diff --git a/docs/CARS.md b/docs/CARS.md
index f50ed2a7ef511c..9f0ed3db124828 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 333 Supported Cars
+# 334 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -126,6 +126,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 6 (without HDA II) 2023-24|Highway Driving Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (without HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
diff --git a/msgq_repo b/msgq_repo
index 6e9dbd57681365..6189f41e8c7225 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 6e9dbd57681365e272e5fb3d2af20d0d9af7e76f
+Subproject commit 6189f41e8c72256277c75299104a102632163d6a
diff --git a/opendbc_repo b/opendbc_repo
index f15cc7673a4f1b..17286eba40cc3e 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit f15cc7673a4f1bd87436eb4ce1e6bad3bdb8272d
+Subproject commit 17286eba40cc3ee69c699e9b5a2cd95c8ee0f495
diff --git a/panda b/panda
index b19b66a6f0a246..7ffc916578af93 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit b19b66a6f0a246729953cb19390dbee1e93610b2
+Subproject commit 7ffc916578af9373a165cf9df5974720d9a258a5
diff --git a/tinygrad_repo b/tinygrad_repo
index 409bb0c9ada39d..981c12182f0148 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 409bb0c9ada39dd00effaaee1887db828c9bfcf0
+Subproject commit 981c12182f01486fcff1cb7a22d44fc65c1af8d7
diff --git a/uv.lock b/uv.lock
index 48761b75cffb08..39da77d05d6cd7 100644
--- a/uv.lock
+++ b/uv.lock
@@ -5,7 +5,7 @@ requires-python = ">=3.12.3, <3.13"
 [[package]]
 name = "acados"
 version = "0.2.2"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#e33e466a477c16576cf30f73d1921dd78d4e1248" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=acados&rev=release-acados#25933c81c7db5573afe38f012f52befc15cdb804" }
 dependencies = [
     { name = "numpy" },
 ]
@@ -124,22 +124,22 @@ wheels = [
 [[package]]
 name = "bootstrap-icons"
 version = "1.10.5.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#976cd610d1eee61135d33e6fbb0a3ea1098807be" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bootstrap-icons&rev=release-bootstrap-icons#d7e41838af9320328dd7102f9288a94f0cf0fa9f" }
 
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#3d53522328d6c0eebc1ae8d07ef9669c8ad7b2f2" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#12916f9f84848239e5a69a8c5a282f3dcb0d86a3" }
 
 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#847f0ccfef2bc5c57bd8fc0c4776ff760ec1d2b9" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#a75eb83bd98440e890261f82aa8dcfbda0b0a206" }
 
 [[package]]
 name = "catch2"
 version = "2.13.10"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#f354d6cf68504032a0fbdfc552c82c09655899ab" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=catch2&rev=release-catch2#7287b4c99d23fdd87e66f9941b0e35ece6b4d91b" }
 
 [[package]]
 name = "certifi"
@@ -200,14 +200,14 @@ wheels = [
 
 [[package]]
 name = "click"
-version = "8.3.3"
+version = "8.4.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "colorama", marker = "sys_platform == 'win32'" },
 ]
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+sdist = { url = "https://files.pythonhosted.org/packages/23/e4/796662cd90cf80e3a363c99db2b88e0e394b988a575f60a17e16440cd011/click-8.4.0.tar.gz", hash = "sha256:638f1338fe1235c8f4e008e4a8a254fb5c5fbdcbb40ece3c9142ebb78e792973", size = 350843, upload-time = "2026-05-17T00:47:58.425Z" }
 wheels = [
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+    { url = "https://files.pythonhosted.org/packages/ee/ae/8e92f8058baf87f6c7d86ee7e457668690195cc77efedb8d3797a06e3940/click-8.4.0-py3-none-any.whl", hash = "sha256:40c50b7c6c6adac2823d411041ec84f3f103f1b280d5e9ce0d7f998995832f81", size = 116147, upload-time = "2026-05-17T00:47:56.842Z" },
 ]
 
 [[package]]
@@ -381,7 +381,7 @@ wheels = [
 [[package]]
 name = "eigen"
 version = "3.4.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#e0cfe8739cdc9facb8737c56e735bb6d01d9333f" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=eigen&rev=release-eigen#f855b17636a376d8399f3df03629ff3e535f6b22" }
 
 [[package]]
 name = "execnet"
@@ -395,23 +395,23 @@ wheels = [
 [[package]]
 name = "ffmpeg"
 version = "7.1.0"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#21fd4710fa30d0274321f9f9fbf3d6a30c86b2f3" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=ffmpeg&rev=release-ffmpeg#f5153626027621f8ac0cdec056d254d3a1ef6acd" }
 
 [[package]]
 name = "fonttools"
-version = "4.62.1"
+version = "4.63.0"
 source = { registry = "https://pypi.org/simple" }
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 [[package]]
@@ -442,12 +442,12 @@ wheels = [
 [[package]]
 name = "gcc-arm-none-eabi"
 version = "13.2.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#2208f61b2a42545df9935a1ac800549daefdd396" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=gcc-arm-none-eabi&rev=release-gcc-arm-none-eabi#15791161bd7a752ef821ad6d999a364b13d6e9ca" }
 
 [[package]]
 name = "git-lfs"
 version = "3.6.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#60dfda24441c49b686edd8eca32cdaac438a5440" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=git-lfs&rev=release-git-lfs#035fb711541a6d8609bb57b26c2f31813c743eb3" }
 
 [[package]]
 name = "google-crc32c"
@@ -477,11 +477,11 @@ wheels = [
 
 [[package]]
 name = "idna"
-version = "3.14"
+version = "3.15"
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 [[package]]
 name = "zeromq"
 version = "4.3.5"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#1ae3130cf64f557dc5fc30e469b2aab612389d3e" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zeromq&rev=release-zeromq#40b29e8e88a69802e8afc4f71f5c955bc2d5c74c" }
 
 [[package]]
 name = "zstandard"
@@ -1659,4 +1659,4 @@ wheels = [
 [[package]]
 name = "zstd"
 version = "1.5.6"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#fdecf7d8932fdbad96752aa187bac94a74640890" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=zstd&rev=release-zstd#13015596466eb68825f109ad0d5aefa6330cc495" }