcceleration", "AggressiveJerkDeceleration",
+    "AggressiveJerkDanger", "AggressiveJerkSpeed", "AggressiveJerkSpeedDecrease",
+    "ResetAggressivePersonality"
+  };
+
   std::set<QString> conditionalExperimentalKeys = {
-    "CESpeed", "CESpeedLead", "CECurves", "CELead",
-    "CEModelStopTime", "CENavigation", "CESignalSpeed",
-    "HideCEMStatusBar"
+    "CESpeed", "CESpeedLead", "CECurves",
+    "CELead", "CEModelStopTime", "CENavigation",
+    "CESignalSpeed", "HideCEMStatusBar"
   };
 
   std::set<QString> curveSpeedKeys = {
-    "CurveDetectionMethod", "CurveSensitivity",
-    "DisableCurveSpeedSmoothing", "MTSCCurvatureCheck",
-    "TurnAggressiveness"
+    "CurveDetectionMethod", "CurveSensitivity", "DisableCurveSpeedSmoothing",
+    "MTSCCurvatureCheck", "TurnAggressiveness"
+  };
+
+  std::set<QString> customDrivingPersonalityKeys = {
+    "AggressivePersonalityProfile", "RelaxedPersonalityProfile", "StandardPersonalityProfile",
+    "TrafficPersonalityProfile"
   };
 
   std::set<QString> experimentalModeActivationKeys = {
-    "ExperimentalModeViaDistance", "ExperimentalModeViaLKAS",
-    "ExperimentalModeViaTap"
+    "ExperimentalModeViaDistance", "ExperimentalModeViaLKAS", "ExperimentalModeViaTap"
   };
 
   std::set<QString> longitudinalTuneKeys = {
-    "AccelerationProfile", "DecelerationProfile",
-    "HumanAcceleration", "HumanFollowing", "IncreasedStoppedDistance"
+    "AccelerationProfile", "DecelerationProfile", "HumanAcceleration",
+    "HumanFollowing", "LeadDetectionThreshold", "MaxDesiredAcceleration",
+    "TacoTune"
   };
 
   std::set<QString> qolKeys = {
-    "CustomCruise", "CustomCruiseLong", "MapGears",
-    "OnroadDistanceButton", "ReverseCruise"
+    "CustomCruise", "CustomCruiseLong", "ForceStandstill",
+    "ForceStops", "IncreasedStoppedDistance", "MapGears",
+    "ReverseCruise", "SetSpeedOffset"
+  };
+
+  std::set<QString> relaxedPersonalityKeys = {
+    "RelaxedFollow", "RelaxedJerkAcceleration", "RelaxedJerkDeceleration",
+    "RelaxedJerkDanger", "RelaxedJerkSpeed", "RelaxedJerkSpeedDecrease",
+    "ResetRelaxedPersonality"
   };
 
   std::set<QString> speedLimitControllerKeys = {
-    "SLCConfirmation", "SLCOffsets", "SLCFallback", "SLCOverride",
-    "SLCPriority", "SLCQOL", "SLCVisuals"
+    "SLCConfirmation", "SLCOffsets", "SLCFallback",
+    "SLCOverride", "SLCPriority", "SLCQOL"
   };
 
   std::set<QString> speedLimitControllerOffsetsKeys = {
@@ -62,17 +80,26 @@ class FrogPilotLongitudinalPanel : public FrogPilotListWidget {
     "SLCLookaheadLower"
   };
 
-  std::set<QString> speedLimitControllerVisualsKeys = {
-    "ShowSLCOffset", "UseVienna"
+  std::set<QString> standardPersonalityKeys = {
+    "StandardFollow", "StandardJerkAcceleration", "StandardJerkDeceleration",
+    "StandardJerkDanger", "StandardJerkSpeed", "StandardJerkSpeedDecrease",
+    "ResetStandardPersonality"
+  };
+
+  std::set<QString> trafficPersonalityKeys = {
+    "TrafficFollow", "TrafficJerkAcceleration", "TrafficJerkDeceleration",
+    "TrafficJerkDanger", "TrafficJerkSpeed", "TrafficJerkSpeedDecrease",
+    "ResetTrafficPersonality"
   };
 
   FrogPilotSettingsWindow *parent;
 
   FrogPilotButtonsControl *curveDetectionBtn;
-  FrogPilotButtonsControl *slcConfirmationBtn;
 
   Params params;
 
+  bool customPersonalityOpen;
+  bool disableOpenpilotLongitudinal;
   bool hasPCMCruise;
   bool hasDashSpeedLimits;
   bool isGM;
@@ -82,5 +109,7 @@ class FrogPilotLongitudinalPanel : public FrogPilotListWidget {
   bool isToyota;
   bool slcOpen;
 
+  int customizationLevel;
+
   std::map<QString, AbstractControl*> toggles;
 };
diff --git a/selfdrive/frogpilot/ui/qt/offroad/model_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/model_settings.cc
new file mode 100644
index 00000000000000..cf23ec66d0ac3a
--- /dev/null
+++ b/selfdrive/frogpilot/ui/qt/offroad/model_settings.cc
@@ -0,0 +1,458 @@
+#include "selfdrive/frogpilot/ui/qt/offroad/model_settings.h"
+
+FrogPilotModelPanel::FrogPilotModelPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) {
+  const std::vector<std::tuple<QString, QString, QString, QString>> modelToggles {
+    {"AutomaticallyUpdateModels", tr("Automatically Update and Download Models"), tr("Automatically downloads new models and updates them if needed."), ""},
+
+    {"ModelRandomizer", tr("Model Randomizer"), tr("Randomly selects a model each drive and brings up a prompt at the end of the drive to review the model if it's longer than 15 minutes to help find your preferred model."), ""},
+    {"ManageBlacklistedModels", tr("Manage Model Blacklist"), tr("Controls which models are blacklisted and won't be used for future drives."), ""},
+    {"ResetScores", tr("Reset Model Scores"), tr("Clears the ratings you've given to the driving models."), ""},
+    {"ReviewScores", tr("Review Model Scores"), tr("Displays the ratings you've assigned to the driving models."), ""},
+
+    {"DeleteModel", tr("Delete Model"), tr("Removes the selected driving model from your device."), ""},
+    {"DownloadModel", tr("Download Model"), tr("Downloads the selected driving model."), ""},
+    {"DownloadAllModels", tr("Download All Models"), tr("Downloads all undownloaded driving models."), ""},
+    {"SelectModel", tr("Select Model"), tr("Selects which model openpilot uses to drive."), ""},
+  };
+
+  for (const auto &[param, title, desc, icon] : modelToggles) {
+    AbstractControl *modelToggle;
+
+    if (param == "ModelRandomizer") {
+      FrogPilotParamManageControl *modelRandomizerToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(modelRandomizerToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        modelRandomizerOpen = true;
+        showToggles(modelRandomizerKeys);
+        updateModelLabels();
+      });
+      modelToggle = modelRandomizerToggle;
+    } else if (param == "ManageBlacklistedModels") {
+      FrogPilotButtonsControl *blacklistBtn = new FrogPilotButtonsControl(title, desc, {tr("ADD"), tr("REMOVE")});
+      QObject::connect(blacklistBtn, &FrogPilotButtonsControl::buttonClicked, [this](int id) {
+        QStringList blacklistedModels = QString::fromStdString(params.get("BlacklistedModels")).split(",", QString::SkipEmptyParts);
+        QStringList selectableModels = availableModelNames;
+
+        for (QString &model : blacklistedModels) {
+          selectableModels.removeAll(model);
+          if (model.contains("(Default)")) {
+            blacklistedModels.move(blacklistedModels.indexOf(model), 0);
+          }
+        }
+
+        if (id == 0) {
+          if (selectableModels.size() == 1) {
+            FrogPilotConfirmationDialog::toggleAlert(tr("There's no more models to blacklist! The only available model is \"%1\"!").arg(selectableModels.first()), tr("OK"), this);
+          } else {
+            QString selectedModel = MultiOptionDialog::getSelection(tr("Select a model to add to the blacklist"), selectableModels, "", this);
+            if (!selectedModel.isEmpty()) {
+              if (ConfirmationDialog::confirm(tr("Are you sure you want to add the '%1' model to the blacklist?").arg(selectedModel), tr("Add"), this)) {
+                if (!blacklistedModels.contains(selectedModel)) {
+                  blacklistedModels.append(selectedModel);
+                  params.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString());
+                  paramsStorage.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString());
+                }
+              }
+            }
+          }
+        } else if (id == 1) {
+          QString selectedModel = MultiOptionDialog::getSelection(tr("Select a model to remove from the blacklist"), blacklistedModels, "", this);
+          if (!selectedModel.isEmpty()) {
+            if (ConfirmationDialog::confirm(tr("Are you sure you want to remove the '%1' model from the blacklist?").arg(selectedModel), tr("Remove"), this)) {
+              if (blacklistedModels.contains(selectedModel)) {
+                blacklistedModels.removeAll(selectedModel);
+                params.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString());
+                paramsStorage.putNonBlocking("BlacklistedModels", blacklistedModels.join(",").toStdString());
+              }
+            }
+          }
+        }
+      });
+      modelToggle = blacklistBtn;
+    } else if (param == "ResetScores") {
+      ButtonControl *resetScoresBtn = new ButtonControl(title, tr("RESET"), desc);
+      QObject::connect(resetScoresBtn, &ButtonControl::clicked, [this]() {
+        if (FrogPilotConfirmationDialog::yesorno(tr("Reset all model scores?"), this)) {
+          for (const QString &model : availableModelNames) {
+            QString cleanedModel = processModelName(model);
+            params.remove(QString("%1Drives").arg(cleanedModel).toStdString());
+            paramsStorage.remove(QString("%1Drives").arg(cleanedModel).toStdString());
+            params.remove(QString("%1Score").arg(cleanedModel).toStdString());
+            paramsStorage.remove(QString("%1Score").arg(cleanedModel).toStdString());
+          }
+          updateModelLabels();
+        }
+      });
+      modelToggle = reinterpret_cast<AbstractControl*>(resetScoresBtn);
+    } else if (param == "ReviewScores") {
+      ButtonControl *reviewScoresBtn = new ButtonControl(title, tr("VIEW"), desc);
+      QObject::connect(reviewScoresBtn, &ButtonControl::clicked, [this]() {
+        openSubParentToggle();
+
+        for (LabelControl *label : labelControls) {
+          label->setVisible(true);
+        }
+
+        for (auto &[key, toggle] : toggles) {
+          toggle->setVisible(false);
+        }
+      });
+      modelToggle = reinterpret_cast<AbstractControl*>(reviewScoresBtn);
+    } else if (param == "DeleteModel") {
+      deleteModelBtn = new ButtonControl(title, tr("DELETE"), desc);
+      QObject::connect(deleteModelBtn, &ButtonControl::clicked, [this]() {
+        QStringList deletableModels, existingModels = modelDir.entryList({"*.thneed"}, QDir::Files);
+        QMap<QString, QString> labelToFileMap;
+        QString currentModel = QString::fromStdString(params.get("Model")) + ".thneed";
+
+        for (int i = 0; i < availableModels.size(); ++i) {
+          QString modelFile = availableModels[i] + ".thneed";
+          if (existingModels.contains(modelFile) && modelFile != currentModel && !availableModelNames[i].contains("(Default)")) {
+            deletableModels.append(availableModelNames[i]);
+            labelToFileMap[availableModelNames[i]] = modelFile;
+          }
+        }
+
+        QString selectedModel = MultiOptionDialog::getSelection(tr("Select a model to delete"), deletableModels, "", this);
+        if (!selectedModel.isEmpty()) {
+          if (ConfirmationDialog::confirm(tr("Are you sure you want to delete the '%1' model?").arg(selectedModel), tr("Delete"), this)) {
+            std::thread([=]() {
+              modelDeleting = true;
+              modelsDownloaded = false;
+              update();
+
+              params.putBoolNonBlocking("ModelsDownloaded", false);
+              deleteModelBtn->setValue(tr("Deleting..."));
+
+              QFile::remove(modelDir.absoluteFilePath(labelToFileMap[selectedModel]));
+              deleteModelBtn->setValue(tr("Deleted!"));
+
+              util::sleep_for(1000);
+              deleteModelBtn->setValue("");
+              modelDeleting = false;
+
+              QStringList modelFiles = modelDir.entryList({"*.thneed"}, QDir::Files);
+              modelFiles.removeAll(currentModel);
+
+              haveModelsDownloaded = modelFiles.size() > 1;
+              update();
+            }).detach();
+          }
+        }
+      });
+      modelToggle = reinterpret_cast<AbstractControl*>(deleteModelBtn);
+    } else if (param == "DownloadModel") {
+      downloadModelBtn = new ButtonControl(title, tr("DOWNLOAD"), desc);
+      QObject::connect(downloadModelBtn, &ButtonControl::clicked, [this]() {
+        if (downloadModelBtn->text() == tr("CANCEL")) {
+          paramsMemory.remove("ModelToDownload");
+          paramsMemory.putBool("CancelModelDownload", true);
+          cancellingDownload = true;
+        } else {
+          QMap<QString, QString> labelToModelMap;
+          QStringList existingModels = modelDir.entryList({"*.thneed"}, QDir::Files);
+          QStringList downloadableModels;
+
+          for (int i = 0; i < availableModels.size(); ++i) {
+            QString modelFile = availableModels[i] + ".thneed";
+            if (!existingModels.contains(modelFile) && !availableModelNames[i].contains("(Default)")) {
+              downloadableModels.append(availableModelNames[i]);
+              labelToModelMap.insert(availableModelNames[i], availableModels[i]);
+            }
+          }
+
+          QString modelToDownload = MultiOptionDialog::getSelection(tr("Select a driving model to download"), downloadableModels, "", this);
+          if (!modelToDownload.isEmpty()) {
+            modelDownloading = true;
+            paramsMemory.put("ModelToDownload", labelToModelMap.value(modelToDownload).toStdString());
+            paramsMemory.put("ModelDownloadProgress", "0%");
+
+            downloadModelBtn->setValue(tr("Downloading %1...").arg(modelToDownload.remove(QRegularExpression("[🗺️👀📡]")).trimmed()));
+
+            QTimer *progressTimer = new QTimer(this);
+            progressTimer->setInterval(100);
+
+            QObject::connect(progressTimer, &QTimer::timeout, this, [=]() {
+              QString progress = QString::fromStdString(paramsMemory.get("ModelDownloadProgress"));
+              bool downloadComplete = progress.contains(QRegularExpression("downloaded", QRegularExpression::CaseInsensitiveOption));
+              bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|failed|offline", QRegularExpression::CaseInsensitiveOption));
+
+              if (!progress.isEmpty() && progress != "0%") {
+                downloadModelBtn->setValue(progress);
+              }
+
+              if (downloadComplete || downloadFailed) {
+                bool lastModelDownloaded = downloadComplete;
+
+                if (downloadComplete) {
+                  haveModelsDownloaded = true;
+                  update();
+                }
+
+                if (downloadComplete) {
+                  for (const QString &model : availableModels) {
+                    if (!QFile::exists(modelDir.filePath(model + ".thneed"))) {
+                      lastModelDownloaded = false;
+                      break;
+                    }
+                  }
+                }
+
+                downloadModelBtn->setValue(progress);
+
+                paramsMemory.remove("CancelModelDownload");
+                paramsMemory.remove("ModelDownloadProgress");
+
+                progressTimer->stop();
+                progressTimer->deleteLater();
+
+                QTimer::singleShot(2000, this, [=]() {
+                  cancellingDownload = false;
+                  modelDownloading = false;
+
+                  downloadModelBtn->setValue("");
+
+                  if (lastModelDownloaded) {
+                    modelsDownloaded = true;
+                    update();
+
+                    params.putBoolNonBlocking("ModelsDownloaded", modelsDownloaded);
+                  }
+                });
+              }
+            });
+            progressTimer->start();
+          }
+        }
+      });
+      modelToggle = reinterpret_cast<AbstractControl*>(downloadModelBtn);
+    } else if (param == "DownloadAllModels") {
+      downloadAllModelsBtn = new ButtonControl(title, tr("DOWNLOAD"), desc);
+      QObject::connect(downloadAllModelsBtn, &ButtonControl::clicked, [this]() {
+        if (downloadAllModelsBtn->text() == tr("CANCEL")) {
+          paramsMemory.remove("DownloadAllModels");
+          paramsMemory.putBool("CancelModelDownload", true);
+          cancellingDownload = true;
+        } else {
+          startDownloadAllModels();
+        }
+      });
+      modelToggle = reinterpret_cast<AbstractControl*>(downloadAllModelsBtn);
+    } else if (param == "SelectModel") {
+      selectModelBtn = new ButtonControl(title, tr("SELECT"), desc);
+      QObject::connect(selectModelBtn, &ButtonControl::clicked, [this]() {
+        QSet<QString> modelFilesBaseNames = QSet<QString>::fromList(modelDir.entryList({"*.thneed"}, QDir::Files).replaceInStrings(QRegExp("\\.thneed$"), ""));
+        QStringList selectableModels;
+
+        for (int i = 0; i < availableModels.size(); ++i) {
+          if (modelFilesBaseNames.contains(availableModels[i]) || availableModelNames[i].contains("(Default)")) {
+            selectableModels.append(availableModelNames[i]);
+          }
+        }
+
+        QString modelToSelect = MultiOptionDialog::getSelection(tr("Select a model - 🗺️ = Navigation | 📡 = Radar | 👀 = VOACC"), selectableModels, "", this);
+        if (!modelToSelect.isEmpty()) {
+          selectModelBtn->setValue(modelToSelect);
+          int modelIndex = availableModelNames.indexOf(modelToSelect);
+
+          params.put("Model", availableModels.at(modelIndex).toStdString());
+          params.put("ModelName", modelToSelect.toStdString());
+
+          if (experimentalModels.contains(availableModels.at(modelIndex))) {
+            FrogPilotConfirmationDialog::toggleAlert(tr("WARNING: This is a very experimental model and may drive dangerously!"), tr("I understand the risks."), this);
+          }
+
+          if (started) {
+            if (FrogPilotConfirmationDialog::toggle(tr("Reboot required to take effect."), tr("Reboot Now"), this)) {
+              Hardware::reboot();
+            }
+          }
+
+          updateFrogPilotToggles();
+        }
+      });
+      selectModelBtn->setValue(QString::fromStdString(params.get("ModelName")));
+      modelToggle = reinterpret_cast<AbstractControl*>(selectModelBtn);
+
+    } else {
+      modelToggle = new ParamControl(param, title, desc, icon);
+    }
+
+    addItem(modelToggle);
+    toggles[param] = modelToggle;
+
+    makeConnections(modelToggle);
+
+    if (FrogPilotParamManageControl *frogPilotManageToggle = qobject_cast<FrogPilotParamManageControl*>(modelToggle)) {
+      QObject::connect(frogPilotManageToggle, &FrogPilotParamManageControl::manageButtonClicked, this, &FrogPilotModelPanel::openParentToggle);
+    }
+
+    QObject::connect(modelToggle, &AbstractControl::showDescriptionEvent, [this]() {
+      update();
+    });
+  }
+
+  QObject::connect(static_cast<ToggleControl*>(toggles["ModelRandomizer"]), &ToggleControl::toggleFlipped, [this](bool state) {
+    modelRandomizer = state;
+    if (state && !modelsDownloaded) {
+      if (FrogPilotConfirmationDialog::yesorno(tr("The 'Model Randomizer' only works with downloaded models. Do you want to download all the driving models?"), this)) {
+        startDownloadAllModels();
+      }
+    }
+  });
+
+  QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotModelPanel::hideToggles);
+  QObject::connect(parent, &FrogPilotSettingsWindow::closeSubParentToggle, this, &FrogPilotModelPanel::hideSubToggles);
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotModelPanel::updateState);
+}
+
+void FrogPilotModelPanel::showEvent(QShowEvent *event) {
+  QString currentModel = QString::fromStdString(params.get("Model")) + ".thneed";
+
+  availableModelNames = QString::fromStdString(params.get("AvailableModelsNames")).split(",");
+  availableModels = QString::fromStdString(params.get("AvailableModels")).split(",");
+  experimentalModels = QString::fromStdString(params.get("ExperimentalModels")).split(",");
+
+  modelRandomizer = params.getBool("ModelRandomizer");
+  modelsDownloaded = params.getBool("ModelsDownloaded");
+
+  QStringList modelFiles = modelDir.entryList({"*.thneed"}, QDir::Files);
+  modelFiles.removeAll(currentModel);
+  haveModelsDownloaded = modelFiles.size() > 1;
+}
+
+void FrogPilotModelPanel::updateState(const UIState &s) {
+  if (!isVisible()) return;
+
+  uiState()->scene.keep_screen_on = modelDownloading;
+
+  downloadAllModelsBtn->setText(modelDownloading && allModelsDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
+  downloadModelBtn->setText(modelDownloading && !allModelsDownloading ? tr("CANCEL") : tr("DOWNLOAD"));
+
+  deleteModelBtn->setEnabled(!modelDeleting && !modelDownloading);
+  downloadAllModelsBtn->setEnabled(s.scene.online && !cancellingDownload && !modelDeleting && (!modelDownloading || allModelsDownloading) && !modelsDownloaded);
+  downloadModelBtn->setEnabled(s.scene.online && !cancellingDownload && !modelDeleting && !allModelsDownloading && !modelsDownloaded);
+  selectModelBtn->setEnabled(!modelDeleting && !modelDownloading && !modelRandomizer);
+
+  started = s.scene.started;
+}
+
+void FrogPilotModelPanel::startDownloadAllModels() {
+  allModelsDownloading = true;
+  modelDownloading = true;
+
+  paramsMemory.putBool("DownloadAllModels", true);
+
+  downloadAllModelsBtn->setValue(tr("Downloading models..."));
+
+  QTimer *progressTimer = new QTimer(this);
+  progressTimer->setInterval(100);
+
+  QObject::connect(progressTimer, &QTimer::timeout, this, [=]() {
+    QString progress = QString::fromStdString(paramsMemory.get("ModelDownloadProgress"));
+    bool downloadComplete = progress.contains(QRegularExpression("All models downloaded!", QRegularExpression::CaseInsensitiveOption));
+    bool downloadFailed = progress.contains(QRegularExpression("cancelled|exists|failed|offline", QRegularExpression::CaseInsensitiveOption));
+
+    if (!progress.isEmpty() && progress != "0%") {
+      downloadAllModelsBtn->setValue(progress);
+    }
+
+    if (downloadComplete || downloadFailed) {
+      if (downloadComplete) {
+        haveModelsDownloaded = true;
+        update();
+      }
+
+      downloadAllModelsBtn->setValue(progress);
+
+      paramsMemory.remove("CancelModelDownload");
+      paramsMemory.remove("ModelDownloadProgress");
+
+      progressTimer->stop();
+      progressTimer->deleteLater();
+
+      QTimer::singleShot(2000, this, [=]() {
+        cancellingDownload = false;
+        modelDownloading = false;
+
+        paramsMemory.remove("DownloadAllModels");
+
+        downloadAllModelsBtn->setValue("");
+      });
+    }
+  });
+  progressTimer->start();
+}
+
+void FrogPilotModelPanel::updateModelLabels() {
+  QVector<QPair<QString, int>> modelScores;
+  for (QString &model : availableModelNames) {
+    QString cleanedModel = processModelName(model);
+    int score = params.getInt((cleanedModel + "Score").toStdString());
+
+    if (model.contains("(Default)")) {
+      modelScores.prepend(qMakePair(model, score));
+    } else {
+      modelScores.append(qMakePair(model, score));
+    }
+  }
+
+  labelControls.clear();
+
+  for (QPair<QString, int> &pair : modelScores) {
+    QString scoreDisplay = pair.second == 0 ? "N/A" : QString::number(pair.second) + "%";
+    LabelControl *labelControl = new LabelControl(pair.first, scoreDisplay, "");
+    labelControls.append(labelControl);
+    addItem(labelControl);
+  }
+
+  for (LabelControl *label : labelControls) {
+    label->setVisible(false);
+  }
+}
+
+void FrogPilotModelPanel::showToggles(const std::set<QString> &keys) {
+  setUpdatesEnabled(false);
+
+  for (auto &[key, toggle] : toggles) {
+    toggle->setVisible(keys.find(key) != keys.end());
+  }
+
+  setUpdatesEnabled(true);
+  update();
+}
+
+void FrogPilotModelPanel::hideToggles() {
+  setUpdatesEnabled(false);
+
+  modelRandomizerOpen = false;
+
+  for (LabelControl *label : labelControls) {
+    label->setVisible(false);
+  }
+
+  for (auto &[key, toggle] : toggles) {
+    bool subToggles = modelRandomizerKeys.find(key) != modelRandomizerKeys.end();
+
+    toggle->setVisible(!subToggles);
+  }
+
+  setUpdatesEnabled(true);
+  update();
+}
+
+void FrogPilotModelPanel::hideSubToggles() {
+  setUpdatesEnabled(false);
+
+  if (modelRandomizerOpen) {
+    for (LabelControl *label : labelControls) {
+      label->setVisible(false);
+    }
+
+    for (auto &[key, toggle] : toggles) {
+      toggle->setVisible(modelRandomizerKeys.find(key) != modelRandomizerKeys.end());
+    }
+  }
+
+  setUpdatesEnabled(true);
+  update();
+}
diff --git a/selfdrive/frogpilot/ui/qt/offroad/model_settings.h b/selfdrive/frogpilot/ui/qt/offroad/model_settings.h
new file mode 100644
index 00000000000000..6ec33288a00499
--- /dev/null
+++ b/selfdrive/frogpilot/ui/qt/offroad/model_settings.h
@@ -0,0 +1,60 @@
+#pragma once
+
+#include <set>
+
+#include "selfdrive/frogpilot/ui/qt/offroad/frogpilot_settings.h"
+
+class FrogPilotModelPanel : public FrogPilotListWidget {
+  Q_OBJECT
+
+public:
+  explicit FrogPilotModelPanel(FrogPilotSettingsWindow *parent);
+
+signals:
+  void openParentToggle();
+  void openSubParentToggle();
+
+protected:
+  void showEvent(QShowEvent *event) override;
+
+private:
+  void hideSubToggles();
+  void hideToggles();
+  void showToggles(const std::set<QString> &keys);
+  void startDownloadAllModels();
+  void updateModelLabels();
+  void updateState(const UIState &s);
+
+  std::set<QString> modelRandomizerKeys = {
+    "ManageBlacklistedModels", "ResetScores", "ReviewScores"
+  };
+
+  ButtonControl *deleteModelBtn;
+  ButtonControl *downloadAllModelsBtn;
+  ButtonControl *downloadModelBtn;
+  ButtonControl *selectModelBtn;
+
+  Params params;
+  Params paramsMemory{"/dev/shm/params"};
+  Params paramsStorage{"/persist/params"};
+
+  QDir modelDir{"/data/models/"};
+
+  QList<LabelControl*> labelControls;
+
+  QStringList availableModelNames;
+  QStringList availableModels;
+  QStringList experimentalModels;
+
+  bool allModelsDownloading;
+  bool cancellingDownload;
+  bool haveModelsDownloaded;
+  bool modelDeleting;
+  bool modelDownloading;
+  bool modelRandomizer;
+  bool modelRandomizerOpen;
+  bool modelsDownloaded;
+  bool started;
+
+  std::map<QString, AbstractControl*> toggles;
+};
diff --git a/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc
index 4aaf032cd40de2..432a133560fa50 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc
+++ b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.cc
@@ -1,5 +1,33 @@
+#include <filesystem>
+
 #include "selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h"
 
+void playSound(const std::string &alert, int volume) {
+  Params params_memory{"/dev/shm/params"};
+
+  std::string stockPath = "/data/openpilot/selfdrive/assets/sounds/" + alert + ".wav";
+  std::string themePath = "/data/openpilot/selfdrive/frogpilot/assets/active_theme/sounds/" + alert + ".wav";
+
+  std::string filePath;
+  if (std::filesystem::exists(themePath)) {
+    filePath = themePath;
+  } else if (std::filesystem::exists(stockPath)) {
+    filePath = stockPath;
+  } else {
+    return;
+  }
+
+  params_memory.putBool("TestingSound", true);
+
+  std::system("pkill -f 'ffplay'");
+
+  volume = std::clamp(volume, 0, 100);
+  std::string command = "ffplay -nodisp -autoexit -volume " + std::to_string(volume) + " \"" + filePath + "\"";
+  std::system(command.c_str());
+
+  params_memory.putBool("TestingSound", false);
+}
+
 FrogPilotSoundsPanel::FrogPilotSoundsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) {
   const std::vector<std::tuple<QString, QString, QString, QString>> soundsToggles {
     {"AlertVolumeControl", tr("Alert Volume Controller"), tr("Control the volume level for each individual sound in openpilot."), "../frogpilot/assets/toggle_icons/icon_mute.png"},
@@ -11,12 +39,12 @@ FrogPilotSoundsPanel::FrogPilotSoundsPanel(FrogPilotSettingsWindow *parent) : Fr
     {"WarningSoftVolume", tr("Warning Soft Volume"), tr("Related alerts:\n\nBRAKE!, Risk of Collision\nTAKE CONTROL IMMEDIATELY"), ""},
     {"WarningImmediateVolume", tr("Warning Immediate Volume"), tr("Related alerts:\n\nDISENGAGE IMMEDIATELY, Driver Distracted\nDISENGAGE IMMEDIATELY, Driver Unresponsive"), ""},
 
-    {"CustomAlerts", tr("Custom Alerts"), tr("Enable custom alerts for openpilot events."), "../frogpilot/assets/toggle_icons/icon_green_light.png"},
-    {"GoatScream", tr("Goat Scream Steering Saturated Alert"), tr("Enable the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world!"), ""},
-    {"GreenLightAlert", tr("Green Light Alert"), tr("Get an alert when a traffic light changes from red to green."), ""},
-    {"LeadDepartingAlert", tr("Lead Departing Alert"), tr("Get an alert when the lead vehicle starts departing when at a standstill."), ""},
-    {"LoudBlindspotAlert", tr("Loud Blindspot Alert"), tr("Enable a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes."), ""},
-    {"SpeedLimitChangedAlert", tr("Speed Limit Change Alert"), tr("Trigger an alert when the speed limit changes."), ""},
+    {"CustomAlerts", tr("Custom Alerts"), tr("Custom alerts for openpilot events."), "../frogpilot/assets/toggle_icons/icon_green_light.png"},
+    {"GoatScream", tr("Goat Scream Steering Saturated Alert"), tr("Enables the famed 'Goat Scream' that has brought both joy and anger to FrogPilot users all around the world!"), ""},
+    {"GreenLightAlert", tr("Green Light Alert"), tr("Plays an alert when a traffic light changes from red to green."), ""},
+    {"LeadDepartingAlert", tr("Lead Departing Alert"), tr("Plays an alert when the lead vehicle starts starts to depart when at a standstill."), ""},
+    {"LoudBlindspotAlert", tr("Loud Blindspot Alert"), tr("Plays a louder alert for when a vehicle is detected in the blindspot when attempting to change lanes."), ""},
+    {"SpeedLimitChangedAlert", tr("Speed Limit Changed Alert"), tr("Plays an alert when the speed limit changes."), ""},
   };
 
   for (const auto &[param, title, desc, icon] : soundsToggles) {
@@ -29,10 +57,15 @@ FrogPilotSoundsPanel::FrogPilotSoundsPanel(FrogPilotSettingsWindow *parent) : Fr
       });
       soundsToggle = alertVolumeControlToggle;
     } else if (alertVolumeControlKeys.find(param) != alertVolumeControlKeys.end()) {
+      std::map<int, QString> volumeLabels;
+      for (int i = 0; i <= 101; ++i) {
+        volumeLabels[i] = i == 101 ? tr("Auto") : i == 0 ? tr("Muted") : QString::number(i) + "%";
+      }
+      std::vector<QString> alertButton{"Test"};
       if (param == "WarningImmediateVolume") {
-        soundsToggle = new FrogPilotParamValueControl(param, title, desc, icon, 25, 100, "%");
+        soundsToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 25, 101, QString(), volumeLabels, 1, {}, alertButton, false, false);
       } else {
-        soundsToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, "%");
+        soundsToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 101, QString(), volumeLabels, 1, {}, alertButton, false, false);
       }
 
     } else if (param == "CustomAlerts") {
@@ -70,10 +103,36 @@ FrogPilotSoundsPanel::FrogPilotSoundsPanel(FrogPilotSettingsWindow *parent) : Fr
     });
   }
 
+  for (const QString &key : alertVolumeControlKeys) {
+    FrogPilotParamValueButtonControl *toggle = static_cast<FrogPilotParamValueButtonControl*>(toggles[key]);
+    QObject::connect(toggle, &FrogPilotParamValueButtonControl::buttonClicked, [=]() {
+      QString alertKey = key;
+      alertKey.remove("Volume");
+      QString snakeCaseKey;
+      for (int i = 0; i < alertKey.size(); ++i) {
+        QChar c = alertKey[i];
+        if (c.isUpper() && i > 0) {
+          snakeCaseKey += '_';
+        }
+        snakeCaseKey += c.toLower();
+      }
+
+      std::thread([=]() {
+        playSound(snakeCaseKey.toStdString(), params.getInt(key.toStdString()));
+      }).detach();
+    });
+  }
+
   QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotSoundsPanel::hideToggles);
   QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotSoundsPanel::updateCarToggles);
 }
 
+void FrogPilotSoundsPanel::showEvent(QShowEvent *event) {
+  customizationLevel = parent->customizationLevel;
+
+  toggles["AlertVolumeControl"]->setVisible(customizationLevel == 2);
+}
+
 void FrogPilotSoundsPanel::updateCarToggles() {
   hasBSM = parent->hasBSM;
   hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal;
@@ -101,6 +160,8 @@ void FrogPilotSoundsPanel::hideToggles() {
     toggle->setVisible(!subToggles);
   }
 
+  toggles["AlertVolumeControl"]->setVisible(customizationLevel == 2);
+
   setUpdatesEnabled(true);
   update();
 }
diff --git a/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h
index 7414eeed24d7d1..11929d599c4d55 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h
+++ b/selfdrive/frogpilot/ui/qt/offroad/sounds_settings.h
@@ -15,6 +15,7 @@ class FrogPilotSoundsPanel : public FrogPilotListWidget {
 
 private:
   void hideToggles();
+  void showEvent(QShowEvent *event) override;
   void showToggles(const std::set<QString> &keys);
   void updateCarToggles();
 
@@ -36,5 +37,7 @@ class FrogPilotSoundsPanel : public FrogPilotListWidget {
   bool hasBSM;
   bool hasOpenpilotLongitudinal;
 
+  int customizationLevel;
+
   std::map<QString, AbstractControl*> toggles;
 };
diff --git a/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc
index 88fb36a9fb9e7e..e4a7217e262051 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc
+++ b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.cc
@@ -3,19 +3,19 @@
 FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) {
   const std::vector<std::tuple<QString, QString, QString, QString>> themeToggles {
     {"PersonalizeOpenpilot", tr("Custom Theme"), tr("Custom openpilot themes."), "../frogpilot/assets/toggle_icons/frog.png"},
-    {"CustomColors", tr("Color Scheme"), tr("Themed color schemes.\n\nWant to submit your own color scheme? Share it in the 'feature-request' channel on the FrogPilot Discord!"), ""},
-    {"CustomDistanceIcon", "Distance Button", "Themed distance button icons.\n\nWant to submit your own icon pack? Share it in the 'feature-request' channel on the FrogPilot Discord!", ""},
-    {"CustomIcons", tr("Icon Pack"), tr("Themed icon packs.\n\nWant to submit your own icons? Share them in the 'feature-request' channel on the FrogPilot Discord!"), ""},
-    {"CustomSounds", tr("Sound Pack"), tr("Themed sound effects.\n\nWant to submit your own sounds? Share them in the 'feature-request' channel on the FrogPilot Discord!"), ""},
-    {"WheelIcon", tr("Steering Wheel"), tr("Custom steering wheel icons."), ""},
-    {"CustomSignals", tr("Turn Signal Animation"), tr("Themed turn signal animations.\n\nWant to submit your own animations? Share them in the 'feature-request' channel on the FrogPilot Discord!"), ""},
+    {"CustomColors", tr("Color Scheme"), tr("Changes out openpilot's color scheme.\n\nWant to submit your own color scheme? Share it in the 'custom-themes' channel on the FrogPilot Discord!"), ""},
+    {"CustomDistanceIcons", "Distance Button", "Changes out openpilot's distance button icons.\n\nWant to submit your own icon pack? Share it in the 'custom-themes' channel on the FrogPilot Discord!", ""},
+    {"CustomIcons", tr("Icon Pack"), tr("Changes out openpilot's icon pack.\n\nWant to submit your own icons? Share them in the 'custom-themes' channel on the FrogPilot Discord!"), ""},
+    {"CustomSounds", tr("Sound Pack"), tr("Changes out openpilot's sound effects.\n\nWant to submit your own sounds? Share them in the 'custom-themes' channel on the FrogPilot Discord!"), ""},
+    {"WheelIcon", tr("Steering Wheel"), tr("Enables a custom steering wheel icon in the top right of the screen."), ""},
+    {"CustomSignals", tr("Turn Signal Animation"), tr("Enables themed turn signal animations.\n\nWant to submit your own animations? Share them in the 'custom-themes' channel on the FrogPilot Discord!"), ""},
     {"DownloadStatusLabel", tr("Download Status"), "", ""},
 
-    {"HolidayThemes", tr("Holiday Themes"), tr("Change the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last a week."), "../frogpilot/assets/toggle_icons/icon_calendar.png"},
+    {"HolidayThemes", tr("Holiday Themes"), tr("Changes the openpilot theme based on the current holiday. Minor holidays last one day, while major holidays (Easter, Christmas, Halloween, etc.) last the entire week."), "../frogpilot/assets/toggle_icons/icon_calendar.png"},
 
-    {"RandomEvents", tr("Random Events"), tr("Random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls!"), "../frogpilot/assets/toggle_icons/icon_random.png"},
+    {"RandomEvents", tr("Random Events"), tr("Enables random cosmetic events that happen during certain driving conditions. These events are purely for fun and don't affect driving controls!"), "../frogpilot/assets/toggle_icons/icon_random.png"},
 
-    {"StartupAlert", tr("Startup Alert"), tr("Custom 'Startup' alert message that appears when you start driving."), "../frogpilot/assets/toggle_icons/icon_message.png"}
+    {"StartupAlert", tr("Startup Alert"), tr("Controls the text of the 'Startup' alert message that appears when you start the drive."), "../frogpilot/assets/toggle_icons/icon_message.png"}
   };
 
   for (const auto &[param, title, desc, icon] : themeToggles) {
@@ -119,16 +119,12 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
               cancellingDownload = false;
               colorDownloading = false;
               themeDownloading = false;
-
-              device()->resetInteractiveTimeout(30);
             });
           } else {
             QStringList downloadableColors = QString::fromStdString(params.get("DownloadableColors")).split(",");
             QString colorSchemeToDownload = MultiOptionDialog::getSelection(tr("Select a color scheme to download"), downloadableColors, "", this);
 
             if (!colorSchemeToDownload.isEmpty()) {
-              device()->resetInteractiveTimeout(300);
-
               QString convertedColorScheme = formatColorNameForStorage(colorSchemeToDownload);
               paramsMemory.put("ColorToDownload", convertedColorScheme.toStdString());
               downloadStatusLabel->setText("Downloading...");
@@ -162,7 +158,7 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
       }
       manageCustomColorsBtn->setValue(currentColor);
       themeToggle = manageCustomColorsBtn;
-    } else if (param == "CustomDistanceIcon") {
+    } else if (param == "CustomDistanceIcons") {
       manageDistanceIconsBtn = new FrogPilotButtonsControl(title, desc, {tr("DELETE"), tr("DOWNLOAD"), tr("SELECT")});
 
       std::function<QString(QString)> formatIconName = [](QString name) -> QString {
@@ -225,7 +221,7 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
             QString selectedIconPack = formatIconNameForStorage(iconPackToDelete);
             for (const QFileInfo &dirInfo : dirList) {
               if (dirInfo.fileName() == selectedIconPack) {
-                QDir iconPackDir(dirInfo.absoluteFilePath() + "/distance_icons");
+                QDir iconPackDir(dirInfo.absoluteFilePath());
                 if (iconPackDir.exists()) {
                   iconPackDir.removeRecursively();
                 }
@@ -380,16 +376,12 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
               cancellingDownload = false;
               iconDownloading = false;
               themeDownloading = false;
-
-              device()->resetInteractiveTimeout(30);
             });
           } else {
             QStringList downloadableIcons = QString::fromStdString(params.get("DownloadableIcons")).split(",");
             QString iconPackToDownload = MultiOptionDialog::getSelection(tr("Select an icon pack to download"), downloadableIcons, "", this);
 
             if (!iconPackToDownload.isEmpty()) {
-              device()->resetInteractiveTimeout(300);
-
               QString convertedIconPack = formatIconNameForStorage(iconPackToDownload);
               paramsMemory.put("IconToDownload", convertedIconPack.toStdString());
               downloadStatusLabel->setText("Downloading...");
@@ -513,16 +505,12 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
               cancellingDownload = false;
               signalDownloading = false;
               themeDownloading = false;
-
-              device()->resetInteractiveTimeout(30);
             });
           } else {
             QStringList downloadableSignals = QString::fromStdString(params.get("DownloadableSignals")).split(",");
             QString signalPackToDownload = MultiOptionDialog::getSelection(tr("Select a signal pack to download"), downloadableSignals, "", this);
 
             if (!signalPackToDownload.isEmpty()) {
-              device()->resetInteractiveTimeout(300);
-
               QString convertedSignalPack = formatSignalNameForStorage(signalPackToDownload);
               paramsMemory.put("SignalToDownload", convertedSignalPack.toStdString());
               downloadStatusLabel->setText("Downloading...");
@@ -646,16 +634,12 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
               cancellingDownload = false;
               soundDownloading = false;
               themeDownloading = false;
-
-              device()->resetInteractiveTimeout(30);
             });
           } else {
             QStringList downloadableSounds = QString::fromStdString(params.get("DownloadableSounds")).split(",");
             QString soundSchemeToDownload = MultiOptionDialog::getSelection(tr("Select a sound pack to download"), downloadableSounds, "", this);
 
             if (!soundSchemeToDownload.isEmpty()) {
-              device()->resetInteractiveTimeout(300);
-
               QString convertedSoundScheme = formatSoundNameForStorage(soundSchemeToDownload);
               paramsMemory.put("SoundToDownload", convertedSoundScheme.toStdString());
               downloadStatusLabel->setText("Downloading...");
@@ -779,16 +763,12 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
               cancellingDownload = false;
               wheelDownloading = false;
               themeDownloading = false;
-
-              device()->resetInteractiveTimeout(30);
             });
           } else {
             QStringList downloadableWheels = QString::fromStdString(params.get("DownloadableWheels")).split(",");
             QString wheelToDownload = MultiOptionDialog::getSelection(tr("Select a steering wheel to download"), downloadableWheels, "", this);
 
             if (!wheelToDownload.isEmpty()) {
-              device()->resetInteractiveTimeout(300);
-
               QString convertedImage = formatWheelNameForStorage(wheelToDownload);
               paramsMemory.put("WheelToDownload", convertedImage.toStdString());
               downloadStatusLabel->setText("Downloading...");
@@ -847,10 +827,10 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
           params.put("StartupMessageTop", frogpilotTop.toStdString());
           params.put("StartupMessageBottom", frogpilotBottom.toStdString());
         } else if (id == 2) {
-          QString newTop = InputDialog::getText(tr("Enter your text for the top half"), this, tr("Characters: 0/%1").arg(maxLengthTop), false, -1, currentTop, maxLengthTop).trimmed();
+          QString newTop = InputDialog::getText(tr("Enter the text for the top half"), this, tr("Characters: 0/%1").arg(maxLengthTop), false, -1, currentTop, maxLengthTop).trimmed();
           if (newTop.length() > 0) {
             params.putNonBlocking("StartupMessageTop", newTop.toStdString());
-            QString newBottom = InputDialog::getText(tr("Enter your text for the bottom half"), this, tr("Characters: 0/%1").arg(maxLengthBottom), false, -1, currentBottom, maxLengthBottom).trimmed();
+            QString newBottom = InputDialog::getText(tr("Enter the text for the bottom half"), this, tr("Characters: 0/%1").arg(maxLengthBottom), false, -1, currentBottom, maxLengthBottom).trimmed();
             if (newBottom.length() > 0) {
               params.putNonBlocking("StartupMessageBottom", newBottom.toStdString());
             }
@@ -859,6 +839,8 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
           params.remove("StartupMessageTop");
           params.remove("StartupMessageBottom");
         }
+
+        updateFrogPilotToggles();
       });
       themeToggle = startupAlertButton;
 
@@ -889,7 +871,6 @@ FrogPilotThemesPanel::FrogPilotThemesPanel(FrogPilotSettingsWindow *parent) : Fr
   });
 
   QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotThemesPanel::hideToggles);
-  QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotThemesPanel::updateCarToggles);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotThemesPanel::updateState);
 }
 
@@ -900,17 +881,19 @@ void FrogPilotThemesPanel::showEvent(QShowEvent *event) {
   signalsDownloaded = params.get("DownloadableSignals").empty();
   soundsDownloaded = params.get("DownloadableSounds").empty();
   wheelsDownloaded = params.get("DownloadableWheels").empty();
-}
 
-void FrogPilotThemesPanel::updateCarToggles() {
-  disableOpenpilotLongitudinal = parent->disableOpenpilotLongitudinal;
-  hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal;
+  customizationLevel = parent->customizationLevel;
 
-  hideToggles();
+  toggles["RandomEvents"]->setVisible(customizationLevel != 0);
+  toggles["StartupAlert"]->setVisible(customizationLevel == 2);
 }
 
 void FrogPilotThemesPanel::updateState(const UIState &s) {
-  if (!isVisible()) return;
+  if (!isVisible()) {
+    return;
+  }
+
+  uiState()->scene.keep_screen_on = personalizeOpenpilotOpen && themeDownloading;
 
   if (personalizeOpenpilotOpen) {
     if (themeDownloading) {
@@ -926,11 +909,10 @@ void FrogPilotThemesPanel::updateState(const UIState &s) {
           if (!themeDownloading) {
             downloadStatusLabel->setText("Idle");
           }
-
-          device()->resetInteractiveTimeout(30);
         });
         paramsMemory.remove("ThemeDownloadProgress");
         colorDownloading = false;
+        distanceIconDownloading = false;
         iconDownloading = false;
         signalDownloading = false;
         soundDownloading = false;
@@ -938,6 +920,7 @@ void FrogPilotThemesPanel::updateState(const UIState &s) {
         wheelDownloading = false;
 
         colorsDownloaded = params.get("DownloadableColors").empty();
+        distanceIconsDownloaded = params.get("DownloadableDistanceIcons").empty();
         iconsDownloaded = params.get("DownloadableIcons").empty();
         signalsDownloaded = params.get("DownloadableSignals").empty();
         soundsDownloaded = params.get("DownloadableSounds").empty();
@@ -999,6 +982,9 @@ void FrogPilotThemesPanel::hideToggles() {
     toggle->setVisible(!subToggles);
   }
 
+  toggles["RandomEvents"]->setVisible(customizationLevel != 0);
+  toggles["StartupAlert"]->setVisible(customizationLevel == 2);
+
   setUpdatesEnabled(true);
   update();
 }
diff --git a/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h
index ebfe25478c46d1..7c08fecba860b1 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h
+++ b/selfdrive/frogpilot/ui/qt/offroad/theme_settings.h
@@ -19,11 +19,10 @@ class FrogPilotThemesPanel : public FrogPilotListWidget {
 private:
   void hideToggles();
   void showToggles(const std::set<QString> &keys);
-  void updateCarToggles();
   void updateState(const UIState &s);
 
   std::set<QString> customThemeKeys = {
-    "CustomColors", "CustomDistanceIcon", "CustomIcons",
+    "CustomColors", "CustomDistanceIcons", "CustomIcons",
     "CustomSignals", "CustomSounds", "DownloadStatusLabel",
     "WheelIcon"
   };
@@ -45,10 +44,8 @@ class FrogPilotThemesPanel : public FrogPilotListWidget {
   bool cancellingDownload;
   bool colorDownloading;
   bool colorsDownloaded;
-  bool disableOpenpilotLongitudinal;
   bool distanceIconDownloading;
   bool distanceIconsDownloaded;
-  bool hasOpenpilotLongitudinal;
   bool iconDownloading;
   bool iconsDownloaded;
   bool personalizeOpenpilotOpen;
@@ -61,5 +58,7 @@ class FrogPilotThemesPanel : public FrogPilotListWidget {
   bool wheelDownloading;
   bool wheelsDownloaded;
 
+  int customizationLevel;
+
   std::map<QString, AbstractControl*> toggles;
 };
diff --git a/selfdrive/frogpilot/ui/qt/offroad/utilities.cc b/selfdrive/frogpilot/ui/qt/offroad/utilities.cc
index 5b8462fb8d6cfc..9ae6668e100ee6 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/utilities.cc
+++ b/selfdrive/frogpilot/ui/qt/offroad/utilities.cc
@@ -3,11 +3,11 @@
 #include "selfdrive/frogpilot/ui/qt/offroad/utilities.h"
 
 UtilitiesPanel::UtilitiesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent) {
-  ButtonControl *flashPandaBtn = new ButtonControl(tr("Flash Panda"), tr("FLASH"), tr("Use this button to flash the Panda device's firmware if you're running into issues."));
+  ButtonControl *flashPandaBtn = new ButtonControl(tr("Flash Panda"), tr("FLASH"), tr("Flashes the Panda device's firmware if you're running into issues."));
   QObject::connect(flashPandaBtn, &ButtonControl::clicked, [=]() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to flash the Panda?"), tr("Flash"), this)) {
       std::thread([=]() {
-        device()->resetInteractiveTimeout(300);
+        uiState()->scene.keep_screen_on = true;
 
         flashPandaBtn->setEnabled(false);
         flashPandaBtn->setValue(tr("Flashing..."));
@@ -26,7 +26,7 @@ UtilitiesPanel::UtilitiesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListW
   });
   addItem(flashPandaBtn);
 
-  forceStartedBtn = new FrogPilotButtonsControl(tr("Force Started State"), tr("Force openpilot either offroad or onroad."), {tr("OFFROAD"), tr("ONROAD"), tr("OFF")}, true);
+  forceStartedBtn = new FrogPilotButtonsControl(tr("Force Started State"), tr("Forces openpilot either offroad or onroad."), {tr("OFFROAD"), tr("ONROAD"), tr("OFF")}, true);
   QObject::connect(forceStartedBtn, &FrogPilotButtonsControl::buttonClicked, [=](int id) {
     if (id == 0) {
       paramsMemory.putBool("ForceOffroad", true);
@@ -43,14 +43,13 @@ UtilitiesPanel::UtilitiesPanel(FrogPilotSettingsWindow *parent) : FrogPilotListW
   forceStartedBtn->setCheckedButton(2);
   addItem(forceStartedBtn);
 
-  ButtonControl *resetTogglesBtn = new ButtonControl(tr("Reset Toggles to Default"), tr("RESET"), tr("Reset your toggle settings back to their default settings."));
+  ButtonControl *resetTogglesBtn = new ButtonControl(tr("Reset Toggles to Default"), tr("RESET"), tr("Resets your toggle settings back to their default settings."));
   QObject::connect(resetTogglesBtn, &ButtonControl::clicked, [=]() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to completely reset all of your toggle settings?"), tr("Reset"), this)) {
       std::thread([=] {
         resetTogglesBtn->setEnabled(false);
         resetTogglesBtn->setValue(tr("Resetting..."));
 
-        std::system("rm -rf /persist/params");
         params.putBool("DoToggleReset", true);
 
         resetTogglesBtn->setValue(tr("Reset!"));
diff --git a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc
index d9ed9c4eaebc84..7f60fac6bccda6 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc
+++ b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.cc
@@ -110,11 +110,11 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
   addItem(selectModelButton);
   selectModelButton->setVisible(false);
 
-  ParamControl *forceFingerprint = new ParamControl("ForceFingerprint", tr("Disable Automatic Fingerprint Detection"), tr("Forces the selected fingerprint and prevents it from ever changing."), "");
+  forceFingerprint = new ParamControl("ForceFingerprint", tr("Disable Automatic Fingerprint Detection"), tr("Forces the selected fingerprint and prevents it from ever changing."), "");
   addItem(forceFingerprint);
 
   bool disableOpenpilotLongState = params.getBool("DisableOpenpilotLongitudinal");
-  disableOpenpilotLong = new ToggleControl(tr("Disable openpilot Longitudinal Control"), tr("Disable openpilot longitudinal control and use stock ACC instead."), "", disableOpenpilotLongState);
+  disableOpenpilotLong = new ToggleControl(tr("Disable openpilot Longitudinal Control"), tr("Disables openpilot longitudinal control and uses the car's stock ACC instead."), "", disableOpenpilotLongState);
   QObject::connect(disableOpenpilotLong, &ToggleControl::toggleFlipped, [this](bool state) {
     if (state) {
       if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure you want to completely disable openpilot longitudinal control?"), this)) {
@@ -134,20 +134,19 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
   addItem(disableOpenpilotLong);
 
   std::vector<std::tuple<QString, QString, QString, QString>> vehicleToggles {
-    {"VoltSNG", tr("2017 Volt Stop and Go Hack"), tr("Force stop and go for the 2017 Chevy Volt."), ""},
-    {"ExperimentalGMTune", tr("Experimental GM Tune"), tr("FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk!"), ""},
-    {"LongPitch", tr("Uphill/Downhill Smoothing"), tr("Smoothen the car’s gas and brake response when driving on slopes."), ""},
-    {"NewLongAPIGM", tr("Use comma's New Longitudinal API"), tr("Comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles."), ""},
+    {"VoltSNG", tr("2017 Volt Stop and Go Hack"), tr("Forces stop and go for the 2017 Chevy Volt."), ""},
+    {"ExperimentalGMTune", tr("Experimental GM Tune"), tr("Enables FrogsGoMoo's experimental GM tune that is based on nothing but guesswork. Use at your own risk!"), ""},
+    {"LongPitch", tr("Uphill/Downhill Smoothing"), tr("Smoothens the gas and brake response when driving on slopes."), ""},
+    {"NewLongAPIGM", tr("Use comma's New Longitudinal API"), tr("Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on some GM vehicles."), ""},
 
-    {"NewLongAPI", tr("Use comma's New Longitudinal API"), tr("Use comma's new longitudinal control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis."), ""},
+    {"NewLongAPI", tr("Use comma's New Longitudinal API"), tr("Enables comma's new control system that has shown great improvement with acceleration and braking, but has a few issues on Hyundai/Kia/Genesis."), ""},
 
     {"CrosstrekTorque", tr("Subaru Crosstrek Torque Increase"), tr("Increases the maximum allowed torque for the Subaru Crosstrek."), ""},
 
-    {"ToyotaDoors", tr("Automatically Lock/Unlock Doors"), tr("Automatically lock the doors when in drive and unlock when in park."), ""},
-    {"ClusterOffset", tr("Cluster Speed Offset"), tr("Set the cluster offset openpilot uses to try and match the speed displayed on the dash."), ""},
-    {"NewToyotaTune", tr("comma's New Toyota/Lexus Tune"), tr("Activate comma's latest Toyota tuning, expertly crafted by Shane for enhanced vehicle performance."), ""},
-    {"FrogsGoMoosTweak", tr("FrogsGoMoo's Personal Tweaks"), tr("Use FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother."), ""},
-    {"SNGHack", tr("Stop and Go Hack"), tr("Force stop and go for vehicles without stock stop and go functionality."), ""},
+    {"ToyotaDoors", tr("Automatically Lock/Unlock Doors"), tr("Automatically locks the doors when in drive and unlocks when in park."), ""},
+    {"ClusterOffset", tr("Cluster Speed Offset"), tr("Sets the cluster offset openpilot uses to try and match the speed displayed on the dash."), ""},
+    {"FrogsGoMoosTweak", tr("FrogsGoMoo's Personal Tweaks"), tr("Enables FrogsGoMoo's personal tweaks to the Toyota tune focused around his 2019 Lexus ES 350 to take off a bit quicker and stop a bit smoother."), ""},
+    {"SNGHack", tr("Stop and Go Hack"), tr("Forces stop and go for vehicles without stock stop and go functionality."), ""},
   };
 
   for (const auto &[param, title, desc, icon] : vehicleToggles) {
@@ -158,8 +157,8 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
       std::vector<QString> lockToggleNames{tr("Lock"), tr("Unlock")};
       vehicleToggle = new FrogPilotButtonToggleControl(param, title, desc, lockToggles, lockToggleNames);
     } else if (param == "ClusterOffset") {
-      std::vector<QString> clusterOffsetToggleNames{"Reset"};
-      vehicleToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 1.000, 1.050, "x", std::map<int, QString>(), 0.001, {}, clusterOffsetToggleNames, false);
+      std::vector<QString> clusterOffsetButton{"Reset"};
+      vehicleToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 1.000, 1.050, "x", std::map<int, QString>(), 0.001, {}, clusterOffsetButton, false, false);
 
     } else {
       vehicleToggle = new ParamControl(param, title, desc, icon);
@@ -183,7 +182,7 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
     updateFrogPilotToggles();
   });
 
-  std::set<QString> rebootKeys = {"CrosstrekTorque", "ExperimentalGMTune", "FrogsGoMoosTweak", "NewLongAPI", "NewLongAPIGM", "NewToyotaTune"};
+  std::set<QString> rebootKeys = {"CrosstrekTorque", "ExperimentalGMTune", "FrogsGoMoosTweak", "NewLongAPI", "NewLongAPIGM"};
   for (const QString &key : rebootKeys) {
     QObject::connect(static_cast<ToggleControl*>(toggles[key]), &ToggleControl::toggleFlipped, [this]() {
       if (started) {
@@ -216,21 +215,29 @@ FrogPilotVehiclesPanel::FrogPilotVehiclesPanel(FrogPilotSettingsWindow *parent)
   QObject::connect(uiState(), &UIState::uiUpdate, this, &FrogPilotVehiclesPanel::updateState);
 }
 
+void FrogPilotVehiclesPanel::showEvent(QShowEvent *event) {
+  customizationLevel = parent->customizationLevel;
+
+  updateToggles();
+}
+
 void FrogPilotVehiclesPanel::updateCarToggles() {
   disableOpenpilotLongitudinal = parent->disableOpenpilotLongitudinal;
   hasExperimentalOpenpilotLongitudinal = parent->hasExperimentalOpenpilotLongitudinal;
   hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal;
   hasSNG = parent->hasSNG;
+  isBolt = parent->isBolt;
   isGMPCMCruise = parent->isGMPCMCruise;
   isImpreza = parent->isImpreza;
-  isToyotaTuneSupported = parent->isToyotaTuneSupported;
   isVolt = parent->isVolt;
 
   updateToggles();
 }
 
 void FrogPilotVehiclesPanel::updateState(const UIState &s) {
-  if (!isVisible()) return;
+  if (!isVisible()) {
+    return;
+  }
 
   started = s.scene.started;
 }
@@ -243,7 +250,8 @@ void FrogPilotVehiclesPanel::setModels() {
 void FrogPilotVehiclesPanel::updateToggles() {
   setUpdatesEnabled(false);
 
-  disableOpenpilotLong->setVisible((hasOpenpilotLongitudinal && !hasExperimentalOpenpilotLongitudinal && !isGMPCMCruise) || disableOpenpilotLongitudinal);
+  disableOpenpilotLong->setVisible((hasOpenpilotLongitudinal && !hasExperimentalOpenpilotLongitudinal && !isGMPCMCruise && customizationLevel == 2) || disableOpenpilotLongitudinal);
+  forceFingerprint ->setVisible(customizationLevel == 2 || isBolt);
 
   selectMakeButton->setValue(carMake);
   selectModelButton->setValue(carModel);
@@ -282,8 +290,6 @@ void FrogPilotVehiclesPanel::updateToggles() {
     } else if (toyota && toyotaKeys.find(key) != toyotaKeys.end()) {
       if (sngKeys.find(key) != sngKeys.end()) {
         setVisible = !hasSNG && hasOpenpilotLongitudinal && !disableOpenpilotLongitudinal;
-      } else if (toyotaTuneKeys.find(key) != toyotaTuneKeys.end()) {
-        setVisible = hasOpenpilotLongitudinal && !isToyotaTuneSupported;
       } else if (longitudinalKeys.find(key) != longitudinalKeys.end()) {
         setVisible = hasOpenpilotLongitudinal && !disableOpenpilotLongitudinal;
       } else {
@@ -294,6 +300,13 @@ void FrogPilotVehiclesPanel::updateToggles() {
     toggle->setVisible(setVisible);
   }
 
+  toggles["ClusterOffset"]->setVisible(toggles["ClusterOffset"]->isVisible() && customizationLevel == 2);
+  toggles["CrosstrekTorque"]->setVisible(toggles["CrosstrekTorque"]->isVisible() && customizationLevel == 2);
+  toggles["ExperimentalGMTune"]->setVisible(toggles["ExperimentalGMTune"]->isVisible() && customizationLevel == 2);
+  toggles["FrogsGoMoosTweak"]->setVisible(toggles["FrogsGoMoosTweak"]->isVisible() && customizationLevel == 2);
+  toggles["LongPitch"]->setVisible(toggles["LongPitch"]->isVisible() && customizationLevel == 2);
+  toggles["NewLongAPI"]->setVisible(toggles["NewLongAPI"]->isVisible() && customizationLevel == 2);
+
   setUpdatesEnabled(true);
   update();
 }
diff --git a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h
index 568798a1fbc6a9..4be5500faa70ad 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h
+++ b/selfdrive/frogpilot/ui/qt/offroad/vehicle_settings.h
@@ -12,12 +12,14 @@ class FrogPilotVehiclesPanel : public FrogPilotListWidget {
 
 private:
   void setModels();
+  void showEvent(QShowEvent *event) override;
   void updateCarToggles();
   void updateState(const UIState &s);
   void updateToggles();
 
   std::set<QString> gmKeys = {
-    "ExperimentalGMTune", "LongPitch", "NewLongAPIGM", "VoltSNG"
+    "ExperimentalGMTune", "LongPitch", "NewLongAPIGM",
+    "VoltSNG"
   };
 
   std::set<QString> hyundaiKeys = {
@@ -29,8 +31,8 @@ class FrogPilotVehiclesPanel : public FrogPilotListWidget {
   };
 
   std::set<QString> longitudinalKeys = {
-    "ExperimentalGMTune", "LongPitch", "NewLongAPI", "NewLongAPIGM",
-    "SNGHack", "VoltSNG"
+    "ExperimentalGMTune", "LongPitch", "NewLongAPI",
+    "NewLongAPIGM", "SNGHack", "VoltSNG"
   };
 
   std::set<QString> sngKeys = {
@@ -42,14 +44,10 @@ class FrogPilotVehiclesPanel : public FrogPilotListWidget {
   };
 
   std::set<QString> toyotaKeys = {
-    "ClusterOffset", "FrogsGoMoosTweak", "NewToyotaTune", "SNGHack",
+    "ClusterOffset", "FrogsGoMoosTweak", "SNGHack",
     "ToyotaDoors"
   };
 
-  std::set<QString> toyotaTuneKeys = {
-    "NewToyotaTune"
-  };
-
   std::set<QString> voltKeys = {
     "VoltSNG"
   };
@@ -59,12 +57,14 @@ class FrogPilotVehiclesPanel : public FrogPilotListWidget {
 
   FrogPilotSettingsWindow *parent;
 
+  QMap<QString, QString> carModels;
+
   QString carMake;
   QString carModel;
 
   QStringList models;
 
-  QMap<QString, QString> carModels;
+  ParamControl *forceFingerprint;
 
   Params params;
 
@@ -74,11 +74,13 @@ class FrogPilotVehiclesPanel : public FrogPilotListWidget {
   bool hasExperimentalOpenpilotLongitudinal;
   bool hasOpenpilotLongitudinal;
   bool hasSNG;
+  bool isBolt;
   bool isGMPCMCruise;
   bool isImpreza;
-  bool isToyotaTuneSupported;
   bool isVolt;
   bool started;
 
+  int customizationLevel;
+
   std::map<QString, AbstractControl*> toggles;
 };
diff --git a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc
index bfa9b392b1aa35..43aa8ab0c63dfb 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc
+++ b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.cc
@@ -2,65 +2,205 @@
 
 FrogPilotVisualsPanel::FrogPilotVisualsPanel(FrogPilotSettingsWindow *parent) : FrogPilotListWidget(parent), parent(parent) {
   const std::vector<std::tuple<QString, QString, QString, QString>> visualToggles {
-    {"CustomUI", tr("Onroad UI Widgets"), tr("Custom FrogPilot widgets used in the onroad user interface."), "../assets/offroad/icon_road.png"},
-    {"Compass", tr("Compass"), tr("A compass in the onroad UI to show the current driving direction."), ""},
-    {"DynamicPathWidth", tr("Dynamic Path Width"), tr("Automatically adjust the width of the driving path display based on the current engagement state:\n\nFully engaged = 100%\nAlways On Lateral Active = 75%\nFully disengaged = 50%"), ""},
-    {"PedalsOnUI", tr("Gas/Brake Pedal Indicators"), tr("Pedal indicators in the onroad UI that change opacity based on the pressure applied."), ""},
-    {"CustomPaths", tr("Paths"), tr("Projected acceleration path, detected lanes, and vehicles in the blind spot."), ""},
-    {"RoadNameUI", tr("Road Name"), tr("The current road name is displayed at the bottom of the screen using data from 'OpenStreetMap'."), ""},
-    {"RotatingWheel", tr("Rotating Steering Wheel"), tr("The steering wheel in the onroad UI rotates along with your steering wheel movements."), ""},
-
-    {"QOLVisuals", tr("Quality of Life Improvements"), tr("Miscellaneous visual focused features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/quality_of_life.png"},
-    {"BigMap", tr("Larger Map Display"), tr("A larger size of the map in the onroad UI for easier navigation readings."), ""},
-    {"MapStyle", tr("Map Style"), tr("Custom map styles for the map used during navigation."), ""},
-    {"StandbyMode", tr("Screen Standby Mode"), tr("The screen is turned off after it times out when driving, but it automatically wakes up if engagement state changes or important alerts occur."), ""},
-    {"DriverCamera", tr("Show Driver Camera When In Reverse"), tr("The driver camera feed is displayed when the vehicle is in reverse."), ""},
-    {"StoppedTimer", tr("Stopped Timer"), tr("A timer on the onroad UI to indicate how long the vehicle has been stopped."), ""}
+    {"QOLVisuals", tr("Accessibility"), tr("Visual features to improve your overall openpilot experience."), "../frogpilot/assets/toggle_icons/icon_accessibility.png"},
+    {"CameraView", tr("Camera View"), tr("Changes the camera view display. This is purely a visual change and doesn't impact how openpilot drives."), ""},
+    {"OnroadDistanceButton", tr("On Screen Personality Button"), tr("Displays the current driving personality on the screen. Tap to switch personalities, or long press for 2.5 seconds to activate 'Traffic' mode."), ""},
+    {"DriverCamera", tr("Show Driver Camera When In Reverse"), tr("Displays the driver camera feed when the vehicle is in reverse."), ""},
+    {"StandbyMode", tr("Standby Mode"), tr("Turns the screen off when driving and automatically wakes it up if engagement state changes or important alerts occur."), ""},
+    {"StoppedTimer", tr("Stopped Timer"), tr("Activates a timer when stopped to indicate how long the vehicle has been stopped for."), ""},
+
+    {"AdvancedCustomUI", tr("Advanced UI Controls"), tr("Advanced features to fine tune your personalized UI."), "../frogpilot/assets/toggle_icons/icon_advanced_device.png"},
+    {"HideSpeed", tr("Hide Current Speed"), tr("Hides the current speed."), ""},
+    {"HideLeadMarker", tr("Hide Lead Marker"), tr("Hides the marker for the vehicle ahead."), ""},
+    {"HideMapIcon", tr("Hide Map Icon"), tr("Hides the map icon."), ""},
+    {"HideMaxSpeed", tr("Hide Max Speed"), tr("Hides the max speed."), ""},
+    {"HideAlerts", tr("Hide Non-Critical Alerts"), tr("Hides non-critical alerts."), ""},
+    {"HideSpeedLimit", tr("Hide Speed Limits"), tr("Hides the speed limits."), ""},
+    {"WheelSpeed", tr("Use Wheel Speed"), tr("Uses the wheel speed instead of the cluster speed. This is purely a visual change and doesn't impact how openpilot drives."), ""},
+
+    {"DeveloperUI", tr("Developer Metrics"), tr("Show detailed information about openpilot's internal operations."), "../assets/offroad/icon_shell.png"},
+    {"BorderMetrics", tr("Border Metrics"), tr("Displays performance metrics around the edge of the screen while driving."), ""},
+    {"FPSCounter", tr("FPS Display"), tr("Displays the 'Frames Per Second' (FPS) at the bottom of the screen while driving."), ""},
+    {"LateralMetrics", tr("Lateral Metrics"), tr("Displays metrics related to steering control at the top of the screen while driving."), ""},
+    {"LongitudinalMetrics", tr("Longitudinal Metrics"), tr("Displays metrics related to acceleration, speed, and desired following distance at the top of the screen while driving."), ""},
+    {"NumericalTemp", tr("Numerical Temperature Gauge"), tr("Shows exact temperature readings instead of status labels like 'GOOD', 'OK', or 'HIGH' in the sidebar."), ""},
+    {"SidebarMetrics", tr("Sidebar"), tr("Displays system information like CPU, GPU, RAM usage, IP address, and storage space in the sidebar."), ""},
+    {"UseSI", tr("Use International System of Units"), tr("Displays measurements using the 'International System of Units' (SI)."), ""},
+
+    {"ModelUI", tr("Model UI"), tr("Customize the model visualizations on the screen."), "../frogpilot/assets/toggle_icons/icon_vtc.png"},
+    {"DynamicPathWidth", tr("Dynamic Path Width"), tr("Automatically adjusts the width of the driving path display based on the current engagement state:\n\nFully engaged = 100%\nAlways On Lateral Active = 75%\nFully disengaged = 50%"), ""},
+    {"LaneLinesWidth", tr("Lane Lines Width"), tr("Controls the thickness the lane lines appear on the display.\n\nDefault matches the MUTCD standard of 4 inches."), ""},
+    {"PathEdgeWidth", tr("Path Edges Width"), tr("Controls the width of the edges of the driving path to represent different modes and statuses.\n\nDefault is 20% of the total path width.\n\nColor Guide:\n- Blue: Navigation\n- Light Blue: 'Always On Lateral'\n- Green: Default\n- Orange: 'Experimental Mode'\n- Red: 'Traffic Mode'\n- Yellow: 'Conditional Experimental Mode' Overridden"), ""},
+    {"PathWidth", tr("Path Width"), tr("Controls how wide the driving path appears on your screen.\n\nDefault (6.1 feet / 1.9 meters) matches the width of a 2019 Lexus ES 350."), ""},
+    {"RoadEdgesWidth", tr("Road Edges Width"), tr("Controls how thick the road edges appear on the display.\n\nDefault matches half of the MUTCD standard lane line width of 4 inches."), ""},
+    {"ShowStoppingPoint", tr("Stopping Point"), tr("Displays an image on the screen where openpilot is detecting a potential red light/stop sign."), ""},
+    {"UnlimitedLength", tr("'Unlimited' Road UI"), tr("Extends the display of the path, lane lines, and road edges as far as the model can see."), ""},
+
+    {"NavigationUI", tr("Navigation Widgets"), tr("Wwidgets focused around navigation."), "../frogpilot/assets/toggle_icons/icon_map.png"},
+    {"BigMap", tr("Larger Map Display"), tr("Increases the size of the map for easier navigation readings."), ""},
+    {"MapStyle", tr("Map Style"), tr("Swaps out the stock map style for community created ones."), ""},
+    {"RoadNameUI", tr("Road Name"), tr("Displays the current road name at the bottom of the screen using data from 'OpenStreetMap'."), ""},
+    {"ShowSLCOffset", tr("Show Speed Limit Offset"), tr("Displays the speed limit offset separately in the onroad UI when using 'Speed Limit Controller'."), ""},
+    {"UseVienna", tr("Use Vienna-Style Speed Signs"), tr("Forces Vienna-style (EU) speed limit signs instead of MUTCD (US)."), ""},
+
+    {"CustomUI", tr("Onroad Screen Widgets"), tr("Custom FrogPilot widgets used in the onroad user interface."), "../assets/offroad/icon_road.png"},
+    {"AccelerationPath", tr("Acceleration Path"), tr("Projects a path based on openpilot's current desired acceleration or deceleration."), ""},
+    {"AdjacentPath", tr("Adjacent Lanes"), tr("Projects paths for the adjascent lanes."), ""},
+    {"BlindSpotPath", tr("Blind Spot Path"), tr("Projects a red path when vehicles are detected in the blind spot for the respective lane."), ""},
+    {"Compass", tr("Compass"), tr("Displays a compass to show the current driving direction."), ""},
+    {"PedalsOnUI", tr("Gas / Brake Pedal Indicators"), tr("Displays pedal indicators to indicate when either of the pedals are currently being used."), ""},
+    {"RotatingWheel", tr("Rotating Steering Wheel"), tr("Rotates the steering wheel in the onroad UI rotates along with your steering wheel movements."), ""}
   };
 
   for (const auto &[param, title, desc, icon] : visualToggles) {
     AbstractControl *visualToggle;
 
-    if (param == "CustomUI") {
-      FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        customPathsBtn->setVisibleButton(0, hasBSM);
+    if (param == "QOLVisuals") {
+      FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        std::set<QString> modifiedAccessibilityKeys = accessibilityKeys;
 
-        std::set<QString> modifiedCustomOnroadUIKeys = customOnroadUIKeys;
+        if (disableOpenpilotLongitudinal || !hasOpenpilotLongitudinal) {
+          modifiedAccessibilityKeys.erase("OnroadDistanceButton");
+        }
 
-        showToggles(modifiedCustomOnroadUIKeys);
+        if (customizationLevel == 0) {
+          modifiedAccessibilityKeys.erase("CameraView");
+          modifiedAccessibilityKeys.erase("DriverCamera");
+          modifiedAccessibilityKeys.erase("StandbyMode");
+          modifiedAccessibilityKeys.erase("StoppedTimer");
+        } else if (customizationLevel != 2) {
+          modifiedAccessibilityKeys.erase("CameraView");
+          modifiedAccessibilityKeys.erase("StandbyMode");
+        }
+
+        showToggles(modifiedAccessibilityKeys);
       });
-      visualToggle = customUIToggle;
-    } else if (param == "CustomPaths") {
-      std::vector<QString> pathToggles{"AccelerationPath", "AdjacentPath", "BlindSpotPath"};
-      std::vector<QString> pathToggleNames{tr("Acceleration"), tr("Adjacent"), tr("Blind Spot")};
-      customPathsBtn = new FrogPilotButtonToggleControl(param, title, desc, pathToggles, pathToggleNames);
-      visualToggle = customPathsBtn;
-    } else if (param == "PedalsOnUI") {
-      std::vector<QString> pedalsToggles{"DynamicPedalsOnUI", "StaticPedalsOnUI"};
-      std::vector<QString> pedalsToggleNames{tr("Dynamic"), tr("Static")};
-      FrogPilotButtonToggleControl *pedalsToggle = new FrogPilotButtonToggleControl(param, title, desc, pedalsToggles, pedalsToggleNames, true);
-      QObject::connect(pedalsToggle, &FrogPilotButtonToggleControl::buttonClicked, [this](int index) {
+      visualToggle = qolToggle;
+    } else if (param == "CameraView") {
+      std::vector<QString> cameraOptions{tr("Auto"), tr("Driver"), tr("Standard"), tr("Wide")};
+      ButtonParamControl *preferredCamera = new ButtonParamControl(param, title, desc, icon, cameraOptions);
+      visualToggle = preferredCamera;
+
+    } else if (param == "AdvancedCustomUI") {
+      FrogPilotParamManageControl *advancedCustomUIToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(advancedCustomUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        std::set<QString> modifiedAdvancedCustomOnroadUIKeys = advancedCustomOnroadUIKeys;
+
+        if (disableOpenpilotLongitudinal || !hasOpenpilotLongitudinal) {
+          modifiedAdvancedCustomOnroadUIKeys.erase("HideLeadMarker");
+        }
+
+        showToggles(modifiedAdvancedCustomOnroadUIKeys);
+      });
+      visualToggle = advancedCustomUIToggle;
+
+    } else if (param == "DeveloperUI") {
+      FrogPilotParamManageControl *developerUIToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(developerUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        borderMetricsBtn->setVisibleButton(0, hasBSM);
+        lateralMetricsBtn->setVisibleButton(1, hasAutoTune);
+        longitudinalMetricsBtn->setVisibleButton(0, hasRadar);
+
+        std::set<QString> modifiedDeveloperUIKeys = developerUIKeys;
+
+        if (disableOpenpilotLongitudinal || !hasOpenpilotLongitudinal) {
+          modifiedDeveloperUIKeys.erase("LongitudinalMetrics");
+        }
+
+        showToggles(modifiedDeveloperUIKeys);
+      });
+      visualToggle = developerUIToggle;
+    } else if (param == "BorderMetrics") {
+      std::vector<QString> borderToggles{"BlindSpotMetrics", "ShowSteering", "SignalMetrics"};
+      std::vector<QString> borderToggleNames{tr("Blind Spot"), tr("Steering Torque"), tr("Turn Signal")};
+      borderMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, borderToggles, borderToggleNames);
+      visualToggle = borderMetricsBtn;
+    } else if (param == "LateralMetrics") {
+      std::vector<QString> lateralToggles{"AdjacentPathMetrics", "TuningInfo"};
+      std::vector<QString> lateralToggleNames{tr("Adjacent Path Metrics"), tr("Auto Tune")};
+      lateralMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, lateralToggles, lateralToggleNames);
+      visualToggle = lateralMetricsBtn;
+    } else if (param == "LongitudinalMetrics") {
+      std::vector<QString> longitudinalToggles{"AdjacentLeadsUI", "LeadInfo", "JerkInfo"};
+      std::vector<QString> longitudinalToggleNames{tr("Adjacent Leads"), tr("Lead Info"), tr("Jerk Values")};
+      longitudinalMetricsBtn = new FrogPilotButtonToggleControl(param, title, desc, longitudinalToggles, longitudinalToggleNames);
+      visualToggle = longitudinalMetricsBtn;
+    } else if (param == "NumericalTemp") {
+      std::vector<QString> temperatureToggles{"Fahrenheit"};
+      std::vector<QString> temperatureToggleNames{tr("Fahrenheit")};
+      visualToggle = new FrogPilotButtonToggleControl(param, title, desc, temperatureToggles, temperatureToggleNames);
+    } else if (param == "SidebarMetrics") {
+      std::vector<QString> sidebarMetricsToggles{"ShowCPU", "ShowGPU", "ShowIP", "ShowMemoryUsage", "ShowStorageLeft", "ShowStorageUsed"};
+      std::vector<QString> sidebarMetricsToggleNames{tr("CPU"), tr("GPU"), tr("IP"), tr("RAM"), tr("SSD Left"), tr("SSD Used")};
+      FrogPilotButtonToggleControl *sidebarMetricsToggle = new FrogPilotButtonToggleControl(param, title, desc, sidebarMetricsToggles, sidebarMetricsToggleNames, false, 150);
+      QObject::connect(sidebarMetricsToggle, &FrogPilotButtonToggleControl::buttonClicked, [sidebarMetricsToggle, this](int index) {
         if (index == 0) {
-          params.putBool("StaticPedalsOnUI", false);
+          params.putBool("ShowGPU", false);
         } else if (index == 1) {
-          params.putBool("DynamicPedalsOnUI", false);
+          params.putBool("ShowCPU", false);
+        } else if (index == 3) {
+          params.putBool("ShowStorageLeft", false);
+          params.putBool("ShowStorageUsed", false);
+        } else if (index == 4) {
+          params.putBool("ShowMemoryUsage", false);
+          params.putBool("ShowStorageUsed", false);
+        } else if (index == 5) {
+          params.putBool("ShowMemoryUsage", false);
+          params.putBool("ShowStorageLeft", false);
         }
+        sidebarMetricsToggle->refresh();
       });
-      visualToggle = pedalsToggle;
+      visualToggle = sidebarMetricsToggle;
 
-    } else if (param == "QOLVisuals") {
-      FrogPilotParamManageControl *qolToggle = new FrogPilotParamManageControl(param, title, desc, icon);
-      QObject::connect(qolToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
-        showToggles(qolKeys);
+    } else if (param == "ModelUI") {
+      FrogPilotParamManageControl *modelUIToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(modelUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        std::set<QString> modifiedModelUIKeys = modelUIKeys;
+
+        if (disableOpenpilotLongitudinal || !hasOpenpilotLongitudinal) {
+          modifiedModelUIKeys.erase("ShowStoppingPoint");
+        }
+
+        showToggles(modifiedModelUIKeys);
       });
-      visualToggle = qolToggle;
+      visualToggle = modelUIToggle;
+    } else if (param == "LaneLinesWidth" || param == "RoadEdgesWidth") {
+      visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 24, tr(" inches"));
+    } else if (param == "PathEdgeWidth") {
+      visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 100, tr("%"));
+    } else if (param == "PathWidth") {
+      visualToggle = new FrogPilotParamValueControl(param, title, desc, icon, 0, 10, tr(" feet"), std::map<int, QString>(), 0.1);
+    } else if (param == "ShowStoppingPoint") {
+      std::vector<QString> stoppingPointToggles{"ShowStoppingPointMetrics"};
+      std::vector<QString> stoppingPointToggleNames{tr("Show Distance")};
+      visualToggle = new FrogPilotButtonToggleControl(param, title, desc, stoppingPointToggles, stoppingPointToggleNames);
+
+    } else if (param == "NavigationUI") {
+      FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        std::set<QString> modifiedNavigationUIKeys = navigationUIKeys;
+
+        if (disableOpenpilotLongitudinal || !hasOpenpilotLongitudinal || !params.getBool("SpeedLimitController")) {
+          modifiedNavigationUIKeys.erase("ShowSLCOffset");
+        }
+
+        if (customizationLevel != 2) {
+          modifiedNavigationUIKeys.erase("MapStyle");
+          modifiedNavigationUIKeys.erase("RoadNameUI");
+          modifiedNavigationUIKeys.erase("ShowSLCOffset");
+          modifiedNavigationUIKeys.erase("UseVienna");
+        }
+
+        showToggles(modifiedNavigationUIKeys);
+      });
+      visualToggle = customUIToggle;
     } else if (param == "BigMap") {
       std::vector<QString> mapToggles{"FullMap"};
       std::vector<QString> mapToggleNames{tr("Full Map")};
       visualToggle = new FrogPilotButtonToggleControl(param, title, desc, mapToggles, mapToggleNames);
     } else if (param == "MapStyle") {
-      QMap<int, QString> styleMap = {
+      QMap<int, QString> styleMap {
         {0, tr("Stock openpilot")},
         {1, tr("Mapbox Streets")},
         {2, tr("Mapbox Outdoors")},
@@ -71,27 +211,58 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(FrogPilotSettingsWindow *parent) :
         {7, tr("Mapbox Navigation Day")},
         {8, tr("Mapbox Navigation Night")},
         {9, tr("Mapbox Traffic Night")},
-        {10, tr("mike854's (Satellite hybrid)")},
+        {10, tr("mike854's (Satellite hybrid)")}
       };
 
-      QStringList styles = styleMap.values();
       ButtonControl *mapStyleButton = new ButtonControl(title, tr("SELECT"), desc);
-      QObject::connect(mapStyleButton, &ButtonControl::clicked, [=]() {
-        QStringList styles = styleMap.values();
-        QString selection = MultiOptionDialog::getSelection(tr("Select a map style"), styles, "", this);
+      QObject::connect(mapStyleButton, &ButtonControl::clicked, [this, mapStyleButton, styleMap]() {
+        QString selection = MultiOptionDialog::getSelection(tr("Select a map style"), styleMap.values(), "", this);
         if (!selection.isEmpty()) {
           int selectedStyle = styleMap.key(selection);
-          params.putIntNonBlocking("MapStyle", selectedStyle);
+          params.putInt("MapStyle", selectedStyle);
           mapStyleButton->setValue(selection);
           updateFrogPilotToggles();
         }
       });
-
       int currentStyle = params.getInt("MapStyle");
       mapStyleButton->setValue(styleMap[currentStyle]);
 
       visualToggle = mapStyleButton;
 
+    } else if (param == "CustomUI") {
+      FrogPilotParamManageControl *customUIToggle = new FrogPilotParamManageControl(param, title, desc, icon);
+      QObject::connect(customUIToggle, &FrogPilotParamManageControl::manageButtonClicked, [this]() {
+        std::set<QString> modifiedCustomOnroadUIKeys = customOnroadUIKeys;
+
+        if (!hasBSM) {
+          modifiedCustomOnroadUIKeys.erase("BlindSpotPath");
+        }
+
+        if (disableOpenpilotLongitudinal || !hasOpenpilotLongitudinal) {
+          modifiedCustomOnroadUIKeys.erase("AccelerationPath");
+          modifiedCustomOnroadUIKeys.erase("PedalsOnUI");
+        }
+
+        if (customizationLevel != 2) {
+          modifiedCustomOnroadUIKeys.erase("AdjacentPath");
+        }
+
+        showToggles(modifiedCustomOnroadUIKeys);
+      });
+      visualToggle = customUIToggle;
+    } else if (param == "PedalsOnUI") {
+      std::vector<QString> pedalsToggles{"DynamicPedalsOnUI", "StaticPedalsOnUI"};
+      std::vector<QString> pedalsToggleNames{tr("Dynamic"), tr("Static")};
+      FrogPilotButtonToggleControl *pedalsToggle = new FrogPilotButtonToggleControl(param, title, desc, pedalsToggles, pedalsToggleNames, true);
+      QObject::connect(pedalsToggle, &FrogPilotButtonToggleControl::buttonClicked, [this](int index) {
+        if (index == 0) {
+          params.putBool("StaticPedalsOnUI", false);
+        } else if (index == 1) {
+          params.putBool("DynamicPedalsOnUI", false);
+        }
+      });
+      visualToggle = pedalsToggle;
+
     } else {
       visualToggle = new ParamControl(param, title, desc, icon);
     }
@@ -112,14 +283,67 @@ FrogPilotVisualsPanel::FrogPilotVisualsPanel(FrogPilotSettingsWindow *parent) :
 
   QObject::connect(parent, &FrogPilotSettingsWindow::closeParentToggle, this, &FrogPilotVisualsPanel::hideToggles);
   QObject::connect(parent, &FrogPilotSettingsWindow::updateCarToggles, this, &FrogPilotVisualsPanel::updateCarToggles);
+  QObject::connect(parent, &FrogPilotSettingsWindow::updateMetric, this, &FrogPilotVisualsPanel::updateMetric);
+}
+
+void FrogPilotVisualsPanel::showEvent(QShowEvent *event) {
+  customizationLevel = parent->customizationLevel;
+
+  toggles["AdvancedCustomUI"]->setVisible(customizationLevel == 2);
+  toggles["CustomUI"]->setVisible(customizationLevel != 0);
+  toggles["DeveloperUI"]->setVisible(customizationLevel == 2);
+  toggles["ModelUI"]->setVisible(customizationLevel == 2);
+  toggles["NavigationUI"]->setVisible(customizationLevel != 0);
+  toggles["QOLVisuals"]->setVisible(customizationLevel != 0 || !disableOpenpilotLongitudinal && hasOpenpilotLongitudinal);
 }
 
 void FrogPilotVisualsPanel::updateCarToggles() {
+  disableOpenpilotLongitudinal = parent->disableOpenpilotLongitudinal;
+  hasAutoTune = parent->hasAutoTune;
   hasBSM = parent->hasBSM;
+  hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal;
+  hasRadar = parent->hasRadar;
 
   hideToggles();
 }
 
+void FrogPilotVisualsPanel::updateMetric() {
+  bool previousIsMetric = isMetric;
+  isMetric = params.getBool("IsMetric");
+
+  if (isMetric != previousIsMetric) {
+    double smallDistanceConversion = isMetric ? INCH_TO_CM : CM_TO_INCH;
+    double distanceConversion = isMetric ? FOOT_TO_METER : METER_TO_FOOT;
+
+    params.putFloatNonBlocking("LaneLinesWidth", params.getFloat("LaneLinesWidth") * smallDistanceConversion);
+    params.putFloatNonBlocking("RoadEdgesWidth", params.getFloat("RoadEdgesWidth") * smallDistanceConversion);
+
+    params.putFloatNonBlocking("PathWidth", params.getFloat("PathWidth") * distanceConversion);
+  }
+
+  FrogPilotParamValueControl *laneLinesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["LaneLinesWidth"]);
+  FrogPilotParamValueControl *pathWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["PathWidth"]);
+  FrogPilotParamValueControl *roadEdgesWidthToggle = static_cast<FrogPilotParamValueControl*>(toggles["RoadEdgesWidth"]);
+
+  if (isMetric) {
+    laneLinesWidthToggle->setDescription(tr("Adjust how thick the lane lines appear on the display.\n\nDefault matches the Vienna standard of 10 centimeters."));
+    roadEdgesWidthToggle->setDescription(tr("Adjust how thick the road edges appear on the display.\n\nDefault matches half of the Vienna standard of 10 centimeters."));
+
+    laneLinesWidthToggle->updateControl(0, 60, tr(" centimeters"));
+    roadEdgesWidthToggle->updateControl(0, 60, tr(" centimeters"));
+
+    pathWidthToggle->updateControl(0, 3, tr(" meters"));
+  } else {
+    laneLinesWidthToggle->setDescription(tr("Adjust how thick the lane lines appear on the display.\n\nDefault matches the MUTCD standard of 4 inches."));
+    roadEdgesWidthToggle->setDescription(tr("Adjust how thick the road edges appear on the display.\n\nDefault matches half of the MUTCD standard of 4 inches."));
+
+    laneLinesWidthToggle->updateControl(0, 24, tr(" inches"));
+    roadEdgesWidthToggle->updateControl(0, 24, tr(" inches"));
+
+    pathWidthToggle->updateControl(0, 10, tr(" feet"));
+  }
+}
+
 void FrogPilotVisualsPanel::showToggles(const std::set<QString> &keys) {
   setUpdatesEnabled(false);
 
@@ -135,12 +359,23 @@ void FrogPilotVisualsPanel::hideToggles() {
   setUpdatesEnabled(false);
 
   for (auto &[key, toggle] : toggles) {
-    bool subToggles = customOnroadUIKeys.find(key) != customOnroadUIKeys.end() ||
-                      qolKeys.find(key) != qolKeys.end();
+    bool subToggles = accessibilityKeys.find(key) != accessibilityKeys.end() ||
+                      advancedCustomOnroadUIKeys.find(key) != advancedCustomOnroadUIKeys.end() ||
+                      customOnroadUIKeys.find(key) != customOnroadUIKeys.end() ||
+                      developerUIKeys.find(key) != developerUIKeys.end() ||
+                      modelUIKeys.find(key) != modelUIKeys.end() ||
+                      navigationUIKeys.find(key) != navigationUIKeys.end();
 
     toggle->setVisible(!subToggles);
   }
 
+  toggles["AdvancedCustomUI"]->setVisible(customizationLevel == 2);
+  toggles["CustomUI"]->setVisible(customizationLevel != 0);
+  toggles["DeveloperUI"]->setVisible(customizationLevel == 2);
+  toggles["ModelUI"]->setVisible(customizationLevel == 2);
+  toggles["NavigationUI"]->setVisible(customizationLevel != 0);
+  toggles["QOLVisuals"]->setVisible(customizationLevel != 0 || !disableOpenpilotLongitudinal && hasOpenpilotLongitudinal);
+
   setUpdatesEnabled(true);
   update();
 }
diff --git a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h
index 0a4dd5a5025236..5cf101370b9058 100644
--- a/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h
+++ b/selfdrive/frogpilot/ui/qt/offroad/visual_settings.h
@@ -15,26 +15,60 @@ class FrogPilotVisualsPanel : public FrogPilotListWidget {
 
 private:
   void hideToggles();
+  void showEvent(QShowEvent *event) override;
   void showToggles(const std::set<QString> &keys);
   void updateCarToggles();
+  void updateMetric();
+
+  std::set<QString> accessibilityKeys = {
+    "CameraView", "DriverCamera", "OnroadDistanceButton",
+    "StandbyMode", "StoppedTimer"
+  };
+
+  std::set<QString> advancedCustomOnroadUIKeys = {
+    "HideAlerts", "HideLeadMarker", "HideMapIcon",
+    "HideMaxSpeed", "HideSpeed", "HideSpeedLimit",
+    "WheelSpeed"
+  };
 
   std::set<QString> customOnroadUIKeys = {
-    "Compass", "CustomPaths", "DynamicPathWidth",
-    "PedalsOnUI", "RoadNameUI", "RotatingWheel"
+    "AccelerationPath", "AdjacentPath", "BlindSpotPath",
+    "Compass", "PedalsOnUI", "RotatingWheel"
   };
 
-  std::set<QString> qolKeys = {
-    "BigMap", "DriverCamera", "MapStyle",
-    "StandbyMode", "StoppedTimer"
+  std::set<QString> developerUIKeys = {
+    "BorderMetrics", "FPSCounter", "LateralMetrics",
+    "LongitudinalMetrics", "NumericalTemp",
+    "SidebarMetrics", "UseSI"
   };
 
-  FrogPilotSettingsWindow *parent;
+  std::set<QString> modelUIKeys = {
+    "DynamicPathWidth", "LaneLinesWidth", "PathEdgeWidth",
+    "PathWidth", "RoadEdgesWidth", "ShowStoppingPoint",
+    "UnlimitedLength"
+  };
+
+  std::set<QString> navigationUIKeys = {
+    "BigMap", "MapStyle", "RoadNameUI",
+    "ShowSLCOffset", "UseVienna"
+  };
 
-  FrogPilotButtonToggleControl *customPathsBtn;
+  FrogPilotButtonToggleControl *borderMetricsBtn;
+  FrogPilotButtonToggleControl *lateralMetricsBtn;
+  FrogPilotButtonToggleControl *longitudinalMetricsBtn;
+
+  FrogPilotSettingsWindow *parent;
 
   Params params;
 
+  bool disableOpenpilotLongitudinal;
+  bool hasAutoTune;
   bool hasBSM;
+  bool hasOpenpilotLongitudinal;
+  bool hasRadar;
+  bool isMetric = params.getBool("IsMetric");
+
+  int customizationLevel;
 
   std::map<QString, AbstractControl*> toggles;
 };
diff --git a/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc b/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc
index 07586a88b8e357..bcae769226db2a 100644
--- a/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc
+++ b/selfdrive/frogpilot/ui/qt/widgets/drive_stats.cc
@@ -61,13 +61,6 @@ void DriveStats::addStatsLayouts(const QString &title, StatsLabels &labels, bool
   main_layout->addStretch(1);
 }
 
-void DriveStats::updateFrogPilotStats(const QJsonObject &obj, StatsLabels &labels) {
-  labels.routes->setText(QString::number(paramsTracking.getInt("FrogPilotDrives")));
-  labels.distance->setText(QString::number(int(paramsTracking.getFloat("FrogPilotKilometers") * (metric ? 1 : KM_TO_MILE))));
-  labels.distance_unit->setText(getDistanceUnit());
-  labels.hours->setText(QString::number(int(paramsTracking.getFloat("FrogPilotMinutes") / 60)));
-}
-
 void DriveStats::updateStatsForLabel(const QJsonObject &obj, StatsLabels &labels) {
   labels.routes->setText(QString::number((int)obj["routes"].toDouble()));
   labels.distance->setText(QString::number(int(obj["distance"].toDouble() * (metric ? MILE_TO_KM : 1))));
@@ -75,12 +68,22 @@ void DriveStats::updateStatsForLabel(const QJsonObject &obj, StatsLabels &labels
   labels.hours->setText(QString::number((int)(obj["minutes"].toDouble() / 60)));
 }
 
+void DriveStats::updateFrogPilotStats(const QJsonObject &obj, StatsLabels &labels) {
+  labels.routes->setText(QString::number(paramsTracking.getInt("FrogPilotDrives")));
+  labels.distance->setText(QString::number(int(paramsTracking.getFloat("FrogPilotKilometers") * (metric ? 1 : KM_TO_MILE))));
+  labels.distance_unit->setText(getDistanceUnit());
+  labels.hours->setText(QString::number(int(paramsTracking.getFloat("FrogPilotMinutes") / 60)));
+}
+
 void DriveStats::updateStats() {
   QJsonObject json = stats.object();
 
   updateFrogPilotStats(json["frogpilot"].toObject(), frogPilot);
   updateStatsForLabel(json["all"].toObject(), all);
   updateStatsForLabel(json["week"].toObject(), week);
+
+  int all_time_minutes = (int)(json["all"].toObject()["minutes"].toDouble());
+  params.put("openpilotMinutes", QString::number(all_time_minutes).toStdString());
 }
 
 void DriveStats::parseResponse(const QString &response, bool success) {
diff --git a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc
index c135a3937e3bd4..e44bce01e52dd0 100644
--- a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc
+++ b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.cc
@@ -6,26 +6,7 @@
 
 void updateFrogPilotToggles() {
   static Params paramsMemory{"/dev/shm/params"};
-  static std::atomic<bool> isUpdating(false);
-  static std::thread resetThread;
-
-  bool expected = false;
-  if (!isUpdating.compare_exchange_strong(expected, true)) {
-    return;
-  }
-
-  if (resetThread.joinable()) {
-    resetThread.join();
-  }
-
   paramsMemory.putBool("FrogPilotTogglesUpdated", true);
-
-  resetThread = std::thread([&]() {
-    util::sleep_for(1000);
-    paramsMemory.putBool("FrogPilotTogglesUpdated", false);
-
-    isUpdating.store(false);
-  });
 }
 
 QColor loadThemeColors(const QString &colorKey, bool clearCache) {
@@ -62,17 +43,17 @@ QColor loadThemeColors(const QString &colorKey, bool clearCache) {
   );
 }
 
-bool FrogPilotConfirmationDialog::toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent) {
-  ConfirmationDialog d(prompt_text, confirm_text, tr("Reboot Later"), false, parent);
+bool FrogPilotConfirmationDialog::toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent, const bool isLong) {
+  ConfirmationDialog d(prompt_text, confirm_text, tr("Reboot Later"), false, parent, isLong);
   return d.exec();
 }
 
-bool FrogPilotConfirmationDialog::toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent) {
-  ConfirmationDialog d(prompt_text, button_text, "", false, parent);
+bool FrogPilotConfirmationDialog::toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent, const bool isLong) {
+  ConfirmationDialog d(prompt_text, button_text, "", false, parent, isLong);
   return d.exec();
 }
 
-bool FrogPilotConfirmationDialog::yesorno(const QString &prompt_text, QWidget *parent) {
-  ConfirmationDialog d(prompt_text, tr("Yes"), tr("No"), false, parent);
+bool FrogPilotConfirmationDialog::yesorno(const QString &prompt_text, QWidget *parent, const bool isLong) {
+  ConfirmationDialog d(prompt_text, tr("Yes"), tr("No"), false, parent, isLong);
   return d.exec();
 }
diff --git a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h
index d456abbea55699..b4c78b959b91fb 100644
--- a/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h
+++ b/selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h
@@ -46,9 +46,9 @@ class FrogPilotConfirmationDialog : public ConfirmationDialog {
 public:
   explicit FrogPilotConfirmationDialog(const QString &prompt_text, const QString &confirm_text,
                                        const QString &cancel_text, const bool rich, QWidget *parent);
-  static bool toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent);
-  static bool toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent);
-  static bool yesorno(const QString &prompt_text, QWidget *parent);
+  static bool toggle(const QString &prompt_text, const QString &confirm_text, QWidget *parent, const bool isLong=false);
+  static bool toggleAlert(const QString &prompt_text, const QString &button_text, QWidget *parent, const bool isLong=false);
+  static bool yesorno(const QString &prompt_text, QWidget *parent, const bool isLong=false);
 };
 
 class FrogPilotListWidget : public QWidget {
@@ -197,7 +197,7 @@ class FrogPilotButtonToggleControl : public ParamControl {
     for (int i = 0; i < buttons.size(); ++i) {
       QAbstractButton *button = buttons[i];
       if (button) {
-        button->setVisible(state);
+        button->setEnabled(state);
         button->setChecked(params.getBool(buttonParams[i].toStdString()));
       }
     }
@@ -280,6 +280,8 @@ class FrogPilotParamValueControl : public AbstractControl {
   Q_OBJECT
 
 public:
+  QLabel *valueLabel;
+
   FrogPilotParamValueControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
                              const float minValue, const float maxValue, const QString &label = "", const std::map<int, QString> &valueLabels = {},
                              const float interval = 1.0f, const bool compactSize = false, const bool instantUpdate = false)
@@ -379,7 +381,7 @@ private slots:
   }
 
   void updateValueDisplay() {
-    int intValue = static_cast<int>(value);
+    int intValue = static_cast<int>(value / interval);
     if (valueLabels.count(intValue)) {
       valueLabel->setText(valueLabels.at(intValue));
     } else {
@@ -411,8 +413,6 @@ private slots:
 
   Params params;
 
-  QLabel *valueLabel;
-
   QPushButton decrementButton;
   QPushButton incrementButton;
 
@@ -442,12 +442,11 @@ class FrogPilotParamValueButtonControl : public FrogPilotParamValueControl {
                                    const float minValue, const float maxValue, const QString &label = "", const std::map<int, QString> &valueLabels = {},
                                    const float interval = 1.0f,
                                    const std::vector<QString> &buttonParams = {}, const std::vector<QString> &buttonLabels = {},
-                                   const bool checkable = true, const int minimumButtonWidth = 225)
+                                   const bool leftButton = false, const bool checkable = true, const int minimumButtonWidth = 225)
     : FrogPilotParamValueControl(param, title, desc, icon, minValue, maxValue, label, valueLabels, interval, true),
       buttonParams(buttonParams),
       buttonGroup(new QButtonGroup(this)),
       checkable(checkable) {
-
     buttonGroup->setExclusive(false);
 
     for (int i = 0; i < buttonLabels.size(); ++i) {
@@ -456,7 +455,11 @@ class FrogPilotParamValueButtonControl : public FrogPilotParamValueControl {
       button->setStyleSheet(buttonStyle);
       button->setMinimumWidth(minimumButtonWidth);
 
-      hlayout->addWidget(button);
+      if (leftButton) {
+        hlayout->insertWidget(hlayout->indexOf(valueLabel) - 1, button);
+      } else {
+        hlayout->addWidget(button);
+      }
       buttonGroup->addButton(button, i);
     }
 
diff --git a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc
index 58df15b53cfddd..5bc2d310c55300 100644
--- a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc
+++ b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.cc
@@ -123,7 +123,7 @@ void ModelReview::mousePressEvent(QMouseEvent *e) {
     return;
   }
 
-  paramsMemory.putBool("DriveRated", true);
+  emit driveRated();
 }
 
 void ModelReview::updateLabel() {
@@ -136,7 +136,7 @@ void ModelReview::updateLabel() {
   mainLayout->setCurrentIndex(1);
 
   QTimer::singleShot(30000, [this]() {
-    paramsMemory.putBool("DriveRated", true);
+    emit driveRated();
     modelRated = false;
   });
 }
diff --git a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h
index b143c64a91dfcc..4f5af5c0164dc2 100644
--- a/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h
+++ b/selfdrive/frogpilot/ui/qt/widgets/model_reviewer.h
@@ -8,6 +8,9 @@ class ModelReview : public QFrame {
 public:
   explicit ModelReview(QWidget *parent = nullptr);
 
+signals:
+  void driveRated();
+
 protected:
   void mousePressEvent(QMouseEvent *e) override;
   void showEvent(QShowEvent *event) override;
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 363f1859c070c0..6e154bf07cf83e 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -20,8 +20,6 @@
 from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
-
 MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
 MAX_VEL_ANGLE_STD = np.radians(0.25)
 MAX_YAW_RATE_FILTER = np.radians(2)  # per second
@@ -61,20 +59,13 @@ def moving_avg_with_linear_decay(prev_mean: np.ndarray, new_val: np.ndarray, idx
 
 class Calibrator:
   def __init__(self, param_put: bool = False):
-    # FrogPilot variables
-    frogpilot_toggles = FrogPilotVariables.toggles
-    FrogPilotVariables.update_frogpilot_params()
-
-    self.update_toggles = False
-
     self.param_put = param_put
 
     self.not_car = False
 
     # Read saved calibration
     self.params = Params()
-    self.calibration_key = frogpilot_toggles.part_model_param + "CalibrationParams"
-    calibration_params = self.params.get(self.calibration_key)
+    calibration_params = self.params.get("CalibrationParams")
     rpy_init = RPY_INIT
     wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
     height = HEIGHT_INIT
@@ -173,14 +164,7 @@ def update_status(self) -> None:
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
-      self.params.put_nonblocking(self.calibration_key, self.get_msg(True).to_bytes())
-
-    # Update FrogPilot parameters
-    if FrogPilotVariables.toggles_updated:
-      self.update_toggles = True
-    elif self.update_toggles:
-      FrogPilotVariables.update_frogpilot_params()
-      self.update_toggles = False
+      self.params.put_nonblocking("CalibrationParams", self.get_msg(True).to_bytes())
 
   def handle_v_ego(self, v_ego: float) -> None:
     self.v_ego = v_ego
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index d752df22555153..4421c8475297f5 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -14,6 +14,7 @@
 from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import params_memory
 
 MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s
 ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL  # 20deg in 1 second is well within curvature limits
@@ -128,7 +129,6 @@ def main():
   sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll='liveLocationKalman')
 
   params_reader = Params()
-  params_memory = Params("/dev/shm/params")
   # wait for stats about the car to come in from controls
   cloudlog.info("paramsd is waiting for CarParams")
   with car.CarParams.from_bytes(params_reader.get("CarParams", block=True)) as msg:
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index e457096b1e5ea0..06f9044738e7ae 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -11,8 +11,6 @@
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 from openpilot.selfdrive.locationd.helpers import PointBuckets, ParameterEstimator
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
-
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
 MIN_POINTS_TOTAL = 4000
@@ -53,12 +51,6 @@ def add_point(self, x, y):
 
 class TorqueEstimator(ParameterEstimator):
   def __init__(self, CP, decimated=False):
-    # FrogPilot variables
-    frogpilot_toggles = FrogPilotVariables.toggles
-    FrogPilotVariables.update_frogpilot_params()
-
-    self.update_toggles = False
-
     self.hist_len = int(HISTORY / DT_MDL)
     self.lag = CP.steerActuatorDelay + .2   # from controlsd
     if decimated:
@@ -101,8 +93,7 @@ def __init__(self, CP, decimated=False):
     # try to restore cached params
     params = Params()
     params_cache = params.get("CarParamsPrevRoute")
-    self.torque_key = frogpilot_toggles.part_model_param + "LiveTorqueParameters"
-    torque_cache = params.get(self.torque_key)
+    torque_cache = params.get("LiveTorqueParameters")
     if params_cache is not None and torque_cache is not None:
       try:
         with log.Event.from_bytes(torque_cache) as log_evt:
@@ -122,7 +113,7 @@ def __init__(self, CP, decimated=False):
           cloudlog.info("restored torque params from cache")
       except Exception:
         cloudlog.exception("failed to restore cached torque params")
-        params.remove(self.torque_key)
+        params.remove("LiveTorqueParameters")
 
     self.filtered_params = {}
     for param in initial_params:
@@ -165,13 +156,6 @@ def update_params(self, params):
       self.filtered_params[param].update(value)
       self.filtered_params[param].update_alpha(self.decay)
 
-    # Update FrogPilot parameters
-    if FrogPilotVariables.toggles_updated:
-      self.update_toggles = True
-    elif self.update_toggles:
-      FrogPilotVariables.update_frogpilot_params()
-      self.update_toggles = False
-
   def handle_log(self, t, which, msg):
     if which == "carControl":
       self.raw_points["carControl_t"].append(t + self.lag)
@@ -242,13 +226,6 @@ def main(demo=False):
   with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
     estimator = TorqueEstimator(CP)
 
-  # FrogPilot variables
-  frogpilot_toggles = FrogPilotVariables.toggles
-  FrogPilotVariables.update_frogpilot_params()
-
-  torque_key = frogpilot_toggles.part_model_param + "LiveTorqueParameters"
-  torque_cache = params.get(torque_key)
-
   while True:
     sm.update()
     if sm.all_checks():
@@ -264,7 +241,7 @@ def main(demo=False):
     # Cache points every 60 seconds while onroad
     if sm.frame % 240 == 0:
       msg = estimator.get_msg(valid=sm.all_checks(), with_points=True)
-      params.put_nonblocking(torque_key, msg.to_bytes())
+      params.put_nonblocking("LiveTorqueParameters", msg.to_bytes())
 
 if __name__ == "__main__":
   import argparse
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 86cea2e013f2eb..c965d64e96a9a2 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -25,8 +25,7 @@
 from openpilot.selfdrive.modeld.constants import ModelConstants
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import ModelFrame, CLContext
 
-from openpilot.selfdrive.frogpilot.frogpilot_functions import MODELS_PATH
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_variables import DEFAULT_MODEL, MODELS_PATH, get_frogpilot_toggles
 
 PROCESS_NAME = "selfdrive.modeld.modeld"
 SEND_RAW_PRED = os.getenv('SEND_RAW_PRED')
@@ -58,7 +57,7 @@ class ModelState:
   def __init__(self, context: CLContext, frogpilot_toggles: SimpleNamespace):
     # FrogPilot variables
     model_path = Path(__file__).parent / f'{MODELS_PATH}/{frogpilot_toggles.model}.thneed'
-    if model_path.exists():
+    if frogpilot_toggles.model != DEFAULT_MODEL and model_path.exists():
       MODEL_PATHS[ModelRunner.THNEED] = model_path
 
     self.frame = ModelFrame(context)
@@ -134,12 +133,6 @@ def run(self, buf: VisionBuf, wbuf: VisionBuf, transform: np.ndarray, transform_
 
 
 def main(demo=False):
-  # FrogPilot variables
-  frogpilot_toggles = FrogPilotVariables.toggles
-  FrogPilotVariables.update_frogpilot_params()
-
-  update_toggles = False
-
   cloudlog.warning("modeld init")
 
   sentry.set_tag("daemon", PROCESS_NAME)
@@ -150,6 +143,10 @@ def main(demo=False):
   cloudlog.warning("setting up CL context")
   cl_context = CLContext()
   cloudlog.warning("CL context ready; loading model")
+
+  # FrogPilot variables
+  frogpilot_toggles = get_frogpilot_toggles()
+
   model = ModelState(cl_context, frogpilot_toggles)
   cloudlog.warning("models loaded, modeld starting")
 
@@ -311,11 +308,8 @@ def main(demo=False):
     last_vipc_frame_id = meta_main.frame_id
 
     # Update FrogPilot parameters
-    if FrogPilotVariables.toggles_updated:
-      update_toggles = True
-    elif update_toggles:
-      FrogPilotVariables.update_frogpilot_params()
-      update_toggles = False
+    if sm['frogpilotPlan'].togglesUpdated:
+      frogpilot_toggles = get_frogpilot_toggles()
 
 if __name__ == "__main__":
   try:
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 9237fb9b36577d..06fb13600923d8 100644
Binary files a/selfdrive/modeld/models/supercombo.onnx and b/selfdrive/modeld/models/supercombo.onnx differ
diff --git a/selfdrive/monitoring/helpers.py b/selfdrive/monitoring/helpers.py
index dfb35182b24dad..805768f80f49a7 100644
--- a/selfdrive/monitoring/helpers.py
+++ b/selfdrive/monitoring/helpers.py
@@ -21,12 +21,12 @@ class DRIVER_MONITOR_SETTINGS:
   def __init__(self):
     self._DT_DMON = DT_DMON
     # ref (page15-16): https://eur-lex.europa.eu/legal-content/EN/TXT/PDF/?uri=CELEX:42018X1947&rid=2
-    self._AWARENESS_TIME = 30. # passive wheeltouch total timeout
-    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 15.
-    self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 6.
-    self._DISTRACTED_TIME = 11. # active monitoring total timeout
-    self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 8.
-    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 6.
+    self._AWARENESS_TIME = 60. # passive wheeltouch total timeout
+    self._AWARENESS_PRE_TIME_TILL_TERMINAL = 30.
+    self._AWARENESS_PROMPT_TIME_TILL_TERMINAL = 12.
+    self._DISTRACTED_TIME = 22. # active monitoring total timeout
+    self._DISTRACTED_PRE_TIME_TILL_TERMINAL = 16.
+    self._DISTRACTED_PROMPT_TIME_TILL_TERMINAL = 12.
 
     self._FACE_THRESHOLD = 0.7
     self._EYE_THRESHOLD = 0.65
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index 40f25b1aa2c95c..bf49ca19ed0295 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -18,7 +18,7 @@
                                     parse_banner_instructions)
 from openpilot.common.swaglog import cloudlog
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, has_prime
 
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
@@ -57,26 +57,24 @@ def __init__(self, sm, pm):
     if "MAPBOX_TOKEN" in os.environ:
       self.mapbox_token = os.environ["MAPBOX_TOKEN"]
       self.mapbox_host = "https://api.mapbox.com"
-    elif not FrogPilotVariables.has_prime:
+    elif not has_prime():
       self.mapbox_token = self.params.get("MapboxSecretKey", encoding='utf8')
       self.mapbox_host = "https://api.mapbox.com"
     else:
       self.api = Api(self.params.get("DongleId", encoding='utf8'))
-      self.mapbox_host = os.getenv('MAPS_HOST', 'https://maps.comma.ai')
+      self.mapbox_host = "https://maps.comma.ai"
 
     # FrogPilot variables
-    self.frogpilot_toggles = FrogPilotVariables.toggles
-    FrogPilotVariables.update_frogpilot_params()
-
-    self.stop_coord = []
-    self.stop_signal = []
+    self.frogpilot_toggles = get_frogpilot_toggles()
 
     self.approaching_intersection = False
     self.approaching_turn = False
-    self.update_toggles = False
 
     self.nav_speed_limit = 0
 
+    self.stop_coord = []
+    self.stop_signal = []
+
   def update(self):
     self.sm.update(0)
 
@@ -96,11 +94,8 @@ def update(self):
       cloudlog.exception("navd.failed_to_compute")
 
     # Update FrogPilot parameters
-    if FrogPilotVariables.toggles_updated:
-      self.update_toggles = True
-    elif self.update_toggles:
-      FrogPilotVariables.update_frogpilot_params()
-      self.update_toggles = False
+    if self.sm['frogpilotPlan'].togglesUpdated:
+      self.frogpilot_toggles = get_frogpilot_toggles()
 
   def update_location(self):
     location = self.sm['liveLocationKalman']
@@ -467,7 +462,7 @@ def should_recompute(self):
 
 def main():
   pm = messaging.PubMaster(['navInstruction', 'navRoute', 'frogpilotNavigation'])
-  sm = messaging.SubMaster(['carState', 'liveLocationKalman', 'managerState'])
+  sm = messaging.SubMaster(['carState', 'liveLocationKalman', 'managerState', 'frogpilotPlan'])
 
   rk = Ratekeeper(1.0)
   route_engine = RouteEngine(sm, pm)
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 2d64a82953a914..a05f29f11a40ad 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -3,7 +3,7 @@ import json
 Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'transformations')
 
 base_libs = [common, messaging, visionipc, transformations,
-             'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'OmxCore', 'avformat', 'avcodec', 'avutil', 'yuv'] + qt_env["LIBS"]
+             'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'avcodec', 'avformat', 'avutil', 'yuv', 'OmxCore'] + qt_env["LIBS"]
 
 if arch == 'larch64':
   base_libs.append('EGL')
@@ -42,16 +42,16 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/body.cc",
           "qt/onroad/onroad_home.cc", "qt/onroad/annotated_camera.cc",
           "qt/onroad/buttons.cc", "qt/onroad/alerts.cc"]
 
-frogpilot_src = ["../frogpilot/navigation/ui/maps_settings.cc", "../frogpilot/navigation/ui/primeless_settings.cc",
-                 "../frogpilot/screenrecorder/omx_encoder.cc", "../frogpilot/screenrecorder/screenrecorder.cc",
-                 "../frogpilot/navigation/ui/navigation_functions.cc", "../frogpilot/ui/qt/widgets/drive_stats.cc",
-                 "../frogpilot/ui/qt/widgets/frogpilot_controls.cc", "../frogpilot/ui/qt/widgets/model_reviewer.cc",
-                 "../frogpilot/ui/qt/offroad/advanced_driving_settings.cc", "../frogpilot/ui/qt/offroad/advanced_visual_settings.cc",
-                 "../frogpilot/ui/qt/offroad/data_settings.cc", "../frogpilot/ui/qt/offroad/device_settings.cc",
-                 "../frogpilot/ui/qt/offroad/frogpilot_settings.cc", "../frogpilot/ui/qt/offroad/longitudinal_settings.cc",
-                 "../frogpilot/ui/qt/offroad/lateral_settings.cc", "../frogpilot/ui/qt/offroad/sounds_settings.cc",
+frogpilot_src = ["../frogpilot/navigation/ui/maps_settings.cc", "../frogpilot/navigation/ui/navigation_functions.cc",
+                 "../frogpilot/navigation/ui/primeless_settings.cc", "../frogpilot/screenrecorder/omx_encoder.cc",
+                 "../frogpilot/screenrecorder/screenrecorder.cc", "../frogpilot/ui/qt/offroad/data_settings.cc",
+                 "../frogpilot/ui/qt/offroad/device_settings.cc", "../frogpilot/ui/qt/offroad/frogpilot_settings.cc",
+                 "../frogpilot/ui/qt/offroad/lateral_settings.cc", "../frogpilot/ui/qt/offroad/longitudinal_settings.cc",
+                 "../frogpilot/ui/qt/offroad/model_settings.cc", "../frogpilot/ui/qt/offroad/sounds_settings.cc",
                  "../frogpilot/ui/qt/offroad/theme_settings.cc", "../frogpilot/ui/qt/offroad/utilities.cc",
-                 "../frogpilot/ui/qt/offroad/vehicle_settings.cc", "../frogpilot/ui/qt/offroad/visual_settings.cc"]
+                 "../frogpilot/ui/qt/offroad/vehicle_settings.cc", "../frogpilot/ui/qt/offroad/visual_settings.cc",
+                 "../frogpilot/ui/qt/widgets/drive_stats.cc", "../frogpilot/ui/qt/widgets/frogpilot_controls.cc",
+                 "../frogpilot/ui/qt/widgets/model_reviewer.cc"]
 
 qt_src += frogpilot_src
 
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 43a59ecde6f471..3253c560229f94 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -174,11 +174,14 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     left_widget->addWidget(new QWidget);
 #endif
     left_widget->addWidget(new DriveStats);
-    left_widget->addWidget(new ModelReview);
-    left_widget->setStyleSheet("border-radius: 10px;");
 
+    ModelReview *modelReview = new ModelReview(this);
+    left_widget->addWidget(modelReview);
+
+    left_widget->setStyleSheet("border-radius: 10px;");
     left_widget->setCurrentIndex(1);
-    connect(uiState(), &UIState::driveRated, [=]() {
+
+    connect(modelReview, &ModelReview::driveRated, [=]() {
       left_widget->setCurrentIndex(1);
     });
     connect(uiState(), &UIState::reviewModel, [=]() {
@@ -249,10 +252,10 @@ void OffroadHome::hideEvent(QHideEvent *event) {
 }
 
 void OffroadHome::refresh() {
-  QString model = QString::fromStdString(params.get("ModelName"));
+  QString model = QString::fromStdString(params.get("ModelName")).remove(QRegularExpression("[🗺️👀📡]")).remove("(Default)").trimmed();
 
-  if (model.contains("(Default)")) {
-    model = model.remove("(Default)").trimmed();
+  if (params.getBool("CustomizationLevelConfirmed") && params.getInt("CustomizationLevel") != 2) {
+    model = QString::fromStdString(params.get("DefaultModelName")).trimmed();
   }
 
   if (uiState()->scene.model_randomizer) {
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 4ae9b7b42d54da..bfc2e670d66c36 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -310,22 +310,21 @@ void MapWindow::updateState(const UIState &s) {
   int map_style = uiState()->scene.map_style;
 
   if (map_style != previous_map_style) {
-    std::unordered_map<int, std::string> styleUrls = {
-      {0, "mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj"},  // Stock openpilot
-      {1, "mapbox://styles/mapbox/streets-v11"},  // Mapbox Streets
-      {2, "mapbox://styles/mapbox/outdoors-v11"},  // Mapbox Outdoors
-      {3, "mapbox://styles/mapbox/light-v10"},  // Mapbox Light
-      {4, "mapbox://styles/mapbox/dark-v10"},  // Mapbox Dark
-      {5, "mapbox://styles/mapbox/satellite-v9"},  // Mapbox Satellite
-      {6, "mapbox://styles/mapbox/satellite-streets-v11"},  // Mapbox Satellite Streets
-      {7, "mapbox://styles/mapbox/navigation-day-v1"},  // Mapbox Navigation Day
-      {8, "mapbox://styles/mapbox/navigation-night-v1"},  // Mapbox Navigation Night
-      {9, "mapbox://styles/mapbox/traffic-night-v2"},  // Mapbox Traffic Night
-      {10, "mapbox://styles/mike854/clt0hm8mw01ok01p4blkr27jp"},  // mike854's (Satellite hybrid)
+    std::array<std::string, 11> styleUrls = {
+      "mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj",  // Stock openpilot
+      "mapbox://styles/mapbox/streets-v11",                 // Mapbox Streets
+      "mapbox://styles/mapbox/outdoors-v11",                // Mapbox Outdoors
+      "mapbox://styles/mapbox/light-v10",                   // Mapbox Light
+      "mapbox://styles/mapbox/dark-v10",                    // Mapbox Dark
+      "mapbox://styles/mapbox/satellite-v9",                // Mapbox Satellite
+      "mapbox://styles/mapbox/satellite-streets-v11",       // Mapbox Satellite Streets
+      "mapbox://styles/mapbox/navigation-day-v1",           // Mapbox Navigation Day
+      "mapbox://styles/mapbox/navigation-night-v1",         // Mapbox Navigation Night
+      "mapbox://styles/mapbox/traffic-night-v2",            // Mapbox Traffic Night
+      "mapbox://styles/mike854/clt0hm8mw01ok01p4blkr27jp"   // mike854's (Satellite hybrid)
     };
 
-    std::unordered_map<int, std::string>::iterator it = styleUrls.find(map_style);
-    m_map->setStyleUrl(QString::fromStdString(it->second));
+    m_map->setStyleUrl(QString::fromStdString(styleUrls[map_style]));
   }
 
   previous_map_style = map_style;
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
index dbde0bf01e434f..a15aa4031fa30b 100644
--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@@ -80,8 +80,6 @@ class MapWindow : public QOpenGLWidget {
   uint64_t route_rcv_frame = 0;
 
   // FrogPilot variables
-  Params params;
-
   int previous_map_style;
 
   uint64_t model_rcv_frame = 0;
diff --git a/selfdrive/ui/qt/network/networking.cc b/selfdrive/ui/qt/network/networking.cc
index 7da71a53b5d92c..8e48837299fe72 100644
--- a/selfdrive/ui/qt/network/networking.cc
+++ b/selfdrive/ui/qt/network/networking.cc
@@ -308,7 +308,9 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi)
 }
 
 void WifiUI::updateState(const UIState &s) {
-  if (!isVisible() || s.sm->frame % UI_FREQ != 0) return;
+  if (!isVisible() || s.sm->frame % UI_FREQ != 0) {
+    return;
+  }
 
   refresh();
 }
diff --git a/selfdrive/ui/qt/network/networking.h b/selfdrive/ui/qt/network/networking.h
index 75d259926933a9..6e2c1fa1cd50f7 100644
--- a/selfdrive/ui/qt/network/networking.h
+++ b/selfdrive/ui/qt/network/networking.h
@@ -8,8 +8,6 @@
 #include "selfdrive/ui/qt/widgets/toggle.h"
 #include "selfdrive/ui/ui.h"
 
-#include "selfdrive/frogpilot/ui/qt/widgets/frogpilot_controls.h"
-
 class WifiItem : public QWidget {
   Q_OBJECT
 public:
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index f0fd395a7dffcd..1801b4eeeda9e7 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -144,12 +144,15 @@ void TogglesPanel::showEvent(QShowEvent *event) {
 }
 
 void TogglesPanel::updateToggles() {
+  UIState *s = uiState();
+  UIScene &scene = s->scene;
+
   auto disengage_on_accelerator_toggle = toggles["DisengageOnAccelerator"];
-  disengage_on_accelerator_toggle->setVisible(!params.getBool("AlwaysOnLateral"));
+  disengage_on_accelerator_toggle->setVisible(!scene.always_on_lateral);
   auto driver_camera_toggle = toggles["RecordFront"];
-  driver_camera_toggle->setVisible(!(params.getBool("DeviceManagement") && params.getBool("NoLogging") && params.getBool("NoUploads")));
+  driver_camera_toggle->setVisible(!(scene.no_logging && scene.no_uploads));
   auto nav_settings_left_toggle = toggles["NavSettingLeftSide"];
-  nav_settings_left_toggle->setVisible(!params.getBool("FullMap"));
+  nav_settings_left_toggle->setVisible(!scene.full_map);
 
   auto experimental_mode_toggle = toggles["ExperimentalMode"];
   auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
@@ -178,13 +181,7 @@ void TogglesPanel::updateToggles() {
     op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable());
     if (hasLongitudinalControl(CP)) {
       // normal description and toggle
-      bool conditional_experimental = params.getBool("ConditionalExperimental");
-      if (conditional_experimental) {
-        params.putBool("ExperimentalMode", true);
-        params.putBool("ExperimentalModeConfirmed", true);
-        experimental_mode_toggle->refresh();
-      }
-      experimental_mode_toggle->setEnabled(!conditional_experimental);
+      experimental_mode_toggle->setEnabled(!scene.conditional_experimental);
       experimental_mode_toggle->setDescription(e2e_description);
       long_personality_setting->setEnabled(true);
     } else {
@@ -230,7 +227,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
   addItem(dcamBtn);
 
-  resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
+  auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
   connect(resetCalibBtn, &ButtonControl::showDescriptionEvent, this, &DevicePanel::updateCalibDescription);
   connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
@@ -361,9 +358,6 @@ void DevicePanel::poweroff() {
 void DevicePanel::showEvent(QShowEvent *event) {
   pair_device->setVisible(uiState()->primeType() == PrimeType::UNPAIRED);
   ListWidget::showEvent(event);
-
-  // Frogpilot variables
-  resetCalibBtn->setVisible(!params.getBool("ModelManagement"));
 }
 
 void SettingsWindow::hideEvent(QHideEvent *event) {
@@ -377,7 +371,6 @@ void SettingsWindow::hideEvent(QHideEvent *event) {
   panelOpen = false;
   parentToggleOpen = false;
   subParentToggleOpen = false;
-  subSubParentToggleOpen = false;
 }
 
 void SettingsWindow::showEvent(QShowEvent *event) {
@@ -422,9 +415,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     } else if (mapSelectionOpen) {
       closeMapSelection();
       mapSelectionOpen = false;
-    } else if (subSubParentToggleOpen) {
-      closeSubSubParentToggle();
-      subSubParentToggleOpen = false;
     } else if (subParentToggleOpen) {
       closeSubParentToggle();
       subParentToggleOpen = false;
@@ -451,12 +441,12 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   QObject::connect(toggles, &TogglesPanel::updateMetric, this, &SettingsWindow::updateMetric);
 
   FrogPilotSettingsWindow *frogpilotSettingsWindow = new FrogPilotSettingsWindow(this);
+  QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::closeMapBoxInstructions, [this]() {mapboxInstructionsOpen=false;});
   QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openMapBoxInstructions, [this]() {mapboxInstructionsOpen=true;});
   QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openMapSelection, [this]() {mapSelectionOpen=true;});
   QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openPanel, [this]() {panelOpen=true;});
   QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openParentToggle, [this]() {parentToggleOpen=true;});
   QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openSubParentToggle, [this]() {subParentToggleOpen=true;});
-  QObject::connect(frogpilotSettingsWindow, &FrogPilotSettingsWindow::openSubSubParentToggle, [this]() {subSubParentToggleOpen=true;});
 
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},
@@ -497,6 +487,44 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     panel_widget->addWidget(panel_frame);
 
     QObject::connect(btn, &QPushButton::clicked, [=, w = panel_frame]() {
+      if (w->widget() == frogpilotSettingsWindow) {
+        bool customizationLevelConfirmed = params.getBool("CustomizationLevelConfirmed");
+
+        if (!customizationLevelConfirmed) {
+          int frogpilotHours = paramsTracking.getInt("FrogPilotMinutes") / 60;
+          int openpilotHours = params.getInt("openpilotMinutes") / 60;
+
+          if (frogpilotHours < 1 && openpilotHours < 100) {
+            if (FrogPilotConfirmationDialog::toggleAlert(tr("Welcome to FrogPilot! Since you're new to FrogPilot, the 'Basic' toggle preset has been applied, but you can change this at any time via the 'Customization Level' button!"), tr("Sounds good!"), this, true)) {
+              params.putBool("CustomizationLevelConfirmed", true);
+              params.putInt("CustomizationLevel", 0);
+            }
+          } else if (frogpilotHours < 50 && openpilotHours < 100) {
+            if (FrogPilotConfirmationDialog::toggleAlert(tr("Since you're fairly new to FrogPilot, the 'Basic' toggle preset has been applied, but you can change this at any time via the 'Customization Level' button!"), tr("Sounds good!"), this, true)) {
+              params.putBool("CustomizationLevelConfirmed", true);
+              params.putInt("CustomizationLevel", 0);
+            }
+          } else if (frogpilotHours < 100) {
+            if (openpilotHours >= 100 && frogpilotHours < 100) {
+              if (FrogPilotConfirmationDialog::toggleAlert(tr("Since you're experienced with openpilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Customization Level' button!"), tr("Sounds good!"), this, true)) {
+                params.putBool("CustomizationLevelConfirmed", true);
+                params.putInt("CustomizationLevel", 1);
+              }
+            } else {
+              if (FrogPilotConfirmationDialog::toggleAlert(tr("Since you're experienced with FrogPilot, the 'Standard' toggle preset has been applied, but you can change this at any time via the 'Customization Level' button!"), tr("Sounds good!"), this, true)) {
+                params.putBool("CustomizationLevelConfirmed", true);
+                params.putInt("CustomizationLevel", 1);
+              }
+            }
+          } else if (frogpilotHours >= 100) {
+            if (FrogPilotConfirmationDialog::toggleAlert(tr("Since you're very experienced with FrogPilot, the 'Advanced' toggle preset has been applied, but you can change this at any time via the 'Customization Level' button!"), tr("Sounds good!"), this, true)) {
+              params.putBool("CustomizationLevelConfirmed", true);
+              params.putInt("CustomizationLevel", 2);
+            }
+          }
+        }
+      }
+
       if (mapboxInstructionsOpen) {
         closeMapBoxInstructions();
         mapboxInstructionsOpen = false;
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index 6a3ef27de30447..e2ea3ac5a04624 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -40,7 +40,6 @@ class SettingsWindow : public QFrame {
   void closePanel();
   void closeParentToggle();
   void closeSubParentToggle();
-  void closeSubSubParentToggle();
   void updateMetric();
 
 private:
@@ -50,12 +49,14 @@ class SettingsWindow : public QFrame {
   QStackedWidget *panel_widget;
 
   // FrogPilot variables
+  Params params;
+  Params paramsTracking{"/persist/tracking"};
+
   bool mapboxInstructionsOpen;
   bool mapSelectionOpen;
   bool panelOpen;
   bool parentToggleOpen;
   bool subParentToggleOpen;
-  bool subSubParentToggleOpen;
 };
 
 class DevicePanel : public ListWidget {
@@ -76,9 +77,6 @@ private slots:
 private:
   Params params;
   ButtonControl *pair_device;
-
-  // FrogPilot variables
-  ButtonControl *resetCalibBtn;
 };
 
 class TogglesPanel : public ListWidget {
@@ -128,6 +126,4 @@ class SoftwarePanel : public ListWidget {
 
   // FrogPilot variables
   Params paramsMemory{"/dev/shm/params"};
-
-  bool frogsGoMoo = getDongleId().value_or("") == "FrogsGoMoo";
 };
diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc
index a9026859eb7b41..081e2ea5e3cd1d 100644
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@@ -38,8 +38,6 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   // download update btn
   downloadBtn = new ButtonControl(tr("Download"), tr("CHECK"));
   connect(downloadBtn, &ButtonControl::clicked, [=]() {
-    device()->resetInteractiveTimeout(300);
-
     downloadBtn->setEnabled(false);
     if (downloadBtn->text() == tr("CHECK")) {
       checkForUpdates();
@@ -63,7 +61,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
     auto current = params.get("GitBranch");
     QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
-    if (!frogsGoMoo) {
+    if (!uiState()->scene.frogs_go_moo) {
       branches.removeAll("FrogPilot-Development");
       branches.removeAll("FrogPilot-New");
       branches.removeAll("FrogPilot-Test");
@@ -91,14 +89,11 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL"));
   connect(uninstallBtn, &ButtonControl::clicked, [&]() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), tr("Uninstall"), this)) {
-      if (FrogPilotConfirmationDialog::yesorno(tr("Do you want to permanently delete any additional FrogPilot assets? This is 100% unrecoverable and includes backups, downloaded models, themes, and long-term storage toggle settings for easy reinstalls."), this)) {
-        std::system("rm -rf /data/backups");
-        std::system("rm -rf /data/crashes");
-        std::system("rm -rf /data/media/screen_recordings");
-        std::system("rm -rf /data/themes");
-        std::system("rm -rf /data/toggle_backups");
-        std::system("rm -rf /persist/params");
-        std::system("rm -rf /persist/tracking");
+      if (FrogPilotConfirmationDialog::yesorno(tr("Do you want to delete deep storage FrogPilot assets? This is 100% unrecoverable and includes FrogPilot stats and toggle settings for quick reinstalls."), this)) {
+        if (FrogPilotConfirmationDialog::yesorno(tr("Are you sure? This is 100% unrecoverable and includes FrogPilot stats and toggle settings for quick reinstalls."), this)) {
+          std::system("rm -rf /persist/params");
+          std::system("rm -rf /persist/tracking");
+        }
       }
       params.putBool("DoUninstall", true);
     }
@@ -108,7 +103,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   // error log button
   auto errorLogBtn = new ButtonControl(tr("Error Log"), tr("VIEW"), tr("View the error log for openpilot crashes."));
   connect(errorLogBtn, &ButtonControl::clicked, [=]() {
-    const std::string txt = util::read_file("/data/crashes/error.txt");
+    std::string txt = util::read_file("/data/crashes/error.txt");
     ConfirmationDialog::rich(QString::fromStdString(txt), this);
   });
   addItem(errorLogBtn);
@@ -150,8 +145,8 @@ void SoftwarePanel::updateLabels() {
   // updater only runs offroad or when parked
   bool parked = scene.parked;
 
-  onroadLbl->setVisible(is_onroad && !parked && !frogsGoMoo);
-  downloadBtn->setVisible(!is_onroad || parked || frogsGoMoo);
+  onroadLbl->setVisible(is_onroad && !parked && !scene.frogs_go_moo);
+  downloadBtn->setVisible(!is_onroad || parked || scene.frogs_go_moo);
 
   // download update
   QString updater_state = QString::fromStdString(params.get("UpdaterState"));
@@ -159,7 +154,9 @@ void SoftwarePanel::updateLabels() {
   if (updater_state != "idle") {
     downloadBtn->setEnabled(false);
     downloadBtn->setValue(updater_state);
+    scene.keep_screen_on = true;
   } else {
+    scene.keep_screen_on = false;
     if (failed) {
       downloadBtn->setText(tr("CHECK"));
       downloadBtn->setValue(tr("failed to check for update"));
@@ -183,12 +180,7 @@ void SoftwarePanel::updateLabels() {
   versionLbl->setText(QString::fromStdString(params.get("UpdaterCurrentDescription")));
   versionLbl->setDescription(QString::fromStdString(params.get("UpdaterCurrentReleaseNotes")));
 
-  bool install_ready = (!is_onroad || parked) && params.getBool("UpdateAvailable");
-  if (!installBtn->isVisible() && install_ready) {
-    device()->resetInteractiveTimeout(30);
-  }
-
-  installBtn->setVisible(install_ready);
+  installBtn->setVisible((!is_onroad || parked) && params.getBool("UpdateAvailable"));
   installBtn->setValue(QString::fromStdString(params.get("UpdaterNewDescription")));
   installBtn->setDescription(QString::fromStdString(params.get("UpdaterNewReleaseNotes")));
 
diff --git a/selfdrive/ui/qt/onroad/alerts.cc b/selfdrive/ui/qt/onroad/alerts.cc
index 355c71754b53dc..8e2a2c8464b9ac 100644
--- a/selfdrive/ui/qt/onroad/alerts.cc
+++ b/selfdrive/ui/qt/onroad/alerts.cc
@@ -17,8 +17,8 @@ void OnroadAlerts::updateState(const UIState &s) {
 
   hide_alerts = scene.hide_alerts;
   road_name_ui = scene.road_name_ui;
-  show_aol_status_bar = scene.show_aol_status_bar;
-  show_cem_status_bar = scene.show_cem_status_bar;
+  show_aol_status_bar = scene.aol_status_bar;
+  show_cem_status_bar = scene.cem_status_bar;
 }
 
 void OnroadAlerts::clear() {
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.cc b/selfdrive/ui/qt/onroad/annotated_camera.cc
index fe965a760a2c36..6cf11f55cb727f 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.cc
+++ b/selfdrive/ui/qt/onroad/annotated_camera.cc
@@ -65,7 +65,7 @@ void AnnotatedCameraWidget::updateState(int alert_height, const UIState &s) {
 
   // Handle older routes where vEgoCluster is not set
   v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
-  float v_ego = v_ego_cluster_seen && !s.scene.wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
+  float v_ego = v_ego_cluster_seen && !s.scene.use_wheel_speed ? car_state.getVEgoCluster() : car_state.getVEgo();
   speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
   speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
@@ -76,8 +76,8 @@ void AnnotatedCameraWidget::updateState(int alert_height, const UIState &s) {
     speedLimit = speedLimit - (showSLCOffset ? slcSpeedLimitOffset : 0);
   }
 
-  has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD) || (speedLimitController && !useViennaSLCSign);
-  has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA) && !(speedLimitController && !useViennaSLCSign) || (speedLimitController && useViennaSLCSign);
+  has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD) || (speedLimitController && !useViennaSLCSign) && !hideSpeedLimit;
+  has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA) || (speedLimitController && useViennaSLCSign) && !hideSpeedLimit;
   is_metric = s.scene.is_metric;
   speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
   hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE || turnSignalAnimation && (turnSignalLeft || turnSignalRight) && (signalStyle == "traditional" || signalStyle == "traditional_gif") || bigMapOpen);
@@ -113,51 +113,49 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg);
 
   QString speedLimitStr = (speedLimit > 1) ? QString::number(std::nearbyint(speedLimit)) : "–";
-  QString speedLimitOffsetStr = slcSpeedLimitOffset == 0 ? "–" : QString::number(slcSpeedLimitOffset, 'f', 0).prepend(slcSpeedLimitOffset > 0 ? "+" : "");
+  QString speedLimitOffsetStr = (slcSpeedLimitOffset == 0) ? "–" : QString::number(slcSpeedLimitOffset, 'f', 0).prepend((slcSpeedLimitOffset > 0) ? "+" : "");
   QString speedStr = QString::number(std::nearbyint(speed));
   QString setSpeedStr = is_cruise_set ? QString::number(std::nearbyint(setSpeed - cruiseAdjustment)) : "–";
 
-  if (!hideMaxSpeed) {
-    // Draw outer box + border to contain set speed and speed limit
-    const int sign_margin = 12;
-    const int us_sign_height = 186;
-    const int eu_sign_size = 176;
-
-    const QSize default_size = {172, 204};
-    QSize set_speed_size = default_size;
-    if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
-    if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
-
-    if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
-    else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
-
-    int top_radius = 32;
-    int bottom_radius = has_eu_speed_limit ? 100 : 32;
-
-    QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
-    if (is_cruise_set && cruiseAdjustment != 0) {
-      float transition = qBound(0.0f, 5.0f * (cruiseAdjustment / setSpeed), 1.0f);
-      QColor min = whiteColor(75);
-      QColor max = vtscControllingCurve ? redColor() : greenColor();
-
-      p.setPen(QPen(QColor::fromRgbF(
-        min.redF() + transition * (max.redF() - min.redF()),
-        min.greenF() + transition * (max.greenF() - min.greenF()),
-        min.blueF() + transition * (max.blueF() - min.blueF())
-      ), 10));
-    } else if (trafficModeActive) {
-      p.setPen(QPen(redColor(), 10));
-    } else if (reverseCruise) {
-      p.setPen(QPen(blueColor(), 6));
-    } else {
-      p.setPen(QPen(whiteColor(75), 6));
-    }
-    p.setBrush(blackColor(166));
-    drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
+  // Draw outer box + border to contain set speed and speed limit
+  const int sign_margin = 12;
+  const int us_sign_height = 186;
+  const int eu_sign_size = 176;
+
+  const QSize default_size = {172, 204};
+  QSize set_speed_size = default_size;
+  if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
+  if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
+
+  if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
+  else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
+
+  int top_radius = 32;
+  int bottom_radius = has_eu_speed_limit ? 100 : 32;
+
+  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
+  if (is_cruise_set && cruiseAdjustment != 0) {
+    float transition = qBound(0.0f, 5.0f * (cruiseAdjustment / setSpeed), 1.0f);
+    QColor min = whiteColor(75);
+    QColor max = vtscControllingCurve ? redColor() : greenColor();
+
+    p.setPen(QPen(QColor::fromRgbF(
+      min.redF() + transition * (max.redF() - min.redF()),
+      min.greenF() + transition * (max.greenF() - min.greenF()),
+      min.blueF() + transition * (max.blueF() - min.blueF())
+    ), 10));
+  } else if (trafficModeActive) {
+    p.setPen(QPen(redColor(), 10));
+  } else {
+    p.setPen(QPen(whiteColor(75), 6));
+  }
+  p.setBrush(blackColor(166));
+  drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
 
+  QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
+  QColor set_speed_color = whiteColor();
+  if (!hideMaxSpeed) {
     // Draw MAX
-    QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
-    QColor set_speed_color = whiteColor();
     if (is_cruise_set) {
       if (status == STATUS_DISENGAGED) {
         max_color = whiteColor();
@@ -180,60 +178,61 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
     p.setFont(InterFont(90, QFont::Bold));
     p.setPen(set_speed_color);
     p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
+  }
 
-    const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
-    p.save();
-    // US/Canada (MUTCD style) sign
-    if (has_us_speed_limit) {
-      p.setPen(Qt::NoPen);
-      p.setBrush(whiteColor());
-      p.drawRoundedRect(sign_rect, 24, 24);
-      p.setPen(QPen(blackColor(), 6));
-      p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
-
-      p.setOpacity(slcOverridden ? 0.25 : 1.0);
-      if (speedLimitController && showSLCOffset && !slcOverridden) {
-        p.setFont(InterFont(28, QFont::DemiBold));
-        p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
-        p.setFont(InterFont(70, QFont::Bold));
-        p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
-        p.setFont(InterFont(50, QFont::DemiBold));
-        p.drawText(sign_rect.adjusted(0, 120, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr);
-      } else {
-        p.setFont(InterFont(28, QFont::DemiBold));
-        p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
-        p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
-        p.setFont(InterFont(70, QFont::Bold));
-        p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
-      }
+  const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
+  p.save();
+  // US/Canada (MUTCD style) sign
+  if (has_us_speed_limit) {
+    p.setPen(Qt::NoPen);
+    p.setBrush(whiteColor());
+    p.drawRoundedRect(sign_rect, 24, 24);
+    p.setPen(QPen(blackColor(), 6));
+    p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
+
+    p.setOpacity(slcOverridden ? 0.25 : 1.0);
+    if (speedLimitController && showSLCOffset && !slcOverridden) {
+      p.setFont(InterFont(28, QFont::DemiBold));
+      p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
+      p.setFont(InterFont(70, QFont::Bold));
+      p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
+      p.setFont(InterFont(50, QFont::DemiBold));
+      p.drawText(sign_rect.adjusted(0, 120, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr);
+    } else {
+      p.setFont(InterFont(28, QFont::DemiBold));
+      p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
+      p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
+      p.setFont(InterFont(70, QFont::Bold));
+      p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitStr);
     }
+  }
 
-    // EU (Vienna style) sign
-    if (has_eu_speed_limit) {
-      p.setPen(Qt::NoPen);
-      p.setBrush(whiteColor());
-      p.drawEllipse(sign_rect);
-      p.setPen(QPen(Qt::red, 20));
-      p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));
-
-      p.setOpacity(slcOverridden ? 0.25 : 1.0);
-      p.setPen(blackColor());
-      if (showSLCOffset) {
-        p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
-        p.drawText(sign_rect.adjusted(0, -25, 0, 0), Qt::AlignCenter, speedLimitStr);
-        p.setFont(InterFont(40, QFont::DemiBold));
-        p.drawText(sign_rect.adjusted(0, 100, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr);
-      } else {
-        p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
-        p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
-      }
+  // EU (Vienna style) sign
+  if (has_eu_speed_limit) {
+    p.setPen(Qt::NoPen);
+    p.setBrush(whiteColor());
+    p.drawEllipse(sign_rect);
+    p.setPen(QPen(Qt::red, 20));
+    p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));
+
+    p.setOpacity(slcOverridden ? 0.25 : 1.0);
+    p.setPen(blackColor());
+    if (showSLCOffset) {
+      p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
+      p.drawText(sign_rect.adjusted(0, -25, 0, 0), Qt::AlignCenter, speedLimitStr);
+      p.setFont(InterFont(40, QFont::DemiBold));
+      p.drawText(sign_rect.adjusted(0, 100, 0, 0), Qt::AlignTop | Qt::AlignHCenter, speedLimitOffsetStr);
+    } else {
+      p.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
+      p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
     }
-    p.restore();
   }
 
+  p.restore();
+
   // current speed
   if (!(bigMapOpen || hideSpeed)) {
-    if (standstillDuration != 0) {
+    if (standstillDuration > 1) {
       float transition = qBound(0.0f, standstillDuration / 120.0f, 1.0f);
       QColor start, end;
 
@@ -252,11 +251,13 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
         transition = 0.0f;
       }
 
-      float red = start.redF() + transition * (end.redF() - start.redF());
-      float green = start.greenF() + transition * (end.greenF() - start.greenF());
-      float blue = start.blueF() + transition * (end.blueF() - start.blueF());
+      QColor blendedColor(
+        start.red() + transition * (end.red() - start.red()),
+        start.green() + transition * (end.green() - start.green()),
+        start.blue() + transition * (end.blue() - start.blue())
+      );
 
-      p.setPen(QPen(QColor::fromRgbF(red, green, blue)));
+      p.setPen(QPen(blendedColor));
 
       int minutes = standstillDuration / 60;
       int seconds = standstillDuration % 60;
@@ -333,11 +334,7 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s, f
 
   // road edges
   for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
-    if (useStockColors) {
-      painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
-    } else {
-      painter.setBrush(scene.road_edges_color);
-    }
+    painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
     painter.drawPolygon(scene.road_edge_vertices[i]);
   }
 
@@ -367,14 +364,11 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s, f
       // If acceleration is between -0.25 and 0.25, resort to the theme color
       if (std::abs(acceleration[i]) < 0.25 && !useStockColors) {
         QColor color = scene.path_color;
-
-        bg.setColorAt(0.0, color);
-
-        color.setAlphaF(0.5);
-        bg.setColorAt(0.5, color);
-
-        color.setAlphaF(0.1);
-        bg.setColorAt(1.0, color);
+        bg.setColorAt(0.0f, color);
+        color.setAlphaF(0.5f);
+        bg.setColorAt(0.5f, color);
+        color.setAlphaF(0.1f);
+        bg.setColorAt(1.0f, color);
       } else {
         // speed up: 120, slow down: 0
         float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
@@ -402,15 +396,13 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s, f
 
   if (scene.show_stopping_point && scene.red_light && speed > 1 && !(conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5)) {
     QPointF last_point = scene.track_vertices.last();
-
     QPointF adjusted_point = last_point - QPointF(stopSignImg.width() / 2, stopSignImg.height());
     painter.drawPixmap(adjusted_point, stopSignImg);
 
     if (scene.show_stopping_point_metrics) {
-      QString text = QString::number(modelLength * distanceConversion) + leadDistanceUnit;
       QFont font = InterFont(35, QFont::DemiBold);
-      QFontMetrics fm(font);
-      int text_width = fm.horizontalAdvance(text);
+      QString text = QString::number(modelLength * distanceConversion) + leadDistanceUnit;
+      int text_width = QFontMetrics(font).horizontalAdvance(text);
       QPointF text_position = last_point - QPointF(text_width / 2, stopSignImg.height() + 35);
 
       painter.save();
@@ -425,9 +417,9 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s, f
   if (scene.blind_spot_path) {
     QLinearGradient bs(0, height(), 0, 0);
 
-    bs.setColorAt(0.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.6));
-    bs.setColorAt(0.5, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.4));
-    bs.setColorAt(1.0, QColor::fromHslF(0 / 360., 0.75, 0.50, 0.2));
+    bs.setColorAt(0.0f, QColor::fromHslF(0 / 360.0f, 0.75f, 0.5f, 0.6f));
+    bs.setColorAt(0.5f, QColor::fromHslF(0 / 360.0f, 0.75f, 0.5f, 0.4f));
+    bs.setColorAt(1.0f, QColor::fromHslF(0 / 360.0f, 0.75f, 0.5f, 0.2f));
 
     painter.setBrush(bs);
     if (blindSpotLeft) {
@@ -439,67 +431,68 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s, f
   }
 
   // Paint adjacent lane paths
-  if ((scene.adjacent_path || scene.adjacent_path_metrics) && v_ego > scene.minimum_lane_change_speed) {
-    const float minLaneWidth = laneDetectionWidth * 0.5f;
-    const float maxLaneWidth = laneDetectionWidth * 1.5f;
-
-    auto paintLane = [&](const QPolygonF &lane, float laneWidth, bool blindspot) {
-      QLinearGradient gradient(0, height(), 0, 0);
+  if ((scene.adjacent_path || scene.adjacent_path_metrics) && v_ego >= scene.minimum_lane_change_speed) {
+    QLinearGradient ap(0, height(), 0, 0);
 
-      bool redPath = laneWidth < minLaneWidth || laneWidth > maxLaneWidth || blindspot;
-      float hue = redPath ? 0.0f : 120.0f * (laneWidth - minLaneWidth) / (maxLaneWidth - minLaneWidth);
-      float hueF = hue / 360.0f;
+    std::function<void(float)> setAdjacentPathColors = [&](float hue) {
+      ap.setColorAt(0.0f, QColor::fromHslF(hue / 360.0f, 0.75f, 0.5f, 0.6f));
+      ap.setColorAt(0.5f, QColor::fromHslF(hue / 360.0f, 0.75f, 0.5f, 0.4f));
+      ap.setColorAt(1.0f, QColor::fromHslF(hue / 360.0f, 0.75f, 0.5f, 0.2f));
+    };
 
-      gradient.setColorAt(0.0, QColor::fromHslF(hueF, 0.75f, 0.50f, 0.6f));
-      gradient.setColorAt(0.5, QColor::fromHslF(hueF, 0.75f, 0.50f, 0.4f));
-      gradient.setColorAt(1.0, QColor::fromHslF(hueF, 0.75f, 0.50f, 0.2f));
+    std::function<void(const QPolygonF&, float, bool)> drawAdjacentLane = [&](const QPolygonF &lane, float laneWidth, bool isBlindSpot) {
+      if (isBlindSpot) {
+        setAdjacentPathColors(0.0f);
+      } else {
+        float hue = 120.0f * (1 - fmin(fabs(laneWidth - laneDetectionWidth) / (laneDetectionWidth / 2), 1));
+        setAdjacentPathColors(hue);
+      }
 
-      painter.setBrush(gradient);
+      painter.setBrush(ap);
       painter.drawPolygon(lane);
 
       if (scene.adjacent_path_metrics) {
         painter.setFont(InterFont(30, QFont::DemiBold));
         painter.setPen(Qt::white);
 
-        QRectF boundingRect = lane.boundingRect();
-        QString text = blindspot ? tr("Vehicle in blind spot") : QString::number(laneWidth * distanceConversion, 'f', 2) + leadDistanceUnit;
-        painter.drawText(boundingRect, Qt::AlignCenter, text);
-
+        QString text = isBlindSpot ? tr("Vehicle in blind spot") : QString::number(laneWidth * distanceConversion, 'f', 2) + leadDistanceUnit;
+        painter.drawText(lane.boundingRect(), Qt::AlignCenter, text);
         painter.setPen(Qt::NoPen);
       }
     };
 
-    paintLane(scene.track_adjacent_vertices[4], scene.lane_width_left, blindSpotLeft);
-    paintLane(scene.track_adjacent_vertices[5], scene.lane_width_right, blindSpotRight);
+    drawAdjacentLane(scene.track_adjacent_vertices[4], scene.lane_width_left, blindSpotLeft);
+    drawAdjacentLane(scene.track_adjacent_vertices[5], scene.lane_width_right, blindSpotRight);
   }
 
   // Paint path edges
   QLinearGradient pe(0, height(), 0, 0);
-  auto setGradientColors = [&](const QColor &baseColor) {
-    pe.setColorAt(0.0, baseColor);
+
+  std::function<void(QLinearGradient&, const QColor&)> setPathEdgeColors = [&](QLinearGradient &gradient, const QColor &baseColor) {
+    gradient.setColorAt(0.0f, baseColor);
     QColor color = baseColor;
-    color.setAlphaF(0.5);
-    pe.setColorAt(0.5, color);
-    color.setAlphaF(0.1);
-    pe.setColorAt(1.0, color);
+    color.setAlphaF(0.5f);
+    gradient.setColorAt(0.5f, color);
+    color.setAlphaF(0.1f);
+    gradient.setColorAt(1.0f, color);
   };
 
   if (alwaysOnLateralActive) {
-    setGradientColors(bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE]);
+    setPathEdgeColors(pe, bg_colors[STATUS_ALWAYS_ON_LATERAL_ACTIVE]);
   } else if (conditionalStatus == 1 || conditionalStatus == 3 || conditionalStatus == 5) {
-    setGradientColors(bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]);
+    setPathEdgeColors(pe, bg_colors[STATUS_CONDITIONAL_OVERRIDDEN]);
   } else if (experimentalMode) {
-    setGradientColors(bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]);
+    setPathEdgeColors(pe, bg_colors[STATUS_EXPERIMENTAL_MODE_ACTIVE]);
   } else if (trafficModeActive) {
-    setGradientColors(bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]);
+    setPathEdgeColors(pe, bg_colors[STATUS_TRAFFIC_MODE_ACTIVE]);
   } else if (scene.navigate_on_openpilot) {
-    setGradientColors(bg_colors[STATUS_NAVIGATION_ACTIVE]);
+    setPathEdgeColors(pe, bg_colors[STATUS_NAVIGATION_ACTIVE]);
   } else if (!useStockColors) {
-    setGradientColors(scene.path_edges_color);
+    setPathEdgeColors(pe, scene.path_edges_color);
   } else {
-    pe.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 1.0));
-    pe.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.00, 0.68, 0.5));
-    pe.setColorAt(1.0, QColor::fromHslF(112 / 360., 1.00, 0.68, 0.1));
+    pe.setColorAt(0.0f, QColor::fromHslF(148 / 360.0f, 0.94f, 0.51f, 1.0f));
+    pe.setColorAt(0.5f, QColor::fromHslF(112 / 360.0f, 1.00f, 0.68f, 0.5f));
+    pe.setColorAt(1.0f, QColor::fromHslF(112 / 360.0f, 1.00f, 0.68f, 0.1f));
   }
 
   QPainterPath path;
@@ -559,12 +552,12 @@ void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s)
   painter.restore();
 }
 
-void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, float v_ego, const QColor lead_marker_color) {
+void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, float v_ego, const QColor &lead_marker_color, bool adjacent) {
   painter.save();
 
-  const float speedBuff = useStockColors ? 10. : 25.;  // Make the center of the chevron appear sooner if a theme is active
-  const float leadBuff = useStockColors ? 40. : 100.;  // Make the center of the chevron appear sooner if a theme is active
-  const float d_rel = lead_data.getDRel();
+  const float speedBuff = useStockColors || adjacent ? 10. : 25.;  // Make the center of the chevron appear sooner if a theme is active
+  const float leadBuff = useStockColors || adjacent ? 40. : 100.;  // Make the center of the chevron appear sooner if a theme is active
+  const float d_rel = lead_data.getDRel() + (adjacent ? fabs(lead_data.getYRel()) : 0);
   const float v_rel = lead_data.getVRel();
 
   float fillAlpha = 0;
@@ -576,7 +569,7 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState
     fillAlpha = (int)(fmin(fillAlpha, 255));
   }
 
-  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), 15.0f, 30.0f) * 2.35;
+  float sz = std::clamp((25 * 30) / (d_rel / 3 + 30), adjacent ? 5.0f : 15.0f, adjacent ? 20.0f : 30.0f) * 2.35;
   float x = std::clamp((float)vd.x(), 0.f, width() - sz / 2);
   float y = std::fmin(height() - sz * .6, (float)vd.y());
 
@@ -602,21 +595,38 @@ void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState
     painter.setPen(Qt::white);
     painter.setFont(InterFont(35, QFont::Bold));
 
-    QString text = QString("%1 %2 | %3 %4 | %5 %6")
-                    .arg(qRound(d_rel * distanceConversion))
-                    .arg(leadDistanceUnit)
-                    .arg(qRound(lead_speed * speedConversion))
-                    .arg(leadSpeedUnit)
-                    .arg(QString::number(d_rel / std::max(v_ego, 1.0f), 'f', 1))
-                    .arg("s");
+    QString text;
+    if (adjacent) {
+      text = QString("%1 %2 | %3 %4")
+              .arg(qRound(d_rel * distanceConversion))
+              .arg(leadDistanceUnit)
+              .arg(qRound(lead_speed * speedConversion))
+              .arg(leadSpeedUnit);
+    } else {
+      text = QString("%1 %2 | %3 %4 | %5 %6")
+              .arg(qRound(d_rel * distanceConversion))
+              .arg(leadDistanceUnit)
+              .arg(qRound(lead_speed * speedConversion))
+              .arg(leadSpeedUnit)
+              .arg(QString::number(d_rel / std::max(v_ego, 1.0f), 'f', 1))
+              .arg("s");
+    }
 
     QFontMetrics metrics(painter.font());
     int middle_x = (chevron[2].x() + chevron[0].x()) / 2;
+    int textHeight = metrics.height();
     int textWidth = metrics.horizontalAdvance(text);
     int text_x = middle_x - textWidth / 2;
-    int text_y = chevron[0].y() + metrics.height() + 5;
+    int text_y = chevron[0].y() + textHeight + 5;
+
+    if (!adjacent) {
+      lead_x = x + text_x + textWidth;
+      lead_y = y + text_y + textHeight;
+    }
 
-    painter.drawText(text_x, text_y, text);
+    if (!adjacent || fabs((x + text_x + textWidth) - lead_x) >= textWidth || fabs((y + text_y + textHeight) - lead_y) >= textHeight) {
+      painter.drawText(text_x, text_y, text);
+    }
   }
 
   painter.restore();
@@ -691,11 +701,29 @@ void AnnotatedCameraWidget::paintEvent(QPaintEvent *event) {
       update_leads(s, radar_state, model.getPosition());
       auto lead_one = radar_state.getLeadOne();
       auto lead_two = radar_state.getLeadTwo();
-      if (lead_one.getStatus()) {
-        drawLead(painter, lead_one, s->scene.lead_vertices[0], v_ego, s->scene.lead_marker_color);
+      auto lead_left = radar_state.getLeadLeft();
+      auto lead_right = radar_state.getLeadRight();
+      auto lead_left_far = radar_state.getLeadLeftFar();
+      auto lead_right_far = radar_state.getLeadRightFar();
+      if (lead_left.getStatus()) {
+        drawLead(painter, lead_left, s->scene.lead_vertices[2], v_ego, blueColor(), true);
+      }
+      if (lead_right.getStatus()) {
+        drawLead(painter, lead_right, s->scene.lead_vertices[3], v_ego, redColor(), true);
+      }
+      if (lead_left_far.getStatus()) {
+        drawLead(painter, lead_left_far, s->scene.lead_vertices[4], v_ego, greenColor(), true);
+      }
+      if (lead_right_far.getStatus()) {
+        drawLead(painter, lead_right_far, s->scene.lead_vertices[5], v_ego, whiteColor(), true);
       }
       if (lead_two.getStatus()) {
         drawLead(painter, lead_two, s->scene.lead_vertices[1], v_ego, s->scene.lead_marker_color);
+      } else if (lead_one.getStatus()) {
+        drawLead(painter, lead_one, s->scene.lead_vertices[0], v_ego, s->scene.lead_marker_color);
+      } else {
+        lead_x = 0;
+        lead_y = 0;
       }
     }
   }
@@ -846,7 +874,7 @@ void AnnotatedCameraWidget::updateFrogPilotVariables(int alert_height, const UIS
   alertHeight = alert_height;
 
   alwaysOnLateralActive = scene.always_on_lateral_active;
-  showAlwaysOnLateralStatusBar = scene.show_aol_status_bar;
+  showAlwaysOnLateralStatusBar = scene.aol_status_bar;
 
   blindSpotLeft = scene.blind_spot_left;
   blindSpotRight = scene.blind_spot_right;
@@ -861,10 +889,10 @@ void AnnotatedCameraWidget::updateFrogPilotVariables(int alert_height, const UIS
     bottom_layout->setAlignment(compass_img, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight));
   }
 
-  conditionalSpeed = scene.conditional_speed;
-  conditionalSpeedLead = scene.conditional_speed_lead;
+  conditionalSpeed = scene.conditional_limit;
+  conditionalSpeedLead = scene.conditional_limit_lead;
   conditionalStatus = scene.conditional_status;
-  showConditionalExperimentalStatusBar = scene.show_cem_status_bar;
+  showConditionalExperimentalStatusBar = scene.cem_status_bar;
 
   cruiseAdjustment = scene.disable_curve_speed_smoothing || !is_cruise_set ? fmax(setSpeed - scene.adjusted_cruise, 0) : fmax(0.25 * (setSpeed - scene.adjusted_cruise) + 0.75 * cruiseAdjustment - 1, 0);
   vtscControllingCurve = scene.vtsc_controlling_curve;
@@ -879,10 +907,11 @@ void AnnotatedCameraWidget::updateFrogPilotVariables(int alert_height, const UIS
   hideMapIcon = scene.hide_map_icon;
   hideMaxSpeed = scene.hide_max_speed;
   hideSpeed = scene.hide_speed;
+  hideSpeedLimit = scene.hide_speed_limit;
 
   laneDetectionWidth = scene.lane_detection_width;
 
-  leadInfo = scene.lead_info;
+  leadInfo = scene.lead_metrics;
   obstacleDistance = scene.obstacle_distance;
   obstacleDistanceStock = scene.obstacle_distance_stock;
 
@@ -910,8 +939,6 @@ void AnnotatedCameraWidget::updateFrogPilotVariables(int alert_height, const UIS
     pedal_icons->updateState(scene);
   }
 
-  reverseCruise = scene.reverse_cruise;
-
   roadNameUI = scene.road_name_ui;
 
   bool enableScreenRecorder = scene.screen_recorder && !mapOpen;
@@ -921,12 +948,12 @@ void AnnotatedCameraWidget::updateFrogPilotVariables(int alert_height, const UIS
   }
 
   speedLimitController = scene.speed_limit_controller;
-  showSLCOffset = speedLimitController && scene.show_slc_offset;
+  showSLCOffset = speedLimitController && scene.show_speed_limit_offset;
   slcOverridden = speedLimitController && scene.speed_limit_overridden;
   slcSpeedLimitOffset = scene.speed_limit_offset * (is_metric ? MS_TO_KPH : MS_TO_MPH);
   speedLimitChanged = speedLimitController && scene.speed_limit_changed;
   unconfirmedSpeedLimit = speedLimitController ? scene.unconfirmed_speed_limit : 0;
-  useViennaSLCSign = scene.use_vienna_slc_sign;
+  useViennaSLCSign = scene.speed_limit_vienna;
 
   bool stoppedTimer = scene.stopped_timer && scene.standstill && scene.started_timer / UI_FREQ >= 10 && !mapOpen;
   if (stoppedTimer) {
@@ -944,7 +971,7 @@ void AnnotatedCameraWidget::updateFrogPilotVariables(int alert_height, const UIS
   turnSignalLeft = scene.turn_signal_left;
   turnSignalRight = scene.turn_signal_right;
 
-  useSI = scene.use_si;
+  useSI = scene.use_si_metrics;
 
   useStockColors = scene.use_stock_colors;
 }
@@ -1114,7 +1141,7 @@ void AnnotatedCameraWidget::drawLeadInfo(QPainter &p) {
 
   auto createDiffText = [&](double data, double stockData) {
     double difference = std::round((data - stockData) * distanceConversion);
-    return difference != 0 ? QString(" (%1%2)").arg(difference > 0 ? "+" : "").arg(difference) : QString();
+    return difference > 1 ? QString(" (%1%2)").arg(difference > 0 ? "+" : "").arg(difference) : QString();
   };
 
   p.save();
diff --git a/selfdrive/ui/qt/onroad/annotated_camera.h b/selfdrive/ui/qt/onroad/annotated_camera.h
index ed7abc88c4bbdf..c8a81a29892ee2 100644
--- a/selfdrive/ui/qt/onroad/annotated_camera.h
+++ b/selfdrive/ui/qt/onroad/annotated_camera.h
@@ -62,6 +62,8 @@ class AnnotatedCameraWidget : public CameraWidget {
   void updateState(int alert_height, const UIState &s);
 
   MapSettingsButton *map_settings_btn;
+
+  // FrogPilot variables
   MapSettingsButton *map_settings_btn_bottom;
 
 private:
@@ -90,15 +92,14 @@ class AnnotatedCameraWidget : public CameraWidget {
   bool wide_cam_requested = false;
 
   // FrogPilot widgets
-  void initializeFrogPilotWidgets();
-  void paintFrogPilotWidgets(QPainter &painter);
-  void updateFrogPilotVariables(int alert_height, const UIScene &scene);
-  void updateSignals();
-
   void drawLeadInfo(QPainter &p);
   void drawSLCConfirmation(QPainter &p);
   void drawStatusBar(QPainter &p);
   void drawTurnSignals(QPainter &p);
+  void initializeFrogPilotWidgets();
+  void paintFrogPilotWidgets(QPainter &painter);
+  void updateFrogPilotVariables(int alert_height, const UIScene &scene);
+  void updateSignals();
 
   // FrogPilot variables
   Params paramsMemory{"/dev/shm/params"};
@@ -108,8 +109,22 @@ class AnnotatedCameraWidget : public CameraWidget {
   PedalIcons *pedal_icons;
   ScreenRecorder *screenRecorder;
 
+  QElapsedTimer standstillTimer;
+
   QHBoxLayout *bottom_layout;
 
+  QPixmap stopSignImg;
+
+  QString accelerationUnit;
+  QString leadDistanceUnit;
+  QString leadSpeedUnit;
+  QString signalStyle;
+
+  QTimer *animationTimer;
+
+  QVector<QPixmap> blindspotImages;
+  QVector<QPixmap> signalImages;
+
   bool alwaysOnLateralActive;
   bool bigMapOpen;
   bool blindSpotLeft;
@@ -119,10 +134,10 @@ class AnnotatedCameraWidget : public CameraWidget {
   bool hideMapIcon;
   bool hideMaxSpeed;
   bool hideSpeed;
+  bool hideSpeedLimit;
   bool leadInfo;
   bool mapOpen;
   bool onroadDistanceButton;
-  bool reverseCruise;
   bool roadNameUI;
   bool showAlwaysOnLateralStatusBar;
   bool showConditionalExperimentalStatusBar;
@@ -145,6 +160,8 @@ class AnnotatedCameraWidget : public CameraWidget {
   float cruiseAdjustment;
   float distanceConversion;
   float laneDetectionWidth;
+  float lead_x;
+  float lead_y;
   float slcSpeedLimitOffset;
   float speedConversion;
   float unconfirmedSpeedLimit;
@@ -168,20 +185,6 @@ class AnnotatedCameraWidget : public CameraWidget {
   int stoppedEquivalence;
   int totalFrames;
 
-  QElapsedTimer standstillTimer;
-
-  QPixmap stopSignImg;
-
-  QString accelerationUnit;
-  QString leadDistanceUnit;
-  QString leadSpeedUnit;
-  QString signalStyle;
-
-  QTimer *animationTimer;
-
-  QVector<QPixmap> blindspotImages;
-  QVector<QPixmap> signalImages;
-
   inline QColor blueColor(int alpha = 255) { return QColor(0, 150, 255, alpha); }
   inline QColor greenColor(int alpha = 242) { return QColor(23, 134, 68, alpha); }
 
@@ -191,7 +194,7 @@ class AnnotatedCameraWidget : public CameraWidget {
   void showEvent(QShowEvent *event) override;
   void updateFrameMat() override;
   void drawLaneLines(QPainter &painter, const UIState *s, float v_ego);
-  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, float v_ego, const QColor lead_marker_color);
+  void drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd, float v_ego, const QColor &lead_marker_color, bool adjacent = false);
   void drawHud(QPainter &p);
   void drawDriverState(QPainter &painter, const UIState *s);
   void paintEvent(QPaintEvent *event) override;
diff --git a/selfdrive/ui/qt/onroad/buttons.cc b/selfdrive/ui/qt/onroad/buttons.cc
index 73a95455387b1d..2f0722ccb58747 100644
--- a/selfdrive/ui/qt/onroad/buttons.cc
+++ b/selfdrive/ui/qt/onroad/buttons.cc
@@ -56,7 +56,7 @@ void ExperimentalButton::changeMode() {
   }
 }
 
-void ExperimentalButton::updateState(const UIState &s, bool lead_info) {
+void ExperimentalButton::updateState(const UIState &s, bool lead_metrics) {
   const auto cs = (*s.sm)["controlsState"].getControlsState();
   bool eng = cs.getEngageable() || cs.getEnabled() || always_on_lateral_active;
   if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
@@ -77,7 +77,7 @@ void ExperimentalButton::updateState(const UIState &s, bool lead_info) {
   rotating_wheel = scene.rotating_wheel;
   traffic_mode_active = scene.traffic_mode_active;
   use_stock_wheel = scene.use_stock_wheel;
-  y_offset = lead_info ? 10 : 0;
+  y_offset = lead_metrics ? 10 : 0;
 
   if (rotating_wheel && steering_angle_deg != scene.steering_angle_deg) {
     steering_angle_deg = scene.steering_angle_deg;
@@ -276,5 +276,5 @@ void DistanceButton::paintEvent(QPaintEvent *event) {
   QPainter p(this);
   p.setRenderHints(QPainter::Antialiasing | QPainter::TextAntialiasing);
 
-  drawIcon(p, QPoint((btn_size / 2) + (UI_BORDER_SIZE * 0.5), btn_size - (UI_BORDER_SIZE * 1.5)), profile_image, Qt::transparent, 1.0);
+  drawIcon(p, QPoint((btn_size / 2) + UI_BORDER_SIZE, btn_size - (UI_BORDER_SIZE * 1.5)), profile_image, Qt::transparent, 1.0);
 }
diff --git a/selfdrive/ui/qt/onroad/buttons.h b/selfdrive/ui/qt/onroad/buttons.h
index bfe143b65d7dee..ec08db2b9f12ea 100644
--- a/selfdrive/ui/qt/onroad/buttons.h
+++ b/selfdrive/ui/qt/onroad/buttons.h
@@ -14,7 +14,7 @@ class ExperimentalButton : public QPushButton {
 
 public:
   explicit ExperimentalButton(QWidget *parent = 0);
-  void updateState(const UIState &s, bool lead_info);
+  void updateState(const UIState &s, bool lead_metrics);
 
   // FrogPilot widgets
   ~ExperimentalButton();
diff --git a/selfdrive/ui/qt/onroad/onroad_home.cc b/selfdrive/ui/qt/onroad/onroad_home.cc
index 3634f99bcdfc7a..22cb6fb15118a0 100644
--- a/selfdrive/ui/qt/onroad/onroad_home.cc
+++ b/selfdrive/ui/qt/onroad/onroad_home.cc
@@ -95,10 +95,10 @@ void OnroadWindow::updateState(const UIState &s) {
   liveValid = scene.live_valid;
   showBlindspot = scene.show_blind_spot && (blindSpotLeft || blindSpotRight);
   showFPS = scene.show_fps;
-  showJerk = scene.show_jerk;
-  showSignal = scene.show_signal && (turnSignalLeft || turnSignalRight);
-  showSteering = scene.show_steering;
-  showTuning = scene.show_tuning;
+  showJerk = scene.jerk_metrics;
+  showSignal = scene.signal_metrics && (turnSignalLeft || turnSignalRight);
+  showSteering = scene.steering_metrics;
+  showTuning = scene.lateral_tuning_metrics;
   speedJerk = scene.speed_jerk;
   speedJerkDifference = scene.speed_jerk_difference;
   steer = scene.steer;
@@ -127,35 +127,20 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
   QRect leftRect(0, 0, size.width() / 2, size.height());
   QRect rightRect(size.width() / 2, 0, size.width() / 2, size.height());
 
-  QRect hideSpeedRect(rect().center().x() - 175, 50, 350, 350);
-  QRect speedLimitRect(7, 250, 225, 225);
-
   if (scene.speed_limit_changed && (leftRect.contains(pos) || rightRect.contains(pos))) {
     bool slcConfirmed = leftRect.contains(pos) ? !scene.right_hand_drive : scene.right_hand_drive;
-    paramsMemory.putBoolNonBlocking("SLCConfirmed", slcConfirmed);
-    paramsMemory.putBoolNonBlocking("SLCConfirmedPressed", true);
-    return;
-  }
-
-  if (hideSpeedRect.contains(pos) && scene.hide_speed_ui) {
-    scene.hide_speed = !scene.hide_speed;
-    params.putBoolNonBlocking("HideSpeed", scene.hide_speed);
-    return;
-  }
-
-  if (speedLimitRect.contains(pos) && scene.show_slc_offset_ui) {
-    scene.show_slc_offset = !scene.show_slc_offset;
-    params.putBoolNonBlocking("ShowSLCOffset", scene.show_slc_offset);
+    paramsMemory.putBool("SLCConfirmed", slcConfirmed);
+    paramsMemory.putBool("SLCConfirmedPressed", true);
     return;
   }
 
-  if (scene.experimental_mode_via_screen && pos != timeoutPoint) {
+  if (scene.experimental_mode_via_tap && pos != timeoutPoint) {
     if (clickTimer.isActive()) {
       clickTimer.stop();
 
       if (scene.conditional_experimental) {
         int override_value = (scene.conditional_status >= 1 && scene.conditional_status <= 6) ? 0 : (scene.conditional_status >= 7 ? 5 : 6);
-        paramsMemory.putIntNonBlocking("CEStatus", override_value);
+        paramsMemory.putInt("CEStatus", override_value);
       } else {
         params.putBoolNonBlocking("ExperimentalMode", !params.getBool("ExperimentalMode"));
       }
@@ -427,9 +412,8 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
       avgFPS = totalFPS / fpsQueue.size();
     }
 
-    QString fpsDisplayString = QString("FPS: %1 (%2) | Min: %3 | Max: %4 | Avg: %5")
+    QString fpsDisplayString = QString("FPS: %1 | Min: %3 | Max: %4 | Avg: %5")
         .arg(qRound(fps))
-        .arg(paramsMemory.getInt("CameraFPS"))
         .arg(qRound(minFPS))
         .arg(qRound(maxFPS))
         .arg(qRound(avgFPS));
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index abadeaca9af493..abb864eb3676a4 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -62,6 +62,7 @@ void Sidebar::updateIcon(QLabel *&label, QMovie *&gif, const QString &gifPath, c
   if (gif != nullptr) {
     gif->stop();
     delete gif;
+    gif = nullptr;
     label->hide();
   }
 
@@ -114,24 +115,26 @@ void Sidebar::mousePressEvent(QMouseEvent *event) {
     isCPU = (showChip == 1);
     isGPU = (showChip == 2);
 
-    scene.is_CPU = isCPU;
-    scene.is_GPU = isGPU;
+    scene.cpu_metrics = isCPU;
+    scene.gpu_metrics = isGPU;
 
     params.putBoolNonBlocking("ShowCPU", isCPU);
     params.putBoolNonBlocking("ShowGPU", isGPU);
 
     update();
     return;
-  } else if (memoryRect.contains(pos) && isSidebarMetrics) {
+  }
+
+  if (memoryRect.contains(pos) && isSidebarMetrics) {
     showMemory = (showMemory + 1) % 4;
 
     isMemoryUsage = (showMemory == 1);
     isStorageLeft = (showMemory == 2);
     isStorageUsed = (showMemory == 3);
 
-    scene.is_memory = isMemoryUsage;
-    scene.is_storage_left = isStorageLeft;
-    scene.is_storage_used = isStorageUsed;
+    scene.memory_metrics = isMemoryUsage;
+    scene.storage_left_metrics = isStorageLeft;
+    scene.storage_used_metrics = isStorageUsed;
 
     params.putBoolNonBlocking("ShowMemoryUsage", isMemoryUsage);
     params.putBoolNonBlocking("ShowStorageLeft", isStorageLeft);
@@ -139,7 +142,9 @@ void Sidebar::mousePressEvent(QMouseEvent *event) {
 
     update();
     return;
-  } else if (tempRect.contains(pos) && isSidebarMetrics) {
+  }
+
+  if (tempRect.contains(pos) && isSidebarMetrics) {
     showTemp = (showTemp + 1) % 3;
 
     isFahrenheit = showTemp == 2;
@@ -152,11 +157,15 @@ void Sidebar::mousePressEvent(QMouseEvent *event) {
 
     update();
     return;
-  } else if (onroad && home_btn.contains(pos)) {
+  }
+
+  if (onroad && home_btn.contains(pos)) {
     flag_pressed = true;
     update();
     return;
-  } else if (settings_btn.contains(pos)) {
+  }
+
+  if (settings_btn.contains(pos)) {
     settings_pressed = true;
     update();
     return;
@@ -197,7 +206,6 @@ void Sidebar::updateState(const UIState &s) {
       settings_gif = nullptr;
       settings_label->hide();
     }
-
     return;
   }
 
@@ -214,7 +222,7 @@ void Sidebar::updateState(const UIState &s) {
     connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color};
   } else {
     connectStatus = nanos_since_boot() - last_ping < 80e9
-                        ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, sidebar_color1}
+                        ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, sidebar_color3}
                         : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color};
   }
   setProperty("connectStatus", QVariant::fromValue(connectStatus));
@@ -239,16 +247,16 @@ void Sidebar::updateState(const UIState &s) {
   // FrogPilot variables
   const UIScene &scene = s.scene;
 
-  isCPU = scene.is_CPU;
+  isCPU = scene.cpu_metrics;
   isFahrenheit = scene.fahrenheit;
-  isGPU = scene.is_GPU;
-  isIP = scene.is_IP;
-  isMemoryUsage = scene.is_memory;
+  isGPU = scene.gpu_metrics;
+  isIP = scene.ip_metrics;
+  isMemoryUsage = scene.memory_metrics;
   isNumericalTemp = scene.numerical_temp;
   isRandomEvents = scene.random_events;
-  isStorageLeft = scene.is_storage_left;
-  isStorageUsed = scene.is_storage_used;
   isSidebarMetrics = scene.sidebar_metrics;
+  isStorageLeft = scene.storage_left_metrics;
+  isStorageUsed = scene.storage_used_metrics;
 
   bool useStockColors = scene.use_stock_colors;
   sidebar_color1 = useStockColors ? good_color : scene.sidebar_color1;
@@ -264,18 +272,15 @@ void Sidebar::updateState(const UIState &s) {
     auto cpu_loads = deviceState.getCpuUsagePercent();
     int cpu_usage = cpu_loads.size() != 0 ? std::accumulate(cpu_loads.begin(), cpu_loads.end(), 0) / cpu_loads.size() : 0;
     int gpu_usage = deviceState.getGpuUsagePercent();
-
-    QString cpu = QString::number(cpu_usage) + "%";
-    QString gpu = QString::number(gpu_usage) + "%";
-
-    QString metric = isGPU ? gpu : cpu;
     int usage = isGPU ? gpu_usage : cpu_usage;
 
-    ItemStatus cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), metric}, sidebar_color2};
+    QString chip_usage = QString::number(usage) + "%";
+
+    ItemStatus cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), chip_usage}, sidebar_color2};
     if (usage >= 85) {
-      cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), metric}, danger_color};
+      cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), chip_usage}, danger_color};
     } else if (usage >= 70) {
-      cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), metric}, warning_color};
+      cpuStatus = {{isGPU ? tr("GPU") : tr("CPU"), chip_usage}, warning_color};
     }
     setProperty("cpuStatus", QVariant::fromValue(cpuStatus));
   }
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index 6fa7bac1dca313..8bbc2aad74091b 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -70,7 +70,6 @@ public slots:
   // FrogPilot widgets
   void showEvent(QShowEvent *event);
   void updateIcon(QLabel *&label, QMovie *&gif, const QString &gifPath, const QRect &btnRect, const QString &pngPath, bool &isGif);
-  void updateIcons();
 
   // FrogPilot variables
   Params params;
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 1b8b1e94954baa..914b04b6544445 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -298,12 +298,6 @@ void CameraWidget::paintGL() {
   glViewport(0, 0, glWidth(), glHeight());
   glBindVertexArray(frame_vao);
   glUseProgram(program->programId());
-
-  GLenum error = glGetError();
-  if (error != GL_NO_ERROR) {
-    qDebug() << "OpenGL error after glUseProgram: " << error;
-  }
-
   glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
 
 #ifdef QCOM2
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index a69442e20f65b0..0300ff0a4214ae 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -206,7 +206,7 @@ void InputDialog::updateMaxLengthSublabel(const QString &text) {
 // ConfirmationDialog
 
 ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString &confirm_text, const QString &cancel_text,
-                                       const bool rich, QWidget *parent) : DialogBase(parent) {
+                                       const bool rich, QWidget *parent, const bool is_long) : DialogBase(parent) {
   QFrame *container = new QFrame(this);
   container->setStyleSheet(R"(
     QFrame { background-color: #1B1B1B; color: #C9C9C9; }
@@ -214,7 +214,7 @@ ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString
     #confirm_btn:pressed { background-color: #3049F4; }
   )");
   QVBoxLayout *main_layout = new QVBoxLayout(container);
-  main_layout->setContentsMargins(32, rich ? 32 : 120, 32, 32);
+  main_layout->setContentsMargins(32, rich || is_long ? 32 : 120, 32, 32);
 
   QLabel *prompt = new QLabel(prompt_text, this);
   prompt->setWordWrap(true);
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
index d321137efde30d..fb02351d0c7560 100644
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/selfdrive/ui/qt/widgets/input.h
@@ -65,7 +65,7 @@ class ConfirmationDialog : public DialogBase {
 
 public:
   explicit ConfirmationDialog(const QString &prompt_text, const QString &confirm_text,
-                              const QString &cancel_text, const bool rich, QWidget* parent);
+                              const QString &cancel_text, const bool rich, QWidget* parent, const bool is_long=false);
   static bool alert(const QString &prompt_text, QWidget *parent);
   static bool confirm(const QString &prompt_text, const QString &confirm_text, QWidget *parent);
   static bool rich(const QString &prompt_text, QWidget *parent);
diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc
index fa829cc934bc93..0b41e7580f9eb6 100644
--- a/selfdrive/ui/qt/widgets/wifi.cc
+++ b/selfdrive/ui/qt/widgets/wifi.cc
@@ -103,7 +103,7 @@ WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
     }
     not_uploading_layout->addLayout(title_layout);
 
-    QLabel *desc = new QLabel(tr("Toggle off the 'Disable Uploading' toggle to enable uploads."));
+    QLabel *desc = new QLabel(tr("Toggle off the 'Turn Off Data Uploads' toggle to re-enable uploads."));
     desc->setStyleSheet("font-size: 48px; font-weight: 400;");
     desc->setWordWrap(true);
     not_uploading_layout->addWidget(desc);
@@ -128,6 +128,5 @@ void WiFiPromptWidget::updateState(const UIState &s) {
   auto network_type = sm["deviceState"].getDeviceState().getNetworkType();
   auto uploading = network_type == cereal::DeviceState::NetworkType::WIFI ||
       network_type == cereal::DeviceState::NetworkType::ETHERNET;
-  bool uploading_disabled = params.getBool("DeviceManagement") && params.getBool("NoUploads");
-  stack->setCurrentIndex(uploading_disabled ? 2 : uploading ? 1 : 0);
+  stack->setCurrentIndex(s.scene.no_uploads ? 2 : uploading ? 1 : 0);
 }
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 4e4bd36a1fad07..52c4107189401f 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -92,7 +92,7 @@ bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
     case QEvent::MouseButtonPress:
     case QEvent::MouseMove: {
       // ignore events when device is awakened by resetInteractiveTimeout
-      ignore = !device()->isAwake();
+      ignore = !device()->isAwake() || uiState()->scene.driver_camera_timer >= 10;
       device()->resetInteractiveTimeout(uiState()->scene.screen_timeout, uiState()->scene.screen_timeout_onroad);
       break;
     }
diff --git a/selfdrive/ui/soundd.py b/selfdrive/ui/soundd.py
index 75e238373007ea..5c81d04b2ccc1e 100644
--- a/selfdrive/ui/soundd.py
+++ b/selfdrive/ui/soundd.py
@@ -14,8 +14,7 @@
 
 from openpilot.system import micd
 
-from openpilot.selfdrive.frogpilot.frogpilot_functions import ACTIVE_THEME_PATH, RANDOM_EVENTS_PATH
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_variables import ACTIVE_THEME_PATH, RANDOM_EVENTS_PATH, get_frogpilot_toggles, params_memory
 
 SAMPLE_RATE = 48000
 SAMPLE_BUFFER = 4096 # (approx 100ms)
@@ -55,6 +54,7 @@
   AudibleAlert.nessie: ("nessie.wav", 1, MAX_VOLUME),
   AudibleAlert.noice: ("noice.wav", 1, MAX_VOLUME),
   AudibleAlert.promptRepeat: ("prompt_repeat.wav", None, MAX_VOLUME),
+  AudibleAlert.thisIsFine: ("this_is_fine.wav", None, MAX_VOLUME),
   AudibleAlert.uwu: ("uwu.wav", 1, MAX_VOLUME),
 }
 
@@ -79,8 +79,9 @@ def __init__(self):
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
     # FrogPilot variables
-    self.frogpilot_toggles = FrogPilotVariables.toggles
-    FrogPilotVariables.update_frogpilot_params()
+    self.frogpilot_toggles = get_frogpilot_toggles()
+
+    self.auto_volume = 0
 
     self.previous_sound_pack = None
 
@@ -97,11 +98,10 @@ def __init__(self):
       AudibleAlert.mail: MAX_VOLUME,
       AudibleAlert.nessie: MAX_VOLUME,
       AudibleAlert.noice: MAX_VOLUME,
+      AudibleAlert.thisIsFine: MAX_VOLUME,
       AudibleAlert.uwu: MAX_VOLUME,
     }
 
-    self.update_toggles = False
-
     self.update_frogpilot_sounds()
 
   def load_sounds(self):
@@ -186,17 +186,19 @@ def soundd_thread(self):
     # sounddevice must be imported after forking processes
     import sounddevice as sd
 
-    sm = messaging.SubMaster(['controlsState', 'microphone'])
+    sm = messaging.SubMaster(['controlsState', 'microphone', 'frogpilotPlan'])
 
     with self.get_stream(sd) as stream:
       rk = Ratekeeper(20)
 
       cloudlog.info(f"soundd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}, {stream.blocksize=}")
-      while True:
+      while not params_memory.get_bool("TestingSound"):
         sm.update(0)
 
         if sm.updated['microphone'] and self.current_alert == AudibleAlert.none: # only update volume filter when not playing alert
           if self.frogpilot_toggles.alert_volume_control:
+            self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
+            self.auto_volume = self.calculate_volume(float(self.spl_filter_weighted.x))
             self.current_volume = 0.0
           else:
             self.spl_filter_weighted.update(sm["microphone"].soundPressureWeightedDb)
@@ -204,6 +206,8 @@ def soundd_thread(self):
 
         elif self.frogpilot_toggles.alert_volume_control and self.current_alert in self.volume_map:
           self.current_volume = self.volume_map[self.current_alert] / 100.0
+          if self.current_volume == 1.01:
+            self.current_volume = self.auto_volume
 
         elif self.current_alert in self.random_events_map:
           self.current_volume = self.random_events_map[self.current_alert]
@@ -215,12 +219,9 @@ def soundd_thread(self):
         assert stream.active
 
         # Update FrogPilot parameters
-        if FrogPilotVariables.toggles_updated:
-          self.update_toggles = True
-        elif self.update_toggles:
-          FrogPilotVariables.update_frogpilot_params()
+        if sm['frogpilotPlan'].togglesUpdated:
+          self.frogpilot_toggles = get_frogpilot_toggles()
           self.update_frogpilot_sounds()
-          self.update_toggles = False
 
   def update_frogpilot_sounds(self):
     self.volume_map = {
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index d8a219944843d5..bdf97f12f39be9 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -45,16 +45,23 @@ int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_h
 }
 
 void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
-  cereal::RadarState::LeadData::Reader (cereal::RadarState::Reader::*get_lead_data[2])() const = {
+  SubMaster &sm = *(s->sm);
+  float path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];
+
+  cereal::RadarState::LeadData::Reader (cereal::RadarState::Reader::*get_lead_data[6])() const = {
     &cereal::RadarState::Reader::getLeadOne,
     &cereal::RadarState::Reader::getLeadTwo,
+    &cereal::RadarState::Reader::getLeadLeft,
+    &cereal::RadarState::Reader::getLeadRight,
+    &cereal::RadarState::Reader::getLeadLeftFar,
+    &cereal::RadarState::Reader::getLeadRightFar
   };
 
-  for (int i = 0; i < 2; ++i) {
+  for (int i = 0; i < 6; ++i) {
     auto lead_data = (radar_state.*get_lead_data[i])();
     if (lead_data.getStatus()) {
       float z = line.getZ()[get_path_length_idx(line, lead_data.getDRel())];
-      calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + 1.22, &s->scene.lead_vertices[i]);
+      calib_frame_to_full_frame(s, lead_data.getDRel(), -lead_data.getYRel(), z + path_offset_z, &s->scene.lead_vertices[i]);
     }
   }
 }
@@ -84,7 +91,9 @@ void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
 void update_model(UIState *s,
                   const cereal::ModelDataV2::Reader &model,
                   const cereal::UiPlan::Reader &plan) {
+  SubMaster &sm = *(s->sm);
   UIScene &scene = s->scene;
+  float path_offset_z = sm["liveCalibration"].getLiveCalibration().getHeight()[0];
   auto plan_position = plan.getPosition();
   scene.model_length = model.getPosition().getX()[33 - 1];
   if (plan_position.getX().size() < model.getPosition().getX().size()) {
@@ -129,7 +138,7 @@ void update_model(UIState *s,
     auto lead_count = model.getLeadsV3().size();
     if (lead_count > 0) {
       auto lead_one = model.getLeadsV3()[0];
-      scene.has_lead = lead_one.getProb() > scene.lead_detection_threshold;
+      scene.has_lead = lead_one.getProb() > scene.lead_detection_probability;
 
       if (scene.has_lead) {
         const float lead_d = lead_one.getX()[0] * 2.;
@@ -140,7 +149,7 @@ void update_model(UIState *s,
     }
   } else {
     auto lead_one = (*s->sm)["radarState"].getRadarState().getLeadOne();
-    scene.has_lead = lead_one.getModelProb() > scene.lead_detection_threshold;
+    scene.has_lead = lead_one.getModelProb() > scene.lead_detection_probability;
 
     if (scene.has_lead) {
       const float lead_d = lead_one.getDRel() * 2.;
@@ -148,10 +157,10 @@ void update_model(UIState *s,
     }
   }
   max_idx = get_path_length_idx(plan_position, max_distance);
-  update_line_data(s, plan_position, scene.model_ui ? path_width * (1 - scene.path_edge_width / 100.0f) : 0.9, 1.22, &scene.track_vertices, max_idx, false);
+  update_line_data(s, plan_position, scene.model_ui ? path_width * (1 - (scene.path_edge_width / 100.0f)) : 0.9, path_offset_z, &scene.track_vertices, max_idx, false);
 
   // Update path edges
-  update_line_data(s, plan_position, scene.model_ui ? path_width : 0, 1.22, &scene.track_edge_vertices, max_idx, false);
+  update_line_data(s, plan_position, scene.model_ui ? path_width : 0, path_offset_z, &scene.track_edge_vertices, max_idx, false);
 }
 
 void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) {
@@ -196,6 +205,7 @@ static void update_sockets(UIState *s) {
 }
 
 static void update_state(UIState *s) {
+  Params params = Params();
   SubMaster &sm = *(s->sm);
   UIScene &scene = s->scene;
 
@@ -297,6 +307,10 @@ static void update_state(UIState *s) {
     scene.stopped_equivalence = frogpilotPlan.getStoppedEquivalenceFactor();
     scene.unconfirmed_speed_limit = frogpilotPlan.getUnconfirmedSlcSpeedLimit();
     scene.vtsc_controlling_curve = frogpilotPlan.getVtscControllingCurve();
+    if (frogpilotPlan.getTogglesUpdated()) {
+      scene.frogpilot_toggles = QJsonDocument::fromJson(QString::fromStdString(params.get("FrogPilotToggles")).toUtf8()).object();
+      ui_update_params(s);
+    }
   }
   if (sm.updated("liveLocationKalman")) {
     auto liveLocationKalman = sm["liveLocationKalman"].getLiveLocationKalman();
@@ -328,146 +342,110 @@ static void update_state(UIState *s) {
 }
 
 void ui_update_params(UIState *s) {
-  auto params = Params();
-  s->scene.is_metric = params.getBool("IsMetric");
-  s->scene.map_on_left = params.getBool("NavSettingLeftSide");
+  std::thread([=] {
+    auto params = Params();
+    s->scene.is_metric = params.getBool("IsMetric");
+    s->scene.map_on_left = params.getBool("NavSettingLeftSide");
 
-  ui_update_frogpilot_params(s, params);
+    ui_update_frogpilot_params(s);
+  }).detach();
 }
 
-void ui_update_frogpilot_params(UIState *s, Params &params) {
+void ui_update_frogpilot_params(UIState *s) {
+  loadThemeColors("", true);
+
   UIScene &scene = s->scene;
 
-  std::string carParams = params.get("CarParamsPersistent");
-  if (!carParams.empty()) {
-    AlignedBuffer aligned_buf;
-    capnp::FlatArrayMessageReader cmsg(aligned_buf.align(carParams.data(), carParams.size()));
-    cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
-    scene.longitudinal_control = hasLongitudinalControl(CP);
-  }
-
-  float distance_conversion = scene.is_metric ? 1.0f : FOOT_TO_METER;
-  float small_distance_conversion = scene.is_metric ? 1.0f : INCH_TO_CM;
-  float speed_conversion = scene.is_metric ? 1 / MS_TO_KPH : 1 / MS_TO_MPH;
-
-  bool advanced_custom_onroad_ui = params.getBool("AdvancedCustomUI");
-  scene.camera_view = advanced_custom_onroad_ui ? params.getInt("CameraView") : 0;
-  scene.hide_lead_marker = advanced_custom_onroad_ui && params.getBool("HideLeadMarker");
-  scene.hide_speed = advanced_custom_onroad_ui && params.getBool("HideSpeed");
-  scene.hide_speed_ui = scene.hide_speed && params.getBool("HideSpeedUI");
-  bool hide_ui_elements = advanced_custom_onroad_ui && params.getBool("HideUIElements");
-  scene.hide_alerts = hide_ui_elements && params.getBool("HideAlerts");
-  scene.hide_map_icon = hide_ui_elements && params.getBool("HideMapIcon");
-  scene.hide_max_speed = hide_ui_elements && params.getBool("HideMaxSpeed");
-  scene.show_stopping_point = advanced_custom_onroad_ui && params.getBool("ShowStoppingPoint");
-  scene.show_stopping_point_metrics = scene.show_stopping_point && params.getBool("ShowStoppingPointMetrics");
-  scene.wheel_speed = advanced_custom_onroad_ui && params.getBool("WheelSpeed");
-
-  bool always_on_lateral = params.getBool("AlwaysOnLateral");
-  scene.show_aol_status_bar = always_on_lateral && !params.getBool("HideAOLStatusBar");
-
-  bool personalize_openpilot = params.getBool("PersonalizeOpenpilot");
+  scene.acceleration_path = scene.frogpilot_toggles.value("acceleration_path").toBool();
+  scene.adjacent_path = scene.frogpilot_toggles.value("adjacent_paths").toBool();
+  scene.adjacent_path_metrics = scene.frogpilot_toggles.value("adjacent_path_metrics").toBool();
+  scene.always_on_lateral = scene.frogpilot_toggles.value("always_on_lateral").toBool();
+  scene.aol_status_bar = scene.frogpilot_toggles.value("always_on_lateral_status_bar").toBool();
+  scene.big_map = scene.frogpilot_toggles.value("big_map").toBool();
+  scene.blind_spot_path = scene.frogpilot_toggles.value("blind_spot_path").toBool();
+  scene.camera_view = scene.frogpilot_toggles.value("camera_view").toDouble();
+  scene.cem_status_bar = scene.frogpilot_toggles.value("conditional_status_bar").toBool();
+  scene.compass = scene.frogpilot_toggles.value("compass").toBool();
+  scene.conditional_experimental = scene.frogpilot_toggles.value("conditional_experimental_mode").toBool();
+  scene.conditional_limit = scene.frogpilot_toggles.value("conditional_limit").toDouble();
+  scene.conditional_limit_lead = scene.frogpilot_toggles.value("conditional_limit_lead").toDouble();
+  scene.cpu_metrics = scene.frogpilot_toggles.value("cpu_metrics").toBool();
+  scene.driver_camera_in_reverse = scene.frogpilot_toggles.value("driver_camera_in_reverse").toBool();
+  scene.dynamic_path_width = scene.frogpilot_toggles.value("dynamic_path_width").toBool();
+  scene.dynamic_pedals_on_ui = scene.frogpilot_toggles.value("dynamic_pedals_on_ui").toBool();
+  scene.experimental_mode_via_tap = scene.frogpilot_toggles.value("experimental_mode_via_tap").toBool();
+  scene.fahrenheit = scene.frogpilot_toggles.value("fahrenheit").toBool();
+  scene.frogs_go_moo = scene.frogpilot_toggles.value("frogs_go_moo").toBool();
+  scene.full_map = scene.frogpilot_toggles.value("full_map").toBool();
+  scene.gpu_metrics = scene.frogpilot_toggles.value("gpu_metrics").toBool();
+  scene.hide_alerts = scene.frogpilot_toggles.value("hide_alerts").toBool();
+  scene.hide_lead_marker = scene.frogpilot_toggles.value("hide_lead_marker").toBool();
+  scene.hide_map_icon = scene.frogpilot_toggles.value("hide_map_icon").toBool();
+  scene.hide_max_speed = scene.frogpilot_toggles.value("hide_max_speed").toBool();
+  scene.hide_speed = scene.frogpilot_toggles.value("hide_speed").toBool();
+  scene.hide_speed_limit = scene.frogpilot_toggles.value("hide_speed_limit").toBool();
+  scene.ip_metrics = scene.frogpilot_toggles.value("ip_metrics").toBool();
+  scene.jerk_metrics = scene.frogpilot_toggles.value("jerk_metrics").toBool();
+  scene.lateral_tuning_metrics = scene.has_auto_tune && scene.frogpilot_toggles.value("lateral_tuning_metrics").toBool();
+  scene.lane_detection_width = scene.frogpilot_toggles.value("lane_detection_width").toDouble();
+  scene.lane_line_width = scene.frogpilot_toggles.value("lane_line_width").toDouble();
   scene.lane_lines_color = loadThemeColors("LaneLines");
+  scene.lead_detection_probability = scene.frogpilot_toggles.value("lead_detection_probability").toDouble();
   scene.lead_marker_color = loadThemeColors("LeadMarker");
+  scene.lead_metrics = scene.frogpilot_toggles.value("lead_metrics").toBool();
+  scene.map_style = scene.frogpilot_toggles.value("map_style").toDouble();
+  scene.memory_metrics = scene.frogpilot_toggles.value("memory_metrics").toBool();
+  scene.minimum_lane_change_speed = scene.frogpilot_toggles.value("minimum_lane_change_speed").toDouble();
+  scene.model_randomizer = scene.frogpilot_toggles.value("model_randomizer").toBool();
+  scene.model_ui = scene.frogpilot_toggles.value("model_ui").toBool();
+  scene.no_logging = scene.frogpilot_toggles.value("no_logging").toBool();
+  scene.no_uploads = scene.frogpilot_toggles.value("no_uploads").toBool();
+  scene.numerical_temp = scene.frogpilot_toggles.value("numerical_temp").toBool();
+  scene.onroad_distance_button = scene.frogpilot_toggles.value("onroad_distance_button").toBool();
   scene.path_color = loadThemeColors("Path");
+  scene.path_edge_width = scene.frogpilot_toggles.value("path_edge_width").toDouble();
   scene.path_edges_color = loadThemeColors("PathEdge");
-  scene.road_edges_color = loadThemeColors("RoadEdges");
+  scene.path_width = scene.frogpilot_toggles.value("path_width").toDouble();
+  scene.pedals_on_ui = scene.frogpilot_toggles.value("pedals_on_ui").toBool();
+  scene.radarless_model = scene.frogpilot_toggles.value("radarless_model").toBool();
+  scene.random_events = scene.frogpilot_toggles.value("random_events").toBool();
+  scene.road_edge_width = scene.frogpilot_toggles.value("road_edge_width").toDouble();
+  scene.road_name_ui = scene.frogpilot_toggles.value("road_name_ui").toBool();
+  scene.rotating_wheel = scene.frogpilot_toggles.value("rotating_wheel").toBool();
+  if (scene.screen_brightness == -1) {
+    scene.screen_brightness = scene.frogpilot_toggles.value("screen_brightness").toDouble();
+  }
+  if (scene.screen_brightness_onroad == -1) {
+    scene.screen_brightness_onroad = scene.frogpilot_toggles.value("screen_brightness_onroad").toDouble();
+  }
+  scene.screen_recorder = scene.frogpilot_toggles.value("screen_recorder").toBool();
+  scene.screen_timeout = scene.frogpilot_toggles.value("screen_timeout").toDouble();
+  scene.screen_timeout_onroad = scene.frogpilot_toggles.value("screen_timeout_onroad").toDouble();
+  scene.show_blind_spot = scene.frogpilot_toggles.value("blind_spot_metrics").toBool();
+  scene.show_fps = scene.frogpilot_toggles.value("show_fps").toBool();
+  scene.show_speed_limit_offset = scene.frogpilot_toggles.value("show_speed_limit_offset").toBool();
+  scene.show_stopping_point = scene.frogpilot_toggles.value("show_stopping_point").toBool();
+  scene.show_stopping_point_metrics = scene.frogpilot_toggles.value("show_stopping_point_metrics").toBool();
   scene.sidebar_color1 = loadThemeColors("Sidebar1");
   scene.sidebar_color2 = loadThemeColors("Sidebar2");
   scene.sidebar_color3 = loadThemeColors("Sidebar3");
-  scene.use_stock_colors = !personalize_openpilot || params.getBool("UseStockColors");
-  scene.use_stock_wheel = !personalize_openpilot || QString::fromStdString(params.get("WheelIcon")) == "stock";
-
-  scene.conditional_experimental = scene.longitudinal_control && params.getBool("ConditionalExperimental");
-  scene.conditional_speed = scene.conditional_experimental ? params.getInt("CESpeed") : 0;
-  scene.conditional_speed_lead = scene.conditional_experimental ? params.getInt("CESpeedLead") : 0;
-  scene.show_cem_status_bar = scene.conditional_experimental && !params.getBool("HideCEMStatusBar");
-
-  bool custom_onroad_ui = params.getBool("CustomUI");
-  bool custom_paths = custom_onroad_ui && params.getBool("CustomPaths");
-  scene.acceleration_path = custom_paths && params.getBool("AccelerationPath");
-  scene.adjacent_path = custom_paths && params.getBool("AdjacentPath");
-  scene.blind_spot_path = custom_paths && params.getBool("BlindSpotPath");
-  scene.compass = custom_onroad_ui && params.getBool("Compass");
-  scene.dynamic_path_width = custom_onroad_ui && params.getBool("DynamicPathWidth");
-  scene.pedals_on_ui = custom_onroad_ui && params.getBool("PedalsOnUI");
-  scene.dynamic_pedals_on_ui = scene.pedals_on_ui && params.getBool("DynamicPedalsOnUI");
-  scene.static_pedals_on_ui = scene.pedals_on_ui && params.getBool("StaticPedalsOnUI");
-  scene.road_name_ui = custom_onroad_ui && params.getBool("RoadNameUI");
-  scene.rotating_wheel = custom_onroad_ui && params.getBool("RotatingWheel");
-
-  bool developer_ui = params.getBool("DeveloperUI");
-  bool border_metrics = developer_ui && params.getBool("BorderMetrics");
-  scene.show_blind_spot = border_metrics && params.getBool("BlindSpotMetrics");
-  scene.show_fps = developer_ui && params.getBool("FPSCounter");
-  scene.show_signal = border_metrics && params.getBool("SignalMetrics");
-  scene.show_steering = border_metrics && params.getBool("ShowSteering");
-  bool show_lateral = developer_ui && params.getBool("LateralMetrics");
-  scene.adjacent_path_metrics = show_lateral && params.getBool("AdjacentPathMetrics");
-  scene.show_tuning = show_lateral && scene.has_auto_tune && params.getBool("TuningInfo");
-  bool show_longitudinal = scene.longitudinal_control && developer_ui && params.getBool("LongitudinalMetrics");
-  scene.lead_info = show_longitudinal && params.getBool("LeadInfo");
-  scene.show_jerk = show_longitudinal && params.getBool("JerkInfo");
-  scene.numerical_temp = developer_ui && params.getBool("NumericalTemp");
-  scene.fahrenheit = scene.numerical_temp && params.getBool("Fahrenheit");
-  scene.sidebar_metrics = developer_ui && params.getBool("SidebarMetrics");
-  scene.is_CPU = scene.sidebar_metrics && params.getBool("ShowCPU");
-  scene.is_GPU = scene.sidebar_metrics && params.getBool("ShowGPU");
-  scene.is_IP = scene.sidebar_metrics && params.getBool("ShowIP");
-  scene.is_memory = scene.sidebar_metrics && params.getBool("ShowMemoryUsage");
-  scene.is_storage_left = scene.sidebar_metrics && params.getBool("ShowStorageLeft");
-  scene.is_storage_used = scene.sidebar_metrics && params.getBool("ShowStorageUsed");
-  scene.use_si = developer_ui && params.getBool("UseSI");
-
-  scene.disable_curve_speed_smoothing = params.getBool("CurveSpeedControl") && params.getBool("DisableCurveSpeedSmoothing");
-
-  scene.experimental_mode_via_screen = scene.longitudinal_control && params.getBool("ExperimentalModeActivation") && params.getBool("ExperimentalModeViaTap");
-
-  bool lane_change_customizations = params.getBool("LaneChangeCustomizations");
-  scene.lane_detection_width = lane_change_customizations ? params.getInt("LaneDetectionWidth") * distance_conversion / 10.0f : 2.75f;
-  scene.minimum_lane_change_speed = lane_change_customizations ? params.getInt("MinimumLaneChangeSpeed") * speed_conversion : 20 * (1 / MS_TO_MPH);
-
-  bool advanced_longitudinal_tune = scene.longitudinal_control && params.getBool("AdvancedLongitudinalTune");
-  scene.radarless_model = params.get("Model") == "radical-turtle";
-  scene.lead_detection_threshold = advanced_longitudinal_tune && !scene.radarless_model ? params.getInt("LeadDetectionThreshold") / 100.0f : 0.5;
-
-  bool model_manager = params.getBool("ModelManagement");
-  scene.model_randomizer = model_manager && params.getBool("ModelRandomizer");
-
-  scene.model_ui = params.getBool("ModelUI");
-  scene.lane_line_width = params.getInt("LaneLinesWidth") * small_distance_conversion / 200.0f;
-  scene.path_edge_width = params.getInt("PathEdgeWidth");
-  scene.path_width = params.getFloat("PathWidth") * distance_conversion / 2.0f;
-  scene.road_edge_width = params.getInt("RoadEdgesWidth") * small_distance_conversion / 200.0f;
-  scene.unlimited_road_ui_length = scene.model_ui && params.getBool("UnlimitedLength");
-
-  bool quality_of_life_longitudinal = params.getBool("QOLLongitudinal");
-  scene.onroad_distance_button = quality_of_life_longitudinal && params.getBool("OnroadDistanceButton");
-  scene.reverse_cruise = quality_of_life_longitudinal && params.getBool("ReverseCruise");
-
-  bool quality_of_life_visuals = params.getBool("QOLVisuals");
-  scene.big_map = quality_of_life_visuals && params.getBool("BigMap");
-  scene.full_map = scene.big_map && params.getBool("FullMap");
-  scene.driver_camera = quality_of_life_visuals && params.getBool("DriverCamera");
-  scene.map_style = quality_of_life_visuals ? params.getInt("MapStyle") : 0;
-  scene.standby_mode = quality_of_life_visuals && params.getBool("StandbyMode");
-  scene.stopped_timer = quality_of_life_visuals && params.getBool("StoppedTimer");
-
-  scene.random_events = params.getBool("RandomEvents");
-
-  bool screen_management = params.getBool("ScreenManagement");
-  scene.screen_brightness = screen_management ? params.getInt("ScreenBrightness") : 101;
-  scene.screen_brightness_onroad = screen_management ? params.getInt("ScreenBrightnessOnroad") : 101;
-  scene.screen_recorder = screen_management && params.getBool("ScreenRecorder");
-  scene.screen_timeout = screen_management ? params.getInt("ScreenTimeout") : 30;
-  scene.screen_timeout_onroad = screen_management ? params.getInt("ScreenTimeoutOnroad") : 10;
-
-  scene.speed_limit_controller = scene.longitudinal_control && params.getBool("SpeedLimitController");
-  scene.show_slc_offset = scene.speed_limit_controller && params.getBool("ShowSLCOffset");
-  scene.show_slc_offset_ui = scene.speed_limit_controller && params.getBool("ShowSLCOffsetUI");
-  scene.use_vienna_slc_sign = scene.speed_limit_controller && params.getBool("UseVienna");
-
-  scene.tethering_config = params.getInt("TetheringEnabled");
+  scene.sidebar_metrics = scene.frogpilot_toggles.value("sidebar_metrics").toBool();
+  scene.signal_metrics = scene.frogpilot_toggles.value("signal_metrics").toBool();
+  scene.speed_limit_controller = scene.frogpilot_toggles.value("speed_limit_controller").toBool();
+  scene.speed_limit_vienna = scene.frogpilot_toggles.value("speed_limit_vienna").toBool();
+  scene.standby_mode = scene.frogpilot_toggles.value("standby_mode").toBool();
+  scene.static_pedals_on_ui = scene.frogpilot_toggles.value("static_pedals_on_ui").toBool();
+  scene.steering_metrics = scene.frogpilot_toggles.value("steering_metrics").toBool();
+  scene.stopped_timer = scene.frogpilot_toggles.value("stopped_timer").toBool();
+  scene.storage_left_metrics = scene.frogpilot_toggles.value("storage_left_metrics").toBool();
+  scene.storage_used_metrics = scene.frogpilot_toggles.value("storage_used_metrics").toBool();
+  scene.tethering_config = scene.frogpilot_toggles.value("tethering_config").toDouble();
+  scene.unlimited_road_ui_length = scene.frogpilot_toggles.value("unlimited_road_ui_length").toBool();
+  scene.use_si_metrics = scene.frogpilot_toggles.value("use_si_metrics").toBool();
+  scene.use_stock_colors = (scene.frogpilot_toggles.value("color_scheme").toString() == "stock");
+  scene.use_stock_wheel = (scene.frogpilot_toggles.value("wheel_image").toString() == "stock");
+  scene.use_wheel_speed = scene.frogpilot_toggles.value("use_wheel_speed").toBool();
+
   if (scene.tethering_config == 1) {
     WifiManager(s).setTetheringEnabled(true);
   }
@@ -535,6 +513,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   // FrogPilot variables
   wifi = new WifiManager(this);
 
+  scene.frogpilot_toggles = QJsonDocument::fromJson(QString::fromStdString(params.get("FrogPilotToggles")).toUtf8()).object();
   ui_update_params(this);
 }
 
@@ -548,39 +527,15 @@ void UIState::update() {
   }
   emit uiUpdate(*this);
 
-  // Update FrogPilot parameters
-  static bool theme_updated = false;
-  static bool update_toggles = false;
-
-  if (paramsMemory.getBool("FrogPilotTogglesUpdated")) {
-    update_toggles = true;
-  } else if (update_toggles) {
-    ui_update_params(this);
-    update_toggles = false;
-  }
-
-  if (paramsMemory.getBool("DriveRated")) {
-    emit driveRated();
-    paramsMemory.remove("DriveRated");
-  }
-
-  if (theme_updated) {
-    loadThemeColors("", true);
-
-    ui_update_params(this);
-
-    paramsMemory.remove("UpdateTheme");
-
-    theme_updated = false;
-  } else if (paramsMemory.getBool("UpdateTheme")) {
-    theme_updated = true;
-  }
-
-  // FrogPilot variables that need to be constantly updated
+  // FrogPilot variables
   scene.conditional_status = scene.conditional_experimental && scene.enabled ? paramsMemory.getInt("CEStatus") : 0;
-  scene.driver_camera_timer = scene.driver_camera && scene.reverse ? scene.driver_camera_timer + 1 : 0;
+  scene.driver_camera_timer = scene.driver_camera_in_reverse && scene.reverse ? scene.driver_camera_timer + 1 : 0;
   scene.force_onroad = paramsMemory.getBool("ForceOnroad");
   scene.started_timer = scene.started || started_prev ? scene.started_timer + 1 : 0;
+
+  if (scene.keep_screen_on) {
+    device()->resetInteractiveTimeout(scene.screen_timeout, scene.screen_timeout_onroad);
+  }
 }
 
 void UIState::setPrimeType(PrimeType type) {
@@ -630,7 +585,7 @@ void Device::resetInteractiveTimeout(int timeout, int timeout_onroad) {
 
 void Device::updateBrightness(const UIState &s) {
   float clipped_brightness = offroad_brightness;
-  if (s.scene.started && s.scene.light_sensor > 0) {
+  if (s.scene.started && s.scene.light_sensor >= 0) {
     clipped_brightness = s.scene.light_sensor;
 
     // CIE 1931 - https://www.photonstophotos.net/GeneralTopics/Exposure/Psychometric_Lightness_and_Gamma.htm
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 9e5596921f08be..b13573f2c36384 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -104,7 +104,7 @@ typedef struct UIScene {
   QPolygonF road_edge_vertices[2];
 
   // lead
-  QPointF lead_vertices[2];
+  QPointF lead_vertices[6];
 
   // DMoji state
   float driver_pose_vals[3];
@@ -122,27 +122,46 @@ typedef struct UIScene {
   uint64_t started_frame;
 
   // FrogPilot variables
+  QColor lane_lines_color;
+  QColor lead_marker_color;
+  QColor path_color;
+  QColor path_edges_color;
+  QColor sidebar_color1;
+  QColor sidebar_color2;
+  QColor sidebar_color3;
+
+  QJsonObject frogpilot_toggles;
+
+  QPolygonF track_adjacent_vertices[6];
+  QPolygonF track_edge_vertices;
+
   bool acceleration_path;
   bool adjacent_path;
   bool adjacent_path_metrics;
+  bool always_on_lateral;
   bool always_on_lateral_active;
+  bool aol_status_bar;
   bool big_map;
   bool blind_spot_left;
   bool blind_spot_path;
   bool blind_spot_right;
   bool brake_lights_on;
+  bool cem_status_bar;
   bool compass;
   bool conditional_experimental;
+  bool cpu_metrics;
   bool disable_curve_speed_smoothing;
-  bool driver_camera;
+  bool driver_camera_in_reverse;
   bool dynamic_path_width;
   bool dynamic_pedals_on_ui;
   bool enabled;
   bool experimental_mode;
-  bool experimental_mode_via_screen;
+  bool experimental_mode_via_tap;
   bool fahrenheit;
   bool force_onroad;
+  bool frogs_go_moo;
   bool full_map;
+  bool gpu_metrics;
   bool has_auto_tune;
   bool has_lead;
   bool hide_alerts;
@@ -150,18 +169,19 @@ typedef struct UIScene {
   bool hide_map_icon;
   bool hide_max_speed;
   bool hide_speed;
-  bool hide_speed_ui;
-  bool is_CPU;
-  bool is_GPU;
-  bool is_IP;
-  bool is_memory;
-  bool is_storage_left;
-  bool is_storage_used;
-  bool lead_info;
+  bool hide_speed_limit;
+  bool ip_metrics;
+  bool jerk_metrics;
+  bool keep_screen_on;
+  bool lateral_tuning_metrics;
+  bool lead_metrics;
   bool live_valid;
   bool map_open;
+  bool memory_metrics;
   bool model_randomizer;
   bool model_ui;
+  bool no_logging;
+  bool no_uploads;
   bool numerical_temp;
   bool online;
   bool onroad_distance_button;
@@ -171,44 +191,40 @@ typedef struct UIScene {
   bool random_events;
   bool red_light;
   bool reverse;
-  bool reverse_cruise;
   bool right_hand_drive;
   bool road_name_ui;
   bool rotating_wheel;
   bool screen_recorder;
-  bool show_aol_status_bar;
   bool show_blind_spot;
-  bool show_cem_status_bar;
   bool show_fps;
-  bool show_jerk;
-  bool show_signal;
-  bool show_slc_offset;
-  bool show_slc_offset_ui;
-  bool show_steering;
+  bool show_speed_limit_offset;
   bool show_stopping_point;
   bool show_stopping_point_metrics;
-  bool show_tuning;
   bool sidebar_metrics;
+  bool signal_metrics;
   bool speed_limit_changed;
   bool speed_limit_controller;
   bool speed_limit_overridden;
+  bool speed_limit_vienna;
   bool standby_mode;
   bool standstill;
   bool static_pedals_on_ui;
+  bool steering_metrics;
   bool stopped_timer;
+  bool storage_left_metrics;
+  bool storage_used_metrics;
   bool tethering_enabled;
   bool traffic_mode;
   bool traffic_mode_active;
   bool turn_signal_left;
   bool turn_signal_right;
   bool unlimited_road_ui_length;
-  bool use_si;
+  bool use_si_metrics;
   bool use_stock_colors;
   bool use_stock_wheel;
-  bool use_vienna_slc_sign;
+  bool use_wheel_speed;
   bool vtsc_controlling_curve;
   bool wake_up_screen;
-  bool wheel_speed;
 
   double fps;
 
@@ -222,7 +238,7 @@ typedef struct UIScene {
   float lane_width_left;
   float lane_width_right;
   float lat_accel;
-  float lead_detection_threshold;
+  float lead_detection_probability;
   float path_edge_width;
   float path_width;
   float road_edge_width;
@@ -236,8 +252,8 @@ typedef struct UIScene {
 
   int bearing_deg;
   int camera_view;
-  int conditional_speed;
-  int conditional_speed_lead;
+  int conditional_limit;
+  int conditional_limit_lead;
   int conditional_status;
   int desired_follow;
   int driver_camera_timer;
@@ -246,8 +262,8 @@ typedef struct UIScene {
   int model_length;
   int obstacle_distance;
   int obstacle_distance_stock;
-  int screen_brightness;
-  int screen_brightness_onroad;
+  int screen_brightness = -1;
+  int screen_brightness_onroad = -1;
   int screen_timeout;
   int screen_timeout_onroad;
   int started_timer;
@@ -255,18 +271,6 @@ typedef struct UIScene {
   int stopped_equivalence;
   int tethering_config;
 
-  QColor lane_lines_color;
-  QColor lead_marker_color;
-  QColor path_color;
-  QColor path_edges_color;
-  QColor road_edges_color;
-  QColor sidebar_color1;
-  QColor sidebar_color2;
-  QColor sidebar_color3;
-
-  QPolygonF track_adjacent_vertices[6];
-  QPolygonF track_edge_vertices;
-
 } UIScene;
 
 class UIState : public QObject {
@@ -368,4 +372,4 @@ void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
                       float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);
 
 // FrogPilot functions
-void ui_update_frogpilot_params(UIState *s, Params &params);
+void ui_update_frogpilot_params(UIState *s);
diff --git a/system/athena/registration.py b/system/athena/registration.py
index 5710c3c07823fe..3c729d34a711e2 100644
--- a/system/athena/registration.py
+++ b/system/athena/registration.py
@@ -33,9 +33,7 @@ def register(show_spinner=False) -> str | None:
   needs_registration = None in (IMEI, HardwareSerial, dongle_id)
 
   pubkey = Path(Paths.persist_root()+"/comma/id_rsa.pub")
-  if os.path.isfile("/persist/frogsgomoo.py"):
-    dongle_id = "FrogsGoMoo"
-  elif not pubkey.is_file():
+  if not pubkey.is_file():
     dongle_id = UNREGISTERED_DONGLE_ID
     cloudlog.warning(f"missing public key: {pubkey}")
   elif needs_registration:
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 67215aea993226..096e288cc2e4a2 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -958,12 +958,6 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
 }
 
 void cameras_run(MultiCameraState *s) {
-  // FrogPilot variables
-  Params paramsMemory{"/dev/shm/params"};
-  const std::chrono::seconds fpsUpdateInterval(1);
-  std::chrono::steady_clock::time_point startTime = std::chrono::steady_clock::now();
-  int frameCount = 0;
-
   LOG("-- Starting threads");
   std::vector<std::thread> threads;
   if (s->driver_cam.enabled) threads.push_back(start_process_thread(s, &s->driver_cam, process_driver_camera));
@@ -1006,17 +1000,6 @@ void cameras_run(MultiCameraState *s) {
         // for debugging
         //do_exit = do_exit || event_data->u.frame_msg.frame_id > (30*20);
 
-        frameCount++;
-
-        std::chrono::steady_clock::time_point currentTime = std::chrono::steady_clock::now();
-        if (currentTime - startTime >= fpsUpdateInterval) {
-          auto duration = std::chrono::duration_cast<std::chrono::seconds>(currentTime - startTime).count();
-          double fps = frameCount / duration;
-          paramsMemory.putIntNonBlocking("CameraFPS", fps / 3);
-          frameCount = 0;
-          startTime = currentTime;
-        }
-
         if (event_data->session_hdl == s->road_cam.session_handle) {
           s->road_cam.handle_camera_event(event_data);
         } else if (event_data->session_hdl == s->wide_road_cam.session_handle) {
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index cfde93ba101c69..60fd9322687422 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -25,7 +25,7 @@
 from openpilot.system.hardware.fan_controller import TiciFanController
 from openpilot.system.version import terms_version, training_version
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, params_memory
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -166,7 +166,7 @@ def hw_state_thread(end_event, hw_queue):
 
 def hardware_thread(end_event, hw_queue) -> None:
   pm = messaging.PubMaster(['deviceState', 'frogpilotDeviceState'])
-  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll="pandaStates")
+  sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates", "frogpilotPlan"], poll="pandaStates")
 
   count = 0
 
@@ -207,12 +207,7 @@ def hardware_thread(end_event, hw_queue) -> None:
   fan_controller = None
 
   # FrogPilot variables
-  frogpilot_toggles = FrogPilotVariables.toggles
-  FrogPilotVariables.update_frogpilot_params()
-
-  params_memory = Params("/dev/shm/params")
-
-  update_toggles = False
+  frogpilot_toggles = get_frogpilot_toggles()
 
   while not end_event.is_set():
     sm.update(PANDA_STATES_TIMEOUT)
@@ -470,11 +465,8 @@ def hardware_thread(end_event, hw_queue) -> None:
     should_start_prev = should_start
 
     # Update FrogPilot parameters
-    if FrogPilotVariables.toggles_updated:
-      update_toggles = True
-    elif update_toggles:
-      FrogPilotVariables.update_frogpilot_params(started_ts is not None)
-      update_toggles = False
+    if sm['frogpilotPlan'].togglesUpdated:
+      frogpilot_toggles = get_frogpilot_toggles()
 
 def main():
   hw_queue = queue.Queue(maxsize=1)
diff --git a/system/loggerd/uploader.py b/system/loggerd/uploader.py
index e73a7b45a1b2fc..8e6ce36351c4e9 100755
--- a/system/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -21,6 +21,8 @@
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.common.swaglog import cloudlog
 
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles
+
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.upload'
 UPLOAD_ATTR_VALUE = b'1'
@@ -242,16 +244,19 @@ def main(exit_event: threading.Event = None) -> None:
     cloudlog.info("uploader missing dongle_id")
     raise Exception("uploader can't start without dongle id")
 
-  sm = messaging.SubMaster(['deviceState'])
+  sm = messaging.SubMaster(['deviceState', 'frogpilotPlan'])
   uploader = Uploader(dongle_id, Paths.log_root())
 
   backoff = 0.1
+
+  # FrogPilot variables
+  frogpilot_toggles = get_frogpilot_toggles()
+
   while not exit_event.is_set():
     sm.update(0)
-    disable_onroad_uploads = params.get_bool("DeviceManagement") and params.get_bool("NoUploads") and params.get_bool("DisableOnroadUploads")
     offroad = params.get_bool("IsOffroad")
     network_type = sm['deviceState'].networkType if not force_wifi else NetworkType.wifi
-    at_home = not disable_onroad_uploads or offroad and network_type in (NetworkType.ethernet, NetworkType.wifi)
+    at_home = not frogpilot_toggles.no_onroad_uploads or offroad and network_type in {NetworkType.ethernet, NetworkType.wifi}
     if network_type == NetworkType.none or not at_home:
       if allow_sleep:
         time.sleep(60 if offroad else 5)
@@ -268,6 +273,9 @@ def main(exit_event: threading.Event = None) -> None:
     if allow_sleep:
       time.sleep(backoff + random.uniform(0, backoff))
 
+    # Update FrogPilot parameters
+    if sm['frogpilotPlan'].togglesUpdated:
+      frogpilot_toggles = get_frogpilot_toggles()
 
 if __name__ == "__main__":
   main()
diff --git a/system/manager/manager.py b/system/manager/manager.py
index 8fa51a8b738bfa..29dcb0efe072f3 100755
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -9,12 +9,9 @@
 from cereal import log
 import cereal.messaging as messaging
 import openpilot.system.sentry as sentry
-from openpilot.common.conversions import Conversions as CV
 from openpilot.common.params import Params, ParamKeyType
 from openpilot.common.text_window import TextWindow
-from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
 from openpilot.system.hardware import HARDWARE, PC
-from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING
 from openpilot.system.manager.helpers import unblock_stdout, write_onroad_params, save_bootlog
 from openpilot.system.manager.process import ensure_running
 from openpilot.system.manager.process_config import managed_processes
@@ -22,8 +19,8 @@
 from openpilot.common.swaglog import cloudlog, add_file_handler
 from openpilot.system.version import get_build_metadata, terms_version, training_version
 
-from openpilot.selfdrive.frogpilot.assets.model_manager import DEFAULT_MODEL, DEFAULT_MODEL_NAME
 from openpilot.selfdrive.frogpilot.frogpilot_functions import convert_params, frogpilot_boot_functions, setup_frogpilot, uninstall_frogpilot
+from openpilot.selfdrive.frogpilot.frogpilot_variables import frogpilot_default_params, get_frogpilot_toggles, params_memory
 
 
 def manager_init() -> None:
@@ -32,9 +29,7 @@ def manager_init() -> None:
   build_metadata = get_build_metadata()
 
   params = Params()
-
   setup_frogpilot(build_metadata, params)
-
   params_storage = Params("/persist/params")
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
   params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
@@ -47,10 +42,13 @@ def manager_init() -> None:
 
   default_params: list[tuple[str, str | bytes]] = [
     ("AlwaysOnDM", "0"),
+    ("CalibrationParams", ""),
     ("CarParamsPersistent", ""),
     ("CompletedTrainingVersion", "0"),
     ("DisengageOnAccelerator", "0"),
     ("ExperimentalLongitudinalEnabled", "0"),
+    ("ExperimentalMode", "0"),
+    ("ExperimentalModeConfirmed", "0"),
     ("GithubSshKeys", ""),
     ("GithubUsername", ""),
     ("GsmApn", ""),
@@ -60,6 +58,7 @@ def manager_init() -> None:
     ("IsLdwEnabled", "0"),
     ("IsMetric", "0"),
     ("LanguageSetting", "main_en"),
+    ("LiveTorqueParameters", ""),
     ("NavSettingLeftSide", "0"),
     ("NavSettingTime24h", "0"),
     ("OpenpilotEnabledToggle", "1"),
@@ -67,320 +66,6 @@ def manager_init() -> None:
     ("SshEnabled", "0"),
     ("TetheringEnabled", "0"),
     ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
-
-    # Default FrogPilot parameters
-    ("AccelerationPath", "1"),
-    ("AccelerationProfile", "2"),
-    ("AdjacentPath", "0"),
-    ("AdjacentPathMetrics", "0"),
-    ("AdvancedCustomUI", "0"),
-    ("AdvancedLateralTune", "0"),
-    ("AdvancedLongitudinalTune", "1"),
-    ("AdvancedQOLDriving", "1"),
-    ("AggressiveFollow", "1.25"),
-    ("AggressiveJerkAcceleration", "50"),
-    ("AggressiveJerkDanger", "100"),
-    ("AggressiveJerkDeceleration", "50"),
-    ("AggressiveJerkSpeed", "50"),
-    ("AggressiveJerkSpeedDecrease", "50"),
-    ("AggressivePersonalityProfile", "1"),
-    ("AlertVolumeControl", "0"),
-    ("AlwaysOnLateral", "1"),
-    ("AlwaysOnLateralLKAS", "0"),
-    ("AlwaysOnLateralMain", "1"),
-    ("AMapKey1", ""),
-    ("AMapKey2", ""),
-    ("AutomaticallyUpdateModels", "0"),
-    ("AutomaticUpdates", "1"),
-    ("AvailableModels", ""),
-    ("AvailableModelsNames", ""),
-    ("BigMap", "0"),
-    ("BlacklistedModels", ""),
-    ("BlindSpotMetrics", "0"),
-    ("BlindSpotPath", "1"),
-    ("BorderMetrics", "1"),
-    ("CameraView", "2"),
-    ("CarMake", ""),
-    ("CarModel", ""),
-    ("CarModelName", ""),
-    ("CECurves", "1"),
-    ("CECurvesLead", "1"),
-    ("CELead", "1"),
-    ("CENavigation", "1"),
-    ("CENavigationIntersections", "1"),
-    ("CENavigationLead", "1"),
-    ("CENavigationTurns", "1"),
-    ("CertifiedHerbalistCalibrationParams", ""),
-    ("CertifiedHerbalistDrives", "0"),
-    ("CertifiedHerbalistLiveTorqueParameters", ""),
-    ("CertifiedHerbalistScore", "0"),
-    ("CEModelStopTime", "8"),
-    ("CESignalSpeed", "55"),
-    ("CESignalLaneDetection", "1"),
-    ("CESlowerLead", "1"),
-    ("CESpeed", "0"),
-    ("CESpeedLead", "0"),
-    ("CEStoppedLead", "1"),
-    ("ClusterOffset", "1.015"),
-    ("Compass", "0"),
-    ("ConditionalExperimental", "1"),
-    ("CrosstrekTorque", "1"),
-    ("CurveSensitivity", "100"),
-    ("CurveSpeedControl", "1"),
-    ("CustomAlerts", "1"),
-    ("CustomColors", "frog"),
-    ("CustomCruise", "1"),
-    ("CustomCruiseLong", "5"),
-    ("CustomDistanceIcons", "stock"),
-    ("CustomIcons", "frog-animated"),
-    ("CustomPaths", "1"),
-    ("CustomPersonalities", "0"),
-    ("CustomSignals", "frog"),
-    ("CustomSounds", "frog"),
-    ("CustomUI", "1"),
-    ("DecelerationProfile", "1"),
-    ("DeveloperUI", "0"),
-    ("DeviceManagement", "1"),
-    ("DeviceShutdown", "9"),
-    ("DisableCurveSpeedSmoothing", "0"),
-    ("DisableOnroadUploads", "0"),
-    ("DisableOpenpilotLongitudinal", "0"),
-    ("DisengageVolume", "100"),
-    ("DriverCamera", "0"),
-    ("DrivingPersonalities", "0"),
-    ("DuckAmigoCalibrationParams", ""),
-    ("DuckAmigoDrives", "0"),
-    ("DuckAmigoLiveTorqueParameters", ""),
-    ("DuckAmigoScore", "0"),
-    ("DynamicPathWidth", "0"),
-    ("DynamicPedalsOnUI", "1"),
-    ("EngageVolume", "100"),
-    ("ExperimentalGMTune", "0"),
-    ("ExperimentalModeActivation", "1"),
-    ("ExperimentalModels", ""),
-    ("ExperimentalModeViaDistance", "1"),
-    ("ExperimentalModeViaLKAS", "1"),
-    ("ExperimentalModeViaTap", "0"),
-    ("Fahrenheit", "0"),
-    ("ForceAutoTune", "1"),
-    ("ForceAutoTuneOff", "0"),
-    ("ForceFingerprint", "0"),
-    ("ForceMPHDashboard", "0"),
-    ("ForceStandstill", "0"),
-    ("ForceStops", "0"),
-    ("FPSCounter", "1"),
-    ("FrogsGoMoosTweak", "1"),
-    ("FullMap", "0"),
-    ("GameBoyCalibrationParams", ""),
-    ("GameBoyDrives", "0"),
-    ("GameBoyLiveTorqueParameters", ""),
-    ("GameBoyScore", "0"),
-    ("GasRegenCmd", "1"),
-    ("GMapKey", ""),
-    ("GoatScream", "0"),
-    ("GreenLightAlert", "0"),
-    ("HideAlerts", "0"),
-    ("HideAOLStatusBar", "0"),
-    ("HideCEMStatusBar", "0"),
-    ("HideLeadMarker", "0"),
-    ("HideMapIcon", "0"),
-    ("HideMaxSpeed", "0"),
-    ("HideSpeed", "0"),
-    ("HideSpeedUI", "0"),
-    ("HideUIElements", "0"),
-    ("HolidayThemes", "1"),
-    ("HumanAcceleration", "1"),
-    ("HumanFollowing", "1"),
-    ("IncreasedStoppedDistance", "3"),
-    ("IncreaseThermalLimits", "0"),
-    ("JerkInfo", "1"),
-    ("LaneChangeCustomizations", "1"),
-    ("LaneChangeTime", "0"),
-    ("LaneDetectionWidth", "6"),
-    ("LaneLinesWidth", "4"),
-    ("LateralMetrics", "1"),
-    ("LateralTune", "1"),
-    ("LeadDepartingAlert", "0"),
-    ("LeadDetectionThreshold", "35"),
-    ("LeadInfo", "1"),
-    ("LockDoors", "1"),
-    ("LongitudinalMetrics", "1"),
-    ("LongitudinalTune", "1"),
-    ("LongPitch", "1"),
-    ("LosAngelesCalibrationParams", ""),
-    ("LosAngelesDrives", "0"),
-    ("LosAngelesLiveTorqueParameters", ""),
-    ("LosAngelesScore", "0"),
-    ("LoudBlindspotAlert", "0"),
-    ("LowVoltageShutdown", str(VBATT_PAUSE_CHARGING)),
-    ("MapAcceleration", "0"),
-    ("MapDeceleration", "0"),
-    ("MapGears", "0"),
-    ("MapboxPublicKey", ""),
-    ("MapboxSecretKey", ""),
-    ("MapsSelected", ""),
-    ("MapStyle", "10"),
-    ("MaxDesiredAcceleration", "4.0"),
-    ("MinimumLaneChangeSpeed", str(LANE_CHANGE_SPEED_MIN / CV.MPH_TO_MS)),
-    ("Model", DEFAULT_MODEL),
-    ("ModelManagement", "0"),
-    ("ModelName", DEFAULT_MODEL_NAME),
-    ("ModelRandomizer", "0"),
-    ("ModelSelector", "0"),
-    ("ModelUI", "1"),
-    ("MTSCCurvatureCheck", "0"),
-    ("MTSCEnabled", "1"),
-    ("NavigationModels", ""),
-    ("NewLongAPI", "0"),
-    ("NewLongAPIGM", "1"),
-    ("NewToyotaTune", "0"),
-    ("NNFF", "1"),
-    ("NNFFLite", "1"),
-    ("NoLogging", "0"),
-    ("NorthDakotaCalibrationParams", ""),
-    ("NorthDakotaDrives", "0"),
-    ("NorthDakotaLiveTorqueParameters", ""),
-    ("NorthDakotaScore", "0"),
-    ("NotreDameCalibrationParams", ""),
-    ("NotreDameDrives", "0"),
-    ("NotreDameLiveTorqueParameters", ""),
-    ("NotreDameScore", "0"),
-    ("NoUploads", "0"),
-    ("NudgelessLaneChange", "1"),
-    ("NumericalTemp", "1"),
-    ("OfflineMode", "1"),
-    ("Offset1", "5"),
-    ("Offset2", "5"),
-    ("Offset3", "5"),
-    ("Offset4", "10"),
-    ("OneLaneChange", "1"),
-    ("OnroadDistanceButton", "0"),
-    ("PathEdgeWidth", "20"),
-    ("PathWidth", "6.1"),
-    ("PauseAOLOnBrake", "0"),
-    ("PauseLateralOnSignal", "0"),
-    ("PauseLateralSpeed", "0"),
-    ("PedalsOnUI", "1"),
-    ("PersonalizeOpenpilot", "1"),
-    ("PreferredSchedule", "0"),
-    ("PromptDistractedVolume", "100"),
-    ("PromptVolume", "100"),
-    ("QOLLateral", "1"),
-    ("QOLLongitudinal", "1"),
-    ("QOLVisuals", "1"),
-    ("RadarlessModels", ""),
-    ("RadicalTurtleCalibrationParams", ""),
-    ("RadicalTurtleDrives", "0"),
-    ("RadicalTurtleLiveTorqueParameters", ""),
-    ("RadicalTurtleScore", "0"),
-    ("RandomEvents", "0"),
-    ("RecertifiedHerbalistCalibrationParams", ""),
-    ("RecertifiedHerbalistDrives", "0"),
-    ("RecertifiedHerbalistLiveTorqueParameters", ""),
-    ("RecertifiedHerbalistScore", "0"),
-    ("RefuseVolume", "100"),
-    ("RelaxedFollow", "1.75"),
-    ("RelaxedJerkAcceleration", "100"),
-    ("RelaxedJerkDanger", "100"),
-    ("RelaxedJerkDeceleration", "100"),
-    ("RelaxedJerkSpeed", "100"),
-    ("RelaxedJerkSpeedDecrease", "100"),
-    ("RelaxedPersonalityProfile", "1"),
-    ("ResetFrogTheme", "0"),
-    ("ReverseCruise", "0"),
-    ("RoadEdgesWidth", "2"),
-    ("RoadNameUI", "1"),
-    ("RotatingWheel", "1"),
-    ("ScreenBrightness", "101"),
-    ("ScreenBrightnessOnroad", "101"),
-    ("ScreenManagement", "1"),
-    ("ScreenRecorder", "1"),
-    ("ScreenTimeout", "30"),
-    ("ScreenTimeoutOnroad", "30"),
-    ("SearchInput", "0"),
-    ("SecretGoodOpenpilotCalibrationParams", ""),
-    ("SecretGoodOpenpilotDrives", "0"),
-    ("SecretGoodOpenpilotLiveTorqueParameters", ""),
-    ("SecretGoodOpenpilotScore", "0"),
-    ("SetSpeedLimit", "0"),
-    ("SetSpeedOffset", "0"),
-    ("ShowCPU", "1"),
-    ("ShowGPU", "0"),
-    ("ShowIP", "0"),
-    ("ShowMemoryUsage", "1"),
-    ("ShowSLCOffset", "1"),
-    ("ShowSLCOffsetUI", "1"),
-    ("ShowSteering", "1"),
-    ("ShowStoppingPoint", "0"),
-    ("ShowStoppingPointMetrics", "0"),
-    ("ShowStorageLeft", "0"),
-    ("ShowStorageUsed", "0"),
-    ("Sidebar", "0"),
-    ("SidebarMetrics", "1"),
-    ("SignalMetrics", "0"),
-    ("SLCConfirmationHigher", "1"),
-    ("SLCConfirmationLower", "1"),
-    ("SLCFallback", "2"),
-    ("SLCLookaheadHigher", "5"),
-    ("SLCLookaheadLower", "5"),
-    ("SLCOverride", "1"),
-    ("SLCPriority1", "Dashboard"),
-    ("SLCPriority2", "Offline Maps"),
-    ("SLCPriority3", "Navigation"),
-    ("SNGHack", "1"),
-    ("SpeedLimitChangedAlert", "1"),
-    ("SpeedLimitController", "1"),
-    ("StartupMessageBottom", "so I do what I want 🐸"),
-    ("StartupMessageTop", "Hippity hoppity this is my property"),
-    ("StandardFollow", "1.45"),
-    ("StandardJerkAcceleration", "100"),
-    ("StandardJerkDanger", "100"),
-    ("StandardJerkDeceleration", "100"),
-    ("StandardJerkSpeed", "100"),
-    ("StandardJerkSpeedDecrease", "100"),
-    ("StandardPersonalityProfile", "1"),
-    ("StandbyMode", "0"),
-    ("StaticPedalsOnUI", "0"),
-    ("SteerFriction", "0.1"),
-    ("SteerFrictionStock", "0.1"),
-    ("SteerLatAccel", "2.5"),
-    ("SteerLatAccelStock", "2.5"),
-    ("SteerKP", "1"),
-    ("SteerKPStock", "1"),
-    ("SteerRatio", "15"),
-    ("SteerRatioStock", "15"),
-    ("StoppedTimer", "0"),
-    ("TacoTune", "0"),
-    ("TombRaiderCalibrationParams", ""),
-    ("TombRaiderDrives", "0"),
-    ("TombRaiderLiveTorqueParameters", ""),
-    ("TombRaiderScore", "0"),
-    ("ToyotaDoors", "0"),
-    ("TrafficFollow", "0.5"),
-    ("TrafficJerkAcceleration", "50"),
-    ("TrafficJerkDanger", "100"),
-    ("TrafficJerkDeceleration", "50"),
-    ("TrafficJerkSpeed", "50"),
-    ("TrafficJerkSpeedDecrease", "50"),
-    ("TrafficPersonalityProfile", "1"),
-    ("TuningInfo", "1"),
-    ("TurnAggressiveness", "100"),
-    ("TurnDesires", "0"),
-    ("UnlimitedLength", "1"),
-    ("UnlockDoors", "1"),
-    ("UseSI", "1"),
-    ("UseVienna", "0"),
-    ("VelocityModels", ""),
-    ("VisionTurnControl", "1"),
-    ("VoltSNG", "0"),
-    ("WarningImmediateVolume", "100"),
-    ("WarningSoftVolume", "100"),
-    ("WD40CalibrationParams", ""),
-    ("WD40Drives", "0"),
-    ("WD40LiveTorqueParameters", ""),
-    ("WD40Score", "0"),
-    ("WheelIcon", "frog"),
-    ("WheelSpeed", "0")
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
@@ -389,16 +74,16 @@ def manager_init() -> None:
     params.put_bool("RecordFront", True)
 
   # set unset params
-  for k, v in default_params:
-    if params.get(k) is None or params.get_bool("DoToggleReset"):
-      if params_storage.get(k) is None:
-        params.put(k, v)
+  reset_toggles = params.get_bool("DoToggleReset")
+  for k, v in default_params + frogpilot_default_params:
+    if params.get(k) is None or reset_toggles:
+      if params_storage.get(k) is None or reset_toggles:
+        params.put(k, v if isinstance(v, bytes) else str(v).encode('utf-8'))
       else:
         params.put(k, params_storage.get(k))
     else:
       params_storage.put(k, params.get(k))
-
-  params.put_bool_nonblocking("DoToggleReset", False)
+  params.remove("DoToggleReset")
 
   # Create folders needed for msgq
   try:
@@ -467,7 +152,6 @@ def manager_thread() -> None:
   cloudlog.info({"environ": os.environ})
 
   params = Params()
-  params_memory = Params("/dev/shm/params")
 
   ignore: list[str] = []
   if params.get("DongleId", encoding='utf8') in (None, UNREGISTERED_DONGLE_ID):
@@ -476,16 +160,18 @@ def manager_thread() -> None:
     ignore.append("pandad")
   ignore += [x for x in os.getenv("BLOCK", "").split(",") if len(x) > 0]
 
-  sm = messaging.SubMaster(['deviceState', 'carParams'], poll='deviceState')
+  sm = messaging.SubMaster(['deviceState', 'carParams', 'frogpilotPlan'], poll='deviceState')
   pm = messaging.PubMaster(['managerState'])
 
   write_onroad_params(False, params)
-  ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore, secret_good_openpilot=False)
+  ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore, classic_model=False, frogpilot_toggles=get_frogpilot_toggles())
 
   started_prev = False
 
   # FrogPilot variables
-  secret_good_openpilot = params.get("Model", encoding='utf-8') == "secret-good-openpilot"
+  frogpilot_toggles = get_frogpilot_toggles()
+
+  classic_model = frogpilot_toggles.classic_model
 
   while True:
     sm.update(1000)
@@ -495,12 +181,8 @@ def manager_thread() -> None:
     if started and not started_prev:
       params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
 
-      error_log = os.path.join(sentry.CRASHES_DIR, 'error.txt')
-      if os.path.isfile(error_log):
-        os.remove(error_log)
-
       # FrogPilot variables
-      secret_good_openpilot = params.get("Model", encoding='utf-8') == "secret-good-openpilot"
+      classic_model = frogpilot_toggles.classic_model
 
     elif not started and started_prev:
       params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
@@ -512,7 +194,7 @@ def manager_thread() -> None:
 
     started_prev = started
 
-    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore, secret_good_openpilot=secret_good_openpilot)
+    ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore, classic_model=classic_model, frogpilot_toggles=frogpilot_toggles)
 
     running = ' '.join("{}{}\u001b[0m".format("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
                        for p in managed_processes.values() if p.proc)
@@ -535,6 +217,9 @@ def manager_thread() -> None:
     if shutdown:
       break
 
+    # Update FrogPilot parameters
+    if sm['frogpilotPlan'].togglesUpdated:
+      frogpilot_toggles = get_frogpilot_toggles()
 
 def main() -> None:
   manager_init()
diff --git a/system/manager/process.py b/system/manager/process.py
index 7eef9adfd09dc6..9aa03e9907b422 100644
--- a/system/manager/process.py
+++ b/system/manager/process.py
@@ -76,6 +76,9 @@ class ManagerProcess(ABC):
   watchdog_seen = False
   shutting_down = False
 
+  # FrogPilot variables
+  started_time = 0
+
   @abstractmethod
   def prepare(self) -> None:
     pass
@@ -102,11 +105,14 @@ def check_watchdog(self, started: bool, params: Params) -> None:
 
     dt = time.monotonic() - self.last_watchdog_time / 1e9
 
+    self.started_time = self.started_time + 1 if started else 0
+
     if dt > self.watchdog_max_dt:
       if self.watchdog_seen and ENABLE_WATCHDOG:
         cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
         self.restart()
-        sentry.capture_tmux(self.name, params)
+        if self.started_time > 100:
+          sentry.capture_tmux(self.name, self.started_time, params)
     else:
       self.watchdog_seen = True
 
@@ -239,7 +245,7 @@ def __init__(self, name, module, param_name, enabled=True):
     self.params = None
 
   @staticmethod
-  def should_run(started, params, CP, secret_good_openpilot):
+  def should_run(started, params, CP, classic_model, frogpilot_toggles):
     return True
 
   def prepare(self) -> None:
@@ -275,13 +281,13 @@ def stop(self, retry=True, block=True, sig=None) -> None:
 
 
 def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
-                   not_run: list[str] | None=None, secret_good_openpilot=False) -> list[ManagerProcess]:
+                   not_run: list[str] | None=None, classic_model=False, frogpilot_toggles=None) -> list[ManagerProcess]:
   if not_run is None:
     not_run = []
 
   running = []
   for p in procs:
-    if p.enabled and p.name not in not_run and p.should_run(started, params, CP, secret_good_openpilot):
+    if p.enabled and p.name not in not_run and p.should_run(started, params, CP, classic_model, frogpilot_toggles):
       running.append(p)
     else:
       p.stop(block=False)
diff --git a/system/manager/process_config.py b/system/manager/process_config.py
index 9046c89ef33aa1..39d418c33e61f9 100644
--- a/system/manager/process_config.py
+++ b/system/manager/process_config.py
@@ -7,54 +7,52 @@
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
-def driverview(started: bool, params: Params, CP: car.CarParams, secret_good_openpilot) -> bool:
+def driverview(started: bool, params: Params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
   return started or params.get_bool("IsDriverViewEnabled")
 
-def notcar(started: bool, params: Params, CP: car.CarParams, secret_good_openpilot) -> bool:
+def notcar(started: bool, params: Params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
   return started and CP.notCar
 
-def iscar(started: bool, params: Params, CP: car.CarParams, secret_good_openpilot) -> bool:
+def iscar(started: bool, params: Params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
   return started and not CP.notCar
 
-def logging(started, params, CP: car.CarParams, secret_good_openpilot) -> bool:
+def logging(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
   run = (not CP.notCar) or not params.get_bool("DisableLogging")
   return started and run
 
 def ublox_available() -> bool:
   return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
 
-def ublox(started, params, CP: car.CarParams, secret_good_openpilot) -> bool:
+def ublox(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
   use_ublox = ublox_available()
   if use_ublox != params.get_bool("UbloxAvailable"):
     params.put_bool("UbloxAvailable", use_ublox)
   return started and use_ublox
 
-def qcomgps(started, params, CP: car.CarParams, secret_good_openpilot) -> bool:
+def qcomgps(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
   return started and not ublox_available()
 
-def always_run(started, params, CP: car.CarParams, secret_good_openpilot) -> bool:
+def always_run(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
   return True
 
-def only_onroad(started: bool, params, CP: car.CarParams, secret_good_openpilot) -> bool:
+def only_onroad(started: bool, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
   return started
 
-def only_offroad(started, params, CP: car.CarParams, secret_good_openpilot) -> bool:
+def only_offroad(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
   return not started
 
 # FrogPilot functions
-def allow_logging(started, params, CP: car.CarParams, secret_good_openpilot) -> bool:
-  allow_logging = not (params.get_bool("DeviceManagement") and params.get_bool("NoLogging"))
-  return allow_logging and logging(started, params, CP, secret_good_openpilot)
+def allow_logging(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
+  return not frogpilot_toggles.no_logging and logging(started, params, CP, classic_model, frogpilot_toggles)
 
-def allow_uploads(started, params, CP: car.CarParams, secret_good_openpilot) -> bool:
-  allow_uploads = not (params.get_bool("DeviceManagement") and params.get_bool("NoUploads") and not params.get_bool("DisableOnroadUploads"))
-  return allow_uploads
+def allow_uploads(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
+  return not frogpilot_toggles.no_uploads
 
-def run_classic_modeld(started, params, CP: car.CarParams, secret_good_openpilot) -> bool:
-  return started and not secret_good_openpilot
+def run_classic_modeld(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
+  return started and classic_model
 
-def run_new_modeld(started, params, CP: car.CarParams, secret_good_openpilot) -> bool:
-  return started and secret_good_openpilot
+def run_new_modeld(started, params, CP: car.CarParams, classic_model, frogpilot_toggles) -> bool:
+  return started and not classic_model
 
 procs = [
   DaemonProcess("manage_athenad", "system.athena.manage_athenad", "AthenadPid"),
diff --git a/system/sentry.py b/system/sentry.py
index 082c71457e9f13..35bf570e6f1612 100644
--- a/system/sentry.py
+++ b/system/sentry.py
@@ -36,7 +36,7 @@ def capture_exception(*args, **kwargs) -> None:
   exc_text = traceback.format_exc()
 
   phrases_to_check = [
-    "To overwrite it, set 'overwrite' to True.",
+    "already exists. To overwrite it, set 'overwrite' to True",
   ]
 
   if any(phrase in exc_text for phrase in phrases_to_check):
@@ -87,7 +87,8 @@ def capture_fingerprint(candidate, params, blocked=False):
       matched_params[label] = {k: int(v) if isinstance(v, float) and v.is_integer() else v for k, v in sorted(key_values.items())}
 
   with sentry_sdk.configure_scope() as scope:
-    scope.fingerprint = [HARDWARE.get_serial()]
+    scope.fingerprint = [params.get("DongleId", encoding='utf-8')]
+
     for label, key_values in matched_params.items():
       scope.set_extra(label, "\n".join(f"{k}: {v}" for k, v in key_values.items()))
 
@@ -100,7 +101,7 @@ def capture_fingerprint(candidate, params, blocked=False):
   sentry_sdk.flush()
 
 
-def capture_tmux(process, params) -> None:
+def capture_tmux(process, started_time, params) -> None:
   updated = params.get("Updated", encoding='utf-8')
 
   result = subprocess.run(['tmux', 'capture-pane', '-p', '-S', '-50'], stdout=subprocess.PIPE)
@@ -109,7 +110,7 @@ def capture_tmux(process, params) -> None:
   if lines:
     with sentry_sdk.configure_scope() as scope:
       scope.set_extra("tmux_log", "\n".join(lines))
-      sentry_sdk.capture_message(f"{process} crashed - Last updated: {updated}", level='info')
+      sentry_sdk.capture_message(f"{process} crashed - Last updated: {updated} - Started time: {started_time}", level='info')
       sentry_sdk.flush()
 
 
@@ -158,6 +159,8 @@ def init(project: SentryProject) -> bool:
   else:
     env = short_branch
 
+  dongle_id = params.get("DongleId", encoding='utf-8')
+
   integrations = []
   if project == SentryProject.SELFDRIVE:
     integrations.append(ThreadingIntegration(propagate_hub=True))
@@ -170,7 +173,7 @@ def init(project: SentryProject) -> bool:
                   max_value_length=8192,
                   environment=env)
 
-  sentry_sdk.set_user({"id": HARDWARE.get_serial()})
+  sentry_sdk.set_user({"id": dongle_id})
   sentry_sdk.set_tag("origin", build_metadata.openpilot.git_origin)
   sentry_sdk.set_tag("branch", short_branch)
   sentry_sdk.set_tag("commit", build_metadata.openpilot.git_commit)
diff --git a/system/updated/updated.py b/system/updated/updated.py
index 61504c2945896e..180a4a54e08ec6 100755
--- a/system/updated/updated.py
+++ b/system/updated/updated.py
@@ -22,7 +22,7 @@
 from openpilot.system.hardware import AGNOS, HARDWARE
 from openpilot.system.version import get_build_metadata
 
-from openpilot.selfdrive.frogpilot.frogpilot_variables import FrogPilotVariables
+from openpilot.selfdrive.frogpilot.frogpilot_variables import get_frogpilot_toggles, params_memory
 
 LOCK_FILE = os.getenv("UPDATER_LOCK_FILE", "/tmp/safe_staging_overlay.lock")
 STAGING_ROOT = os.getenv("UPDATER_STAGING_ROOT", "/data/safe_staging")
@@ -274,7 +274,7 @@ def get_branch(self, path: str) -> str:
   def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str:
     return run(["git", "rev-parse", "HEAD"], path).rstrip()
 
-  def set_params(self, update_success: bool, failed_count: int, exception: str | None) -> None:
+  def set_params(self, update_success: bool, failed_count: int, exception: str | None, frogpilot_toggles: None) -> None:
     self.params.put("UpdateFailedCount", str(failed_count))
     self.params.put("UpdaterTargetBranch", self.target_branch)
 
@@ -327,7 +327,7 @@ def get_description(basedir: str) -> str:
       set_offroad_alert(alert, False)
 
     now = datetime.datetime.utcnow()
-    if FrogPilotVariables.toggles.offline_mode:
+    if frogpilot_toggles.offline_mode:
       last_update = now
     dt = now - last_update
     build_metadata = get_build_metadata()
@@ -415,11 +415,6 @@ def fetch_update(self) -> None:
 
 def main() -> None:
   params = Params()
-  params_memory = Params("/dev/shm/params")
-
-  if params.get_bool("DisableUpdates"):
-    cloudlog.warning("updates are disabled by the DisableUpdates param")
-    exit(0)
 
   with open(LOCK_FILE, 'w') as ov_lock_fd:
     try:
@@ -448,6 +443,10 @@ def main() -> None:
 
     # Run the update loop
     first_run = True
+
+    # FrogPilot variables
+    frogpilot_toggles = get_frogpilot_toggles()
+
     install_date_set = params.get("InstallDate", encoding='utf-8') is not None and params.get("Updated", encoding='utf-8') is not None
 
     while True:
@@ -460,7 +459,7 @@ def main() -> None:
         init_overlay()
 
         # ensure we have some params written soon after startup
-        updater.set_params(False, update_failed_count, exception)
+        updater.set_params(False, update_failed_count, exception, frogpilot_toggles)
 
         if not system_time_valid() or first_run:
           first_run = False
@@ -472,7 +471,7 @@ def main() -> None:
           params.put_nonblocking("InstallDate", datetime.datetime.now().astimezone(ZoneInfo('America/Phoenix')).strftime("%B %d, %Y - %I:%M%p").encode('utf8'))
           install_date_set = True
 
-        if not (params.get_bool("AutomaticUpdates") or params_memory.get_bool("ManualUpdateInitiated")):
+        if not (frogpilot_toggles.automatic_updates or params_memory.get_bool("ManualUpdateInitiated")):
           wait_helper.sleep(60*60*24*365*100)
           continue
 
@@ -512,7 +511,7 @@ def main() -> None:
       try:
         params.put("UpdaterState", "idle")
         update_successful = (update_failed_count == 0)
-        updater.set_params(update_successful, update_failed_count, exception)
+        updater.set_params(update_successful, update_failed_count, exception, frogpilot_toggles)
       except Exception:
         cloudlog.exception("uncaught updated exception while setting params, shouldn't happen")