diff --git a/cereal/messaging/__init__.py b/cereal/messaging/__init__.py
index 47d109453a5732..158e3329e73f45 100644
--- a/cereal/messaging/__init__.py
+++ b/cereal/messaging/__init__.py
@@ -263,11 +263,11 @@ def send(self, s: str, dat: Union[bytes, capnp.lib.capnp._DynamicStructBuilder])
     self.sock[s].send(dat)
 
   def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
-    for _ in range(int(timeout*(1./dt))):
-      if self.sock[s].all_readers_updated():
-        return True
-      time.sleep(dt)
-    return False
+    try:
+      self.sock[s].wait_for_readers(timeout=timeout, interval=dt)
+      return True
+    except TimeoutError:
+      return False
 
   def all_readers_updated(self, s: str) -> bool:
     return self.sock[s].all_readers_updated()  # type: ignore
diff --git a/msgq_repo b/msgq_repo
index 6e9dbd57681365..9beb84af67527f 160000
--- a/msgq_repo
+++ b/msgq_repo
@@ -1 +1 @@
-Subproject commit 6e9dbd57681365e272e5fb3d2af20d0d9af7e76f
+Subproject commit 9beb84af67527f7b6bfee349dcbe3dbb8d4f4789
diff --git a/selfdrive/modeld/dmonitoringmodeld.py b/selfdrive/modeld/dmonitoringmodeld.py
index cf99c432e69c1c..eaf423e7beaa09 100755
--- a/selfdrive/modeld/dmonitoringmodeld.py
+++ b/selfdrive/modeld/dmonitoringmodeld.py
@@ -22,6 +22,7 @@
 MODEL_PKL_PATH = MODELS_DIR / 'dmonitoring_model_tinygrad.pkl'
 METADATA_PATH = MODELS_DIR / 'dmonitoring_model_metadata.pkl'
 
+
 class ModelState:
   inputs: dict[str, np.ndarray]
   output: np.ndarray
@@ -51,7 +52,7 @@ def run(self, buf: VisionBuf, calib: np.ndarray, transform: np.ndarray) -> tuple
 
     t1 = time.perf_counter()
 
-    ptr = buf.data.ctypes.data
+    ptr = np.frombuffer(buf.data, dtype=np.uint8).ctypes.data
     # There is a ringbuffer of imgs, just cache tensors pointing to all of them
     if ptr not in self._blob_cache:
       self._blob_cache[ptr] = Tensor.from_blob(ptr, (self.frame_buf_params[3],), dtype='uint8', device=self.DEV)
diff --git a/selfdrive/modeld/modeld.py b/selfdrive/modeld/modeld.py
index 7e0fa8a037abc7..0c13b322df3b69 100755
--- a/selfdrive/modeld/modeld.py
+++ b/selfdrive/modeld/modeld.py
@@ -107,7 +107,7 @@ def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slic
   def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray],
                 inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
     for key in bufs.keys():
-      ptr = bufs[key].data.ctypes.data
+      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
       yuv_size = self.frame_buf_params[key][3]
       # There is a ringbuffer of imgs, just cache tensors pointing to all of them
       cache_key = (key, ptr)
diff --git a/selfdrive/ui/mici/onroad/cameraview.py b/selfdrive/ui/mici/onroad/cameraview.py
index 57a8a2d5cea363..86dd95f46659e7 100644
--- a/selfdrive/ui/mici/onroad/cameraview.py
+++ b/selfdrive/ui/mici/onroad/cameraview.py
@@ -308,8 +308,8 @@ def _render_textures(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> No
       y_data = self.frame.data[: self.frame.uv_offset]
       uv_data = self.frame.data[self.frame.uv_offset:]
 
-      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
-      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", rl.ffi.from_buffer(y_data)))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", rl.ffi.from_buffer(uv_data)))
       self._texture_needs_update = False
 
     # Render with shader
diff --git a/selfdrive/ui/onroad/cameraview.py b/selfdrive/ui/onroad/cameraview.py
index 544394846595de..53c2ff8b0b699a 100644
--- a/selfdrive/ui/onroad/cameraview.py
+++ b/selfdrive/ui/onroad/cameraview.py
@@ -267,8 +267,8 @@ def _render_textures(self, src_rect: rl.Rectangle, dst_rect: rl.Rectangle) -> No
       y_data = self.frame.data[: self.frame.uv_offset]
       uv_data = self.frame.data[self.frame.uv_offset:]
 
-      rl.update_texture(self.texture_y, rl.ffi.cast("void *", y_data.ctypes.data))
-      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", uv_data.ctypes.data))
+      rl.update_texture(self.texture_y, rl.ffi.cast("void *", rl.ffi.from_buffer(y_data)))
+      rl.update_texture(self.texture_uv, rl.ffi.cast("void *", rl.ffi.from_buffer(uv_data)))
       self._texture_needs_update = False
 
     # Render with shader