diff --git a/.github/workflows/repo-maintenance.yaml b/.github/workflows/repo-maintenance.yaml
index cf35804492bd43..3893c7fa5e0bc1 100644
--- a/.github/workflows/repo-maintenance.yaml
+++ b/.github/workflows/repo-maintenance.yaml
@@ -46,17 +46,13 @@ jobs:
         python3 -m ensurepip --upgrade
         pip3 install uv
         uv lock --upgrade
-    - name: pre-commit autoupdate
-      run: |
-        git config --global --add safe.directory '*'
-        pre-commit autoupdate
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
         author: Vehicle Researcher <user@comma.ai>
         token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
-        commit-message: Update Python packages and pre-commit hooks
-        title: '[bot] Update Python packages and pre-commit hooks'
+        commit-message: Update Python packages
+        title: '[bot] Update Python packages'
         branch: auto-package-updates
         base: master
         delete-branch: true
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index bfad6e1e7dda22..8c46e15c2f809b 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -25,7 +25,7 @@ env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
   BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PRE_COMMIT_HOME=/tmp/pre-commit -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/pre-commit:/tmp/pre-commit -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
+  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
   PYTEST: pytest --continue-on-collection-errors --cov --cov-report=xml --cov-append --durations=0 --durations-min=5 --hypothesis-seed 0 -n logical
 
@@ -45,7 +45,6 @@ jobs:
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
@@ -62,14 +61,13 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         MAX_EXAMPLES=5 $PYTEST -m 'not slow' selfdrive/car"
-    - name: pre-commit
-      timeout-minutes: 3
+    - name: static analysis
+      timeout-minutes: 1
       run: |
         cd $GITHUB_WORKSPACE
-        cp .pre-commit-config.yaml $STRIPPED_DIR
         cp pyproject.toml $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files,check-hooks-apply,check-useless-excludes pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+        ${{ env.RUN }} "scripts/lint.sh"
 
   build:
     strategy:
@@ -146,13 +144,12 @@ jobs:
     - uses: actions/checkout@v4
       with:
         submodules: true
-    - uses: ./.github/workflows/setup-pre-commit
     - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
-    - name: pre-commit
-      timeout-minutes: 4
-      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all && chmod -R 777 /tmp/pre-commit"
+    - name: static analysis
+      timeout-minutes: 1
+      run: ${{ env.RUN }} "scripts/lint.sh"
 
   unit_tests:
     name: unit tests
@@ -340,6 +337,7 @@ jobs:
     # This job name needs to be the same as UI_JOB_NAME in ui_preview.yaml
     name: Create UI Report
     runs-on: ubuntu-latest
+    if: github.event_name == 'pull_request'
     steps:
       - uses: actions/checkout@v4
         with:
diff --git a/.github/workflows/setup-pre-commit/action.yaml b/.github/workflows/setup-pre-commit/action.yaml
deleted file mode 100644
index f07a106861f729..00000000000000
--- a/.github/workflows/setup-pre-commit/action.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-name: 'set up pre-commit environment'
-
-runs:
-  using: "composite"
-  steps:
-    - uses: ./.github/workflows/auto-cache
-      with:
-        path: .ci_cache/pre-commit
-        key: pre-commit-${{ hashFiles('**/.pre-commit-config.yaml') }}
-        restore-keys: |
-          pre-commit-
-        save: ${{ github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot' }}
diff --git a/.github/workflows/stale.yaml b/.github/workflows/stale.yaml
index a26691ea454538..f7f92a0387bad8 100644
--- a/.github/workflows/stale.yaml
+++ b/.github/workflows/stale.yaml
@@ -5,8 +5,8 @@ on:
   workflow_dispatch:
 
 env:
-  DAYS_BEFORE_PR_CLOSE: 3
-  DAYS_BEFORE_PR_STALE: 14
+  DAYS_BEFORE_PR_CLOSE: 2
+  DAYS_BEFORE_PR_STALE: 9
 
 jobs:
   stale:
diff --git a/.gitmodules b/.gitmodules
index 1d5d04577e9fa9..ad6530de9ac910 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -2,7 +2,7 @@
   path = panda
   url = ../../commaai/panda.git
 [submodule "opendbc"]
-  path = opendbc
+  path = opendbc_repo
   url = ../../commaai/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
deleted file mode 100644
index a7a53790886ca2..00000000000000
--- a/.pre-commit-config.yaml
+++ /dev/null
@@ -1,105 +0,0 @@
-exclude: '^(tinygrad_repo)'
-repos:
--   repo: meta
-    hooks:
-    -   id: check-hooks-apply
-    -   id: check-useless-excludes
--   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.6.0
-    hooks:
-    -   id: check-ast
-        exclude: '^(third_party)/'
-    -   id: check-json
-        exclude: '.devcontainer/devcontainer.json|.vscode/'  # these support JSON with comments
-    -   id: check-toml
-    -   id: check-xml
-    -   id: check-yaml
-    -   id: check-merge-conflict
-    -   id: check-symlinks
-    -   id: check-executables-have-shebangs
-    -   id: check-shebang-scripts-are-executable
-    -   id: check-added-large-files
-        exclude: '(docs/CARS.md)|(uv.lock)|(third_party/acados/include/blasfeo/include/blasfeo_d_kernel.h)'
-        args:
-        - --maxkb=120
-        - --enforce-all
--   repo: https://github.com/codespell-project/codespell
-    rev: v2.3.0
-    hooks:
-    -   id: codespell
-        exclude: '^(third_party/)|(body/)|(msgq/)|(panda/)|(opendbc/)|(rednose/)|(rednose_repo/)|(teleoprtc/)|(teleoprtc_repo/)|(selfdrive/ui/translations/.*.ts)|(uv.lock)'
-        args:
-        # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn
-        - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
--   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.5.5
-    hooks:
-    -   id: ruff
-        exclude: '^(third_party/)|(msgq/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
--   repo: local
-    hooks:
-    -   id: mypy
-        name: mypy
-        entry: mypy
-        language: system
-        types: [python]
-        args:
-        - --local-partial-types
-        - --explicit-package-bases
-        exclude: '^(third_party/)|(body/)|(msgq/)|(opendbc/)|(panda/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(teleoprtc/)|(teleoprtc_repo/)'
--   repo: local
-    hooks:
-    -   id: cppcheck
-        name: cppcheck
-        entry: cppcheck
-        language: system
-        types: [c++]
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
-        args:
-        - --error-exitcode=1
-        - --language=c++
-        - --quiet
-        - --force
-        - -j8
-        - --library=qt
-        - --include=third_party/kaitai/kaitaistream.h
--   repo: https://github.com/cpplint/cpplint
-    rev: 1.6.1
-    hooks:
-    -   id: cpplint
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
-        args:
-        - --quiet
-        - --counting=total
-        - --linelength=240
-        # https://google.github.io/styleguide/cppguide.html
-        # relevant rules are whitelisted, see all options with: cpplint --filter=
-        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
--   repo: https://github.com/MarcoGorelli/cython-lint
-    rev: v0.16.2
-    hooks:
-    -   id: cython-lint
-        exclude: '^(third_party/)|(msgq/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
-        args:
-        - --max-line-length=240
-        - --ignore=E111, E302, E305
--   repo: local
-    hooks:
-    -   id: test_translations
-        name: test translations
-        entry: pytest selfdrive/ui/tests/test_translations.py
-        language: system
-        pass_filenames: false
-        files: '^selfdrive/ui/translations/'
--   repo: https://github.com/python-jsonschema/check-jsonschema
-    rev: 0.29.1
-    hooks:
-    -   id: check-github-workflows
--   repo: local
-    hooks:
-    -   id: import-linter
-        name: import linter
-        entry: lint-imports
-        language: system
-        pass_filenames: false
diff --git a/common/params.cc b/common/params.cc
index 03a3cc31f12d3a..615dd55abd2d45 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -24,8 +24,8 @@ int fsync_dir(const std::string &path) {
   int result = -1;
   int fd = HANDLE_EINTR(open(path.c_str(), O_RDONLY, 0755));
   if (fd >= 0) {
-    result = fsync(fd);
-    close(fd);
+    result = HANDLE_EINTR(fsync(fd));
+    HANDLE_EINTR(close(fd));
   }
   return result;
 }
diff --git a/common/transformations/camera.py b/common/transformations/camera.py
index dc3ca5f3887341..2e68b5e37c56c6 100644
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -47,9 +47,9 @@ def all_cams(self):
         yield cam, getattr(self, cam)
 
 _ar_ox_fisheye = CameraConfig(1928, 1208, 567.0)  # focal length probably wrong? magnification is not consistent across frame
-_os_fisheye = CameraConfig(2688, 1520, 567.0 / 2 * 3)
+_os_fisheye = CameraConfig(2688 // 2, 1520 // 2, 567.0 / 4 * 3)
 _ar_ox_config = DeviceCameraConfig(CameraConfig(1928, 1208, 2648.0), _ar_ox_fisheye, _ar_ox_fisheye)
-_os_config = DeviceCameraConfig(CameraConfig(2688, 1520, 2648.0 * 2 / 3), _os_fisheye, _os_fisheye)
+_os_config = DeviceCameraConfig(CameraConfig(2688 // 2, 1520 // 2, 1522.0 * 3 / 4), _os_fisheye, _os_fisheye)
 _neo_config = DeviceCameraConfig(CameraConfig(1164, 874, 910.0), CameraConfig(816, 612, 650.0), _NoneCameraConfig())
 
 DEVICE_CAMERAS = {
diff --git a/docs/WORKFLOW.md b/docs/WORKFLOW.md
index 10cf244fd6cc32..477c7511ca6a9c 100644
--- a/docs/WORKFLOW.md
+++ b/docs/WORKFLOW.md
@@ -29,7 +29,7 @@ pytest
 cd system/loggerd && pytest .
 
 # run the linter
-pre-commit run --all
+op lint
 ```
 
 ## Testing
diff --git a/opendbc b/opendbc
deleted file mode 160000
index 39a5345924d241..00000000000000
--- a/opendbc
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 39a5345924d2414f05c40d258d359eb8412a0b03
diff --git a/opendbc b/opendbc
new file mode 120000
index 00000000000000..7cd9a5bd1ebf2e
--- /dev/null
+++ b/opendbc
@@ -0,0 +1 @@
+opendbc_repo/opendbc
\ No newline at end of file
diff --git a/opendbc_repo b/opendbc_repo
new file mode 160000
index 00000000000000..a40652d341ea31
--- /dev/null
+++ b/opendbc_repo
@@ -0,0 +1 @@
+Subproject commit a40652d341ea3161a6a10001fa74284d9d650f8c
diff --git a/pyproject.toml b/pyproject.toml
index b486df3870e68d..90b6ecf983af06 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -76,7 +76,6 @@ testing = [
   "hypothesis ==6.47.*",
   "import-linter",
   "mypy",
-  "pre-commit",
   "pytest",
   "pytest-cov",
   "pytest-cpp",
@@ -87,7 +86,8 @@ testing = [
   "pytest-asyncio",
   "pytest-mock",
   "pytest-repeat",
-  "ruff"
+  "ruff",
+  "codespell",
 ]
 
 dev = [
@@ -164,6 +164,13 @@ testpaths = [
   "cereal/messaging/tests",
 ]
 
+[tool.codespell]
+count = true
+quiet-level = 3
+# if you've got a short variable name that's getting flagged, add it here
+ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie,preints,whit,indexIn"
+builtin = "clear,rare,informal,usage,code,names,en-GB_to_en-US"
+
 [tool.mypy]
 python_version = "3.11"
 plugins = [
diff --git a/release/release_files.py b/release/release_files.py
index 1590807435be3b..29d565a952d223 100755
--- a/release/release_files.py
+++ b/release/release_files.py
@@ -14,8 +14,8 @@
   "panda/examples/",
   "panda/tests/safety/",
 
-  "opendbc/.*.dbc$",
-  "opendbc/generator/",
+  "opendbc_repo/dbc/.*.dbc$",
+  "opendbc_repo/dbc/generator/",
 
   "cereal/.*test.*",
   "^common/tests/",
@@ -26,7 +26,6 @@
   "selfdrive/car/tests/test_models.*",
 
   "^tools/",
-  "^scripts/",
   "^tinygrad_repo/",
 
   "matlab.*.md",
@@ -74,55 +73,55 @@
   "tinygrad_repo/tinygrad/.*.py",
 
   # TODO: do this automatically
-  "opendbc/comma_body.dbc",
-  "opendbc/chrysler_ram_hd_generated.dbc",
-  "opendbc/chrysler_ram_dt_generated.dbc",
-  "opendbc/chrysler_pacifica_2017_hybrid_generated.dbc",
-  "opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
-  "opendbc/gm_global_a_powertrain_generated.dbc",
-  "opendbc/gm_global_a_object.dbc",
-  "opendbc/gm_global_a_chassis.dbc",
-  "opendbc/FORD_CADS.dbc",
-  "opendbc/ford_fusion_2018_adas.dbc",
-  "opendbc/ford_lincoln_base_pt.dbc",
-  "opendbc/honda_accord_2018_can_generated.dbc",
-  "opendbc/acura_ilx_2016_can_generated.dbc",
-  "opendbc/acura_rdx_2018_can_generated.dbc",
-  "opendbc/acura_rdx_2020_can_generated.dbc",
-  "opendbc/honda_civic_touring_2016_can_generated.dbc",
-  "opendbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
-  "opendbc/honda_crv_touring_2016_can_generated.dbc",
-  "opendbc/honda_crv_ex_2017_can_generated.dbc",
-  "opendbc/honda_crv_ex_2017_body_generated.dbc",
-  "opendbc/honda_crv_executive_2016_can_generated.dbc",
-  "opendbc/honda_fit_ex_2018_can_generated.dbc",
-  "opendbc/honda_odyssey_exl_2018_generated.dbc",
-  "opendbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
-  "opendbc/honda_insight_ex_2019_can_generated.dbc",
-  "opendbc/acura_ilx_2016_nidec.dbc",
-  "opendbc/honda_civic_ex_2022_can_generated.dbc",
-  "opendbc/hyundai_canfd.dbc",
-  "opendbc/hyundai_kia_generic.dbc",
-  "opendbc/hyundai_kia_mando_front_radar_generated.dbc",
-  "opendbc/mazda_2017.dbc",
-  "opendbc/nissan_x_trail_2017_generated.dbc",
-  "opendbc/nissan_leaf_2018_generated.dbc",
-  "opendbc/subaru_global_2017_generated.dbc",
-  "opendbc/subaru_global_2020_hybrid_generated.dbc",
-  "opendbc/subaru_outback_2015_generated.dbc",
-  "opendbc/subaru_outback_2019_generated.dbc",
-  "opendbc/subaru_forester_2017_generated.dbc",
-  "opendbc/toyota_tnga_k_pt_generated.dbc",
-  "opendbc/toyota_new_mc_pt_generated.dbc",
-  "opendbc/toyota_nodsu_pt_generated.dbc",
-  "opendbc/toyota_adas.dbc",
-  "opendbc/toyota_tss2_adas.dbc",
-  "opendbc/vw_golf_mk4.dbc",
-  "opendbc/vw_mqb_2010.dbc",
-  "opendbc/tesla_can.dbc",
-  "opendbc/tesla_radar_bosch_generated.dbc",
-  "opendbc/tesla_radar_continental_generated.dbc",
-  "opendbc/tesla_powertrain.dbc",
+  "opendbc_repo/dbc/comma_body.dbc",
+  "opendbc_repo/dbc/chrysler_ram_hd_generated.dbc",
+  "opendbc_repo/dbc/chrysler_ram_dt_generated.dbc",
+  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_generated.dbc",
+  "opendbc_repo/dbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc",
+  "opendbc_repo/dbc/gm_global_a_powertrain_generated.dbc",
+  "opendbc_repo/dbc/gm_global_a_object.dbc",
+  "opendbc_repo/dbc/gm_global_a_chassis.dbc",
+  "opendbc_repo/dbc/FORD_CADS.dbc",
+  "opendbc_repo/dbc/ford_fusion_2018_adas.dbc",
+  "opendbc_repo/dbc/ford_lincoln_base_pt.dbc",
+  "opendbc_repo/dbc/honda_accord_2018_can_generated.dbc",
+  "opendbc_repo/dbc/acura_ilx_2016_can_generated.dbc",
+  "opendbc_repo/dbc/acura_rdx_2018_can_generated.dbc",
+  "opendbc_repo/dbc/acura_rdx_2020_can_generated.dbc",
+  "opendbc_repo/dbc/honda_civic_touring_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_civic_hatchback_ex_2017_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_touring_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_ex_2017_can_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_ex_2017_body_generated.dbc",
+  "opendbc_repo/dbc/honda_crv_executive_2016_can_generated.dbc",
+  "opendbc_repo/dbc/honda_fit_ex_2018_can_generated.dbc",
+  "opendbc_repo/dbc/honda_odyssey_exl_2018_generated.dbc",
+  "opendbc_repo/dbc/honda_odyssey_extreme_edition_2018_china_can_generated.dbc",
+  "opendbc_repo/dbc/honda_insight_ex_2019_can_generated.dbc",
+  "opendbc_repo/dbc/acura_ilx_2016_nidec.dbc",
+  "opendbc_repo/dbc/honda_civic_ex_2022_can_generated.dbc",
+  "opendbc_repo/dbc/hyundai_canfd.dbc",
+  "opendbc_repo/dbc/hyundai_kia_generic.dbc",
+  "opendbc_repo/dbc/hyundai_kia_mando_front_radar_generated.dbc",
+  "opendbc_repo/dbc/mazda_2017.dbc",
+  "opendbc_repo/dbc/nissan_x_trail_2017_generated.dbc",
+  "opendbc_repo/dbc/nissan_leaf_2018_generated.dbc",
+  "opendbc_repo/dbc/subaru_global_2017_generated.dbc",
+  "opendbc_repo/dbc/subaru_global_2020_hybrid_generated.dbc",
+  "opendbc_repo/dbc/subaru_outback_2015_generated.dbc",
+  "opendbc_repo/dbc/subaru_outback_2019_generated.dbc",
+  "opendbc_repo/dbc/subaru_forester_2017_generated.dbc",
+  "opendbc_repo/dbc/toyota_tnga_k_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_new_mc_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_nodsu_pt_generated.dbc",
+  "opendbc_repo/dbc/toyota_adas.dbc",
+  "opendbc_repo/dbc/toyota_tss2_adas.dbc",
+  "opendbc_repo/dbc/vw_golf_mk4.dbc",
+  "opendbc_repo/dbc/vw_mqb_2010.dbc",
+  "opendbc_repo/dbc/tesla_can.dbc",
+  "opendbc_repo/dbc/tesla_radar_bosch_generated.dbc",
+  "opendbc_repo/dbc/tesla_radar_continental_generated.dbc",
+  "opendbc_repo/dbc/tesla_powertrain.dbc",
 ]
 
 
diff --git a/scripts/lint.sh b/scripts/lint.sh
new file mode 100755
index 00000000000000..3cf548f2bbb612
--- /dev/null
+++ b/scripts/lint.sh
@@ -0,0 +1,10 @@
+#!/bin/bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR/../
+
+# TODO: bring back rest of pre-commit checks:
+# https://github.com/commaai/openpilot/blob/4b11c9e914707df9def598616995be2a5d355a6a/.pre-commit-config.yaml#L2
+
+ruff check .
diff --git a/scripts/pyupgrade.sh b/scripts/pyupgrade.sh
deleted file mode 100755
index 19aac4b5e23d5c..00000000000000
--- a/scripts/pyupgrade.sh
+++ /dev/null
@@ -1,7 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-pip install --upgrade pyupgrade
-
-git ls-files '*.py' | grep -v 'third_party/' | xargs pyupgrade --py311-plus
diff --git a/selfdrive/modeld/parse_model_outputs.py b/selfdrive/modeld/parse_model_outputs.py
index af57e11d03c7a9..03d03c5e1cc38e 100644
--- a/selfdrive/modeld/parse_model_outputs.py
+++ b/selfdrive/modeld/parse_model_outputs.py
@@ -42,7 +42,6 @@ def parse_mdn(self, name, outs, in_N=0, out_N=1, out_shape=None):
     raw = outs[name]
     raw = raw.reshape((raw.shape[0], max(in_N, 1), -1))
 
-    pred_mu = raw[:,:,:(raw.shape[2] - out_N)//2]
     n_values = (raw.shape[2] - out_N)//2
     pred_mu = raw[:,:,:n_values]
     pred_std = np.exp(raw[:,:,n_values: 2*n_values])
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 542be29d80aa46..6c745e1cde9404 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -15,8 +15,6 @@
 #include "CL/cl_ext_qcom.h"
 #endif
 
-ExitHandler do_exit;
-
 class ImgProc {
 public:
   ImgProc(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) {
@@ -35,9 +33,11 @@ class ImgProc {
     krnl_ = CL_CHECK_ERR(clCreateKernel(prg_imgproc, "process_raw", &err));
     CL_CHECK(clReleaseProgram(prg_imgproc));
 
+    const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
+    queue = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
   }
 
-  void queue(cl_command_queue q, cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, cl_event *imgproc_event, int expo_time) {
+  void runKernel(cl_mem cam_buf_cl, cl_mem buf_cl, int width, int height, int expo_time) {
     CL_CHECK(clSetKernelArg(krnl_, 0, sizeof(cl_mem), &cam_buf_cl));
     CL_CHECK(clSetKernelArg(krnl_, 1, sizeof(cl_mem), &buf_cl));
     CL_CHECK(clSetKernelArg(krnl_, 2, sizeof(cl_int), &expo_time));
@@ -45,15 +45,21 @@ class ImgProc {
     const size_t globalWorkSize[] = {size_t(width / 2), size_t(height / 2)};
     const int imgproc_local_worksize = 16;
     const size_t localWorkSize[] = {imgproc_local_worksize, imgproc_local_worksize};
-    CL_CHECK(clEnqueueNDRangeKernel(q, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, imgproc_event));
+
+    cl_event event;
+    CL_CHECK(clEnqueueNDRangeKernel(queue, krnl_, 2, NULL, globalWorkSize, localWorkSize, 0, 0, &event));
+    clWaitForEvents(1, &event);
+    CL_CHECK(clReleaseEvent(event));
   }
 
   ~ImgProc() {
     CL_CHECK(clReleaseKernel(krnl_));
+    CL_CHECK(clReleaseCommandQueue(queue));
   }
 
 private:
   cl_kernel krnl_;
+  cl_command_queue queue;
 };
 
 void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType type) {
@@ -84,15 +90,12 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
 
   // the encoder HW tells us the size it wants after setting it up.
   // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings?
-  size_t nv12_size = (rgb_width >= 2688 ? 2900 : 2346)*nv12_width;
+  size_t nv12_size = (rgb_width <= 1344 ? 2900 : 2346)*nv12_width;
 
   vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
   imgproc = new ImgProc(device_id, context, this, s, nv12_width, nv12_uv_offset);
-
-  const cl_queue_properties props[] = {0};  //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
-  q = CL_CHECK_ERR(clCreateCommandQueueWithProperties(context, device_id, props, &err));
 }
 
 CameraBuf::~CameraBuf() {
@@ -100,7 +103,6 @@ CameraBuf::~CameraBuf() {
     camera_bufs[i].free();
   }
   if (imgproc) delete imgproc;
-  if (q) CL_CHECK(clReleaseCommandQueue(q));
 }
 
 bool CameraBuf::acquire() {
@@ -116,10 +118,7 @@ bool CameraBuf::acquire() {
   cur_camera_buf = &camera_bufs[cur_buf_idx];
 
   double start_time = millis_since_boot();
-  cl_event event;
-  imgproc->queue(q, camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event, cur_frame_data.integ_lines);
-  clWaitForEvents(1, &event);
-  CL_CHECK(clReleaseEvent(event));
+  imgproc->runKernel(camera_bufs[cur_buf_idx].buf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, cur_frame_data.integ_lines);
   cur_frame_data.processing_time = (millis_since_boot() - start_time) / 1000.0;
 
   VisionIpcBufExtra extra = {
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index d58f4d3195fdec..7c2fbaeec8656e 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -53,7 +53,6 @@ class CameraBuf {
   int frame_buf_count;
 
 public:
-  cl_command_queue q;
   FrameMetadata cur_frame_data;
   VisionBuf *cur_yuv_buf;
   VisionBuf *cur_camera_buf;
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index 2729aa264c1590..0648ddf4dede34 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -24,7 +24,7 @@ const int MIPI_SETTLE_CNT = 33;  // Calculated by camera_freqs.py
 // For debugging:
 // echo "4294967295" > /sys/module/cam_debug_util/parameters/debug_mdl
 
-extern ExitHandler do_exit;
+ExitHandler do_exit;
 
 CameraState::CameraState(MultiCameraState *multi_camera_state, const CameraConfig &config)
   : multi_cam_state(multi_camera_state),
@@ -345,7 +345,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
 
 void CameraState::enqueue_buffer(int i, bool dp) {
   int ret;
-  int request_id = request_ids[i];
+  uint64_t request_id = request_ids[i];
 
   if (buf_handle[i] && sync_objs[i]) {
     // wait
@@ -386,7 +386,7 @@ void CameraState::enqueue_buffer(int i, bool dp) {
   req_mgr_sched_request.req_id = request_id;
   ret = do_cam_control(multi_cam_state->video0_fd, CAM_REQ_MGR_SCHED_REQ, &req_mgr_sched_request, sizeof(req_mgr_sched_request));
   if (ret != 0) {
-    LOGE("failed to schedule cam mgr request: %d %d", ret, request_id);
+    LOGE("failed to schedule cam mgr request: %d %lu", ret, request_id);
   }
 
   // poke sensor, must happen after schedule
@@ -396,8 +396,8 @@ void CameraState::enqueue_buffer(int i, bool dp) {
   config_isp(buf_handle[i], sync_objs[i], request_id, buf0_handle, 65632*(i+1));
 }
 
-void CameraState::enqueue_req_multi(int start, int n, bool dp) {
-  for (int i=start; i<start+n; ++i) {
+void CameraState::enqueue_req_multi(uint64_t start, int n, bool dp) {
+  for (uint64_t i = start; i < start + n; ++i) {
     request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
     enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp);
   }
@@ -780,8 +780,8 @@ void CameraState::handle_camera_event(void *evdat) {
   assert(event_data->u.frame_msg.link_hdl == link_handle);
 
   uint64_t timestamp = event_data->u.frame_msg.timestamp;
-  int main_id = event_data->u.frame_msg.frame_id;
-  int real_id = event_data->u.frame_msg.request_id;
+  uint64_t main_id = event_data->u.frame_msg.frame_id;
+  uint64_t real_id = event_data->u.frame_msg.request_id;
 
   if (real_id != 0) { // next ready
     if (real_id == 1) {idx_offset = main_id;}
@@ -799,7 +799,7 @@ void CameraState::handle_camera_event(void *evdat) {
 
     // check for dropped requests
     if (real_id > request_id_last + 1) {
-      LOGE("camera %d dropped requests %d %d", camera_num, real_id, request_id_last);
+      LOGE("camera %d dropped requests %ld %ld", camera_num, real_id, request_id_last);
       enqueue_req_multi(request_id_last + 1 + FRAME_BUF_COUNT, real_id - (request_id_last + 1), 0);
     }
 
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 1b27fb18b83bbd..02ebeb71f31296 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -105,17 +105,17 @@ class CameraState {
   int buf0_handle = 0;
   int buf_handle[FRAME_BUF_COUNT] = {};
   int sync_objs[FRAME_BUF_COUNT] = {};
-  int request_ids[FRAME_BUF_COUNT] = {};
-  int request_id_last = 0;
-  int frame_id_last = 0;
-  int idx_offset = 0;
+  uint64_t request_ids[FRAME_BUF_COUNT] = {};
+  uint64_t request_id_last = 0;
+  uint64_t frame_id_last = 0;
+  uint64_t idx_offset = 0;
   bool skipped = true;
 
   CameraBuf buf;
   MemoryManager mm;
 
   void config_isp(int io_mem_handle, int fence, int request_id, int buf0_mem_handle, int buf0_offset);
-  void enqueue_req_multi(int start, int n, bool dp);
+  void enqueue_req_multi(uint64_t start, int n, bool dp);
   void enqueue_buffer(int i, bool dp);
   int clear_req_queue();
 
diff --git a/system/camerad/sensors/os04c10.cc b/system/camerad/sensors/os04c10.cc
index 97a317407ab1e1..e651d6ff7ac762 100644
--- a/system/camerad/sensors/os04c10.cc
+++ b/system/camerad/sensors/os04c10.cc
@@ -20,12 +20,12 @@ const uint32_t os04c10_analog_gains_reg[] = {
 
 OS04C10::OS04C10() {
   image_sensor = cereal::FrameData::ImageSensor::OS04C10;
-  pixel_size_mm = 0.002;
+  pixel_size_mm = 0.004;
   data_word = false;
 
   hdr_offset = 64 * 2 + 8; // stagger
-  frame_width = 2688;
-  frame_height = 1520 * 2 + hdr_offset;
+  frame_width = 1344;
+  frame_height = 760 * 2 + hdr_offset;
   frame_stride = (frame_width * 10 / 8); // no alignment
 
   extra_height = 0;
diff --git a/system/camerad/sensors/os04c10_registers.h b/system/camerad/sensors/os04c10_registers.h
index 91eb48b24f6d54..d698b1311f5682 100644
--- a/system/camerad/sensors/os04c10_registers.h
+++ b/system/camerad/sensors/os04c10_registers.h
@@ -95,7 +95,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x388b, 0x00},
   {0x3c80, 0x10},
   {0x3c86, 0x00},
-  // {0x3c8c, 0x20},
+  {0x3c8c, 0x20},
   {0x3c9f, 0x01},
   {0x3d85, 0x1b},
   {0x3d8c, 0x71},
@@ -199,7 +199,7 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x370b, 0xa2},
   {0x370c, 0x01},
   {0x370f, 0x00},
-  {0x3714, 0x24},
+  {0x3714, 0x28},
   {0x3716, 0x04},
   {0x3719, 0x11},
   {0x371a, 0x1e},
@@ -231,24 +231,24 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x37bd, 0x01},
   {0x37bf, 0x26},
   {0x37c0, 0x11},
-  {0x37c2, 0x04},
+  {0x37c2, 0x14},
   {0x37cd, 0x19},
-  // {0x37e0, 0x08},
-  // {0x37e6, 0x04},
+  {0x37e0, 0x08},
+  {0x37e6, 0x04},
   {0x37e5, 0x02},
-  // {0x37e1, 0x0c},
-  // {0x3737, 0x04},
+  {0x37e1, 0x0c},
+  {0x3737, 0x04},
   {0x37d8, 0x02},
-  // {0x37e2, 0x10},
+  {0x37e2, 0x10},
   {0x3739, 0x10},
-  {0x3662, 0x10},
-  // {0x37e4, 0x20},
-  // {0x37e3, 0x08},
-  {0x37d9, 0x08},
+  {0x3662, 0x08},
+  {0x37e4, 0x20},
+  {0x37e3, 0x08},
+  {0x37d9, 0x04},
   {0x4040, 0x00},
-  {0x4041, 0x07},
-  {0x4008, 0x02},
-  {0x4009, 0x0d},
+  {0x4041, 0x03},
+  {0x4008, 0x01},
+  {0x4009, 0x06},
 
   // FSIN
   {0x3002, 0x22},
@@ -269,20 +269,20 @@ const struct i2c_random_wr_payload init_array_os04c10[] = {
   {0x3802, 0x00}, {0x3803, 0x00},
   {0x3804, 0x0a}, {0x3805, 0x8f},
   {0x3806, 0x05}, {0x3807, 0xff},
-  {0x3808, 0x0a}, {0x3809, 0x80},
-  {0x380a, 0x05}, {0x380b, 0xf0},
+  {0x3808, 0x05}, {0x3809, 0x40},
+  {0x380a, 0x02}, {0x380b, 0xf8},
   {0x3811, 0x08},
   {0x3813, 0x08},
-  {0x3814, 0x01},
+  {0x3814, 0x03},
   {0x3815, 0x01},
-  {0x3816, 0x01},
+  {0x3816, 0x03},
   {0x3817, 0x01},
 
   {0x380c, 0x04}, {0x380d, 0x2e}, // HTS
   {0x380e, 0x09}, {0x380f, 0xdb}, // VTS
 
-  {0x3820, 0xb0},
-  {0x3821, 0x04},
+  {0x3820, 0xb3},
+  {0x3821, 0x05},
   {0x3880, 0x00},
   {0x3882, 0x20},
   {0x3c91, 0x0b},
diff --git a/system/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
index a324479fb5de8f..c9632c0dd60c7c 100644
--- a/system/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -15,8 +15,8 @@ ExitHandler do_exit;
 
 struct LoggerdState {
   LoggerState logger;
-  std::atomic<double> last_camera_seen_tms;
-  std::atomic<int> ready_to_rotate;  // count of encoders ready to rotate
+  std::atomic<double> last_camera_seen_tms{0.0};
+  std::atomic<int> ready_to_rotate{0};  // count of encoders ready to rotate
   int max_waiting = 0;
   double last_rotate_tms = 0.;      // last rotate time in ms
 };
diff --git a/system/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
index 6a24540acf7510..cfd12477029b81 100644
--- a/system/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -7,7 +7,7 @@
 import time
 from collections import defaultdict
 from pathlib import Path
-from flaky import flaky
+import pytest
 
 import cereal.messaging as messaging
 from cereal import log
@@ -136,7 +136,7 @@ def test_init_data_values(self):
       assert getattr(initData, initData_key) == v
       assert logged_params[param_key].decode() == v
 
-  @flaky(max_runs=3)
+  @pytest.mark.skip("FIXME: encoderd sometimes crashes in CI when running with pytest-xdist")
   def test_rotation(self):
     os.environ["LOGGERD_TEST"] = "1"
     Params().put("RecordFront", "1")
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 04b768dc695a12..911ac9324c7751 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -16,7 +16,7 @@ qt_libs = ['qt_util'] + base_libs
 
 cabana_env = qt_env.Clone()
 cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'avutil', 'avcodec', 'avformat', 'bz2', 'zstd', 'curl', 'yuv', 'usb-1.0'] + qt_libs
-opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
+opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc/dbc").abspath)
 cabana_env['CXXFLAGS'] += [opendbc_path]
 
 # build assets
diff --git a/tools/install_python_dependencies.sh b/tools/install_python_dependencies.sh
index a90462888fb80f..8d118525a52b77 100755
--- a/tools/install_python_dependencies.sh
+++ b/tools/install_python_dependencies.sh
@@ -43,9 +43,3 @@ if [[ "$(uname)" == 'Darwin' ]]; then
   echo "export ZMQ=1" >> $ROOT/.env
   echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env
 fi
-
-if [ "$(uname)" != "Darwin" ] && [ -e "$ROOT/.git" ]; then
-  echo "pre-commit hooks install..."
-  pre-commit install
-  git submodule foreach pre-commit install
-fi
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
index 67b28fa2806234..a7cf0e75c3eeff 100755
--- a/tools/install_ubuntu_dependencies.sh
+++ b/tools/install_ubuntu_dependencies.sh
@@ -12,6 +12,11 @@ if [[ ! $(id -u) -eq 0 ]]; then
   SUDO="sudo"
 fi
 
+# Check if stdin is open
+if [ -t 0 ]; then
+  INTERACTIVE=1
+fi
+
 # Install common packages
 function install_ubuntu_common_requirements() {
   $SUDO apt-get update
@@ -133,7 +138,7 @@ if [ -f "/etc/os-release" ]; then
   esac
 
   # Install extra packages
-  if [[ -z "$INSTALL_EXTRA_PACKAGES" ]]; then
+  if [[ -z "$INSTALL_EXTRA_PACKAGES" && -n "$INTERACTIVE" ]]; then
     read -p "Base setup done. Do you want to install extra development packages? [Y/n]: " -n 1 -r
     echo ""
     if [[ $REPLY =~ ^[Yy]$ ]]; then
diff --git a/tools/op.sh b/tools/op.sh
index 3ebd413a799b28..e578459ae0c515 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -1,24 +1,28 @@
 #!/usr/bin/env bash
 
+if [[ ! "${BASH_SOURCE[0]}" = "${0}" ]]; then
+  echo "Invalid invocation! This script must not be sourced."
+  echo "Run 'op.sh' directly or check your .bashrc for a valid alias"
+  return 0
+fi
+
+set -e
+
 RED='\033[0;31m'
 GREEN='\033[0;32m'
 UNDERLINE='\033[4m'
 BOLD='\033[1m'
 NC='\033[0m'
 
+RC_FILE="${HOME}/.$(basename ${SHELL})rc"
+if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
+  RC_FILE="$HOME/.bash_profile"
+fi
 function op_install() {
-  (set -e
-
   echo "Installing op system-wide..."
-  RC_FILE="${HOME}/.$(basename ${SHELL})rc"
-  if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
-    RC_FILE="$HOME/.bash_profile"
-  fi
-  CMD="\nalias op='source "$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
+  CMD="\nalias op='"$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )/op.sh" \"\$@\"'\n"
   grep "alias op=" "$RC_FILE" &> /dev/null || printf "$CMD" >> $RC_FILE
   echo -e " ↳ [${GREEN}✔${NC}] op installed successfully. Open a new shell to use it.\n"
-
-  )
 }
 
 function op_run_command() {
@@ -55,8 +59,6 @@ function op_check_openpilot_dir() {
 }
 
 function op_check_git() {
-  (set -e
-
   echo "Checking for git..."
   if ! command -v "git" > /dev/null 2>&1; then
     echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
@@ -81,13 +83,9 @@ function op_check_git() {
     fi
   done
   echo -e " ↳ [${GREEN}✔${NC}] git submodules found."
-
-  )
 }
 
 function op_check_os() {
-  (set -e
-
   echo "Checking for compatible os version..."
   if [[ "$OSTYPE" == "linux-gnu"* ]]; then
 
@@ -113,13 +111,9 @@ function op_check_os() {
     echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
     return 1
   fi
-
-  )
 }
 
 function op_check_python() {
-  (set -e
-
   echo "Checking for compatible python version..."
   REQUIRED_PYTHON_VERSION=$(grep "requires-python" $OPENPILOT_ROOT/pyproject.toml)
   INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
@@ -127,14 +121,12 @@ function op_check_python() {
   if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
     echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
     return 1
-  elif [[ $(echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]') -ge $(($(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') * 10)) ]]; then
+  elif [[ $(echo $INSTALLED_PYTHON_VERSION | grep -o '[0-9]\+\.[0-9]\+' | tr -d -c '[0-9]') -ge $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
   else
     echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
     return 1
   fi
-
-  )
 }
 
 function op_check_venv() {
@@ -171,8 +163,6 @@ function op_before_cmd() {
 }
 
 function op_setup() {
-  (set -e
-
   op_get_openpilot_dir
   cd $OPENPILOT_ROOT
 
@@ -203,8 +193,6 @@ function op_setup() {
   echo -e " ↳ [${GREEN}✔${NC}] Files pulled successfully in $((et - st)) seconds.\n"
 
   op_check
-
-  )
 }
 
 function op_activate_venv() {
@@ -212,99 +200,52 @@ function op_activate_venv() {
 }
 
 function op_venv() {
-  ( set -e
-
   op_before_cmd
-
-  )
-
-  if [[ "$?" -eq 0 ]]; then
-
-    if [[ "${BASH_SOURCE[0]}" = "${0}" ]]; then
-      echo "Run 'op venv' or 'source op.sh venv' to activate your venv!"
-      return 1
-    fi
-
-    # this must be run in the same shell as the user calling "op"
-    op_get_openpilot_dir
-    op_run_command source $OPENPILOT_ROOT/.venv/bin/activate
-  fi
+  bash --rcfile <(echo "source $RC_FILE; source $OPENPILOT_ROOT/.venv/bin/activate")
 }
 
 function op_check() {
-  (set -e
-
   VERBOSE=1
   op_before_cmd
   unset VERBOSE
-
-  )
 }
 
 function op_build() {
-  (set -e
-
   CDIR=$(pwd)
   op_before_cmd
   cd "$CDIR"
   op_run_command scons $@
-
-  )
 }
 
 function op_juggle() {
-  (set -e
-
   op_before_cmd
   op_run_command tools/plotjuggler/juggle.py $@
-
-  )
 }
 
 function op_lint() {
-  (set -e
-
   op_before_cmd
-  op_run_command pre-commit run --all $@
-
-  )
+  op_run_command scripts/lint.sh $@
 }
 
 function op_test() {
-  (set -e
-
   op_before_cmd
   op_run_command pytest $@
-
-  )
 }
 
 function op_replay() {
-  (set -e
-
   op_before_cmd
   op_run_command tools/replay/replay $@
-
-  )
 }
 
 function op_cabana() {
-  (set -e
-
   op_before_cmd
   op_run_command tools/cabana/cabana $@
-
-  )
 }
 
 function op_sim() {
-  (set -e
-
   op_before_cmd
   op_run_command exec tools/sim/run_bridge.py &
   op_run_command exec tools/sim/launch_openpilot.sh
-
-  )
 }
 
 function op_default() {
@@ -331,7 +272,7 @@ function op_default() {
   echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
   echo -e "  ${BOLD}replay${NC}   Run replay"
   echo -e "  ${BOLD}cabana${NC}   Run cabana"
-  echo -e "  ${BOLD}lint${NC}     Run all the pre-commit checks"
+  echo -e "  ${BOLD}lint${NC}     Run the linter"
   echo -e "  ${BOLD}test${NC}     Run all unit tests from pytest"
   echo -e "  ${BOLD}help${NC}     Show this message"
   echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
@@ -387,36 +328,3 @@ function _op() {
 }
 
 _op $@
-
-# remove from env
-unset -f _op
-unset -f op_check
-unset -f op_setup
-unset -f op_build
-unset -f op_juggle
-unset -f op_venv
-unset -f op_check_openpilot_dir
-unset -f op_check_git
-unset -f op_check_python
-unset -f op_check_os
-unset -f op_install
-unset -f op_default
-unset -f op_run_command
-unset -f op_lint
-unset -f op_replay
-unset -f op_cabana
-unset -f op_check_venv
-unset -f op_before_cmd
-unset -f op_sim
-unset -f op_activate_venv
-unset -f op_get_openpilot_dir
-unset -f op_test
-unset DRY
-unset NC
-unset RED
-unset GREEN
-unset UNDERLINE
-unset BOLD
-unset OPENPILOT_ROOT
-unset NO_VERIFY
-unset VERBOSE
diff --git a/tools/setup.sh b/tools/setup.sh
index e770ba48aa22a5..b2b9563d30356f 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -73,9 +73,14 @@ function check_dir() {
       return 1
     fi
 
+    # already a "valid" openpilot clone, skip cloning again
+    if [[ ! -z "$(ls -A $OPENPILOT_ROOT)" ]]; then
+      SKIP_GIT_CLONE=1
+    fi
+
     # by default, don't try installing in already existing directory
     if [[ -z $INTERACTIVE ]]; then
-      return 1
+      return 0
     fi
 
     read -p "       Would you like to attempt installation anyway? [Y/n] " -n 1 -r
@@ -84,11 +89,6 @@ function check_dir() {
       return 1
     fi
 
-    # already a "valid" openpilot clone, skip cloning again
-    if [[ ! -z "$(ls -A $OPENPILOT_ROOT)" ]]; then
-      SKIP_GIT_CLONE=1
-    fi
-
     return 0
   fi
 
@@ -123,10 +123,10 @@ function git_clone() {
 function install_with_op() {
   cd $OPENPILOT_ROOT
   $OPENPILOT_ROOT/tools/op.sh install
-  $OPENPILOT_ROOT/tools/op.sh setup
+  $OPENPILOT_ROOT/tools/op.sh setup || (echo -e "\n[${RED}✗${NC}] failed to install openpilot!" && return 1)
 
   echo -e "\n----------------------------------------------------------------------"
-  echo -e "openpilot was successfully installed into ${BOLD}$OPENPILOT_ROOT${NC}"
+  echo -e "[${GREEN}✔${NC}] openpilot was successfully installed into ${BOLD}$OPENPILOT_ROOT${NC}"
   echo -e "Checkout the docs at https://docs.comma.ai"
   echo -e "Checkout how to contribute at https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md"
 }
diff --git a/uv.lock b/uv.lock
index 7afdbb3c655d4f..6876de533c0680 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,10 +1,5 @@
 version = 1
 requires-python = ">=3.11"
-environment-markers = [
-    "python_version == '3.12' and platform_machine == 'aarch64'",
-    "python_version == '3.12' and platform_machine == 'aarch64' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')",
-    "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'",
-]
 
 [[distribution]]
 name = "aiohttp"
@@ -179,9 +174,6 @@ wheels = [
 name = "casadi"
 version = "3.6.5"
 source = { registry = "https://pypi.org/simple" }
-environment-markers = [
-    "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'",
-]
 dependencies = [
     { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
 ]
@@ -208,11 +200,8 @@ wheels = [
 name = "casadi"
 version = "3.6.6"
 source = { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl" }
-environment-markers = [
-    "python_version == '3.12' and platform_machine == 'aarch64'",
-]
 dependencies = [
-    { name = "numpy", marker = "python_version == '3.12' and platform_machine == 'aarch64'" },
+    { name = "numpy" },
 ]
 wheels = [
     { url = "https://github.com/commaai/casadi/releases/download/nightly-release-3.6.6/casadi-3.6.6-cp312-none-manylinux2014_aarch64.whl", hash = "sha256:06a15e0099657b960620a2491e565c7f126030018da80c39f6bd33439160c669" },
@@ -259,15 +248,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/e9/63/e285470a4880a4f36edabe4810057bd4b562c6ddcc165eacf9c3c7210b40/cffi-1.16.0-cp312-cp312-win_amd64.whl", hash = "sha256:68678abf380b42ce21a5f2abde8efee05c114c2fdb2e9eef2efdb0257fba1235", size = 181956 },
 ]
 
-[[distribution]]
-name = "cfgv"
-version = "3.4.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/11/74/539e56497d9bd1d484fd863dd69cbbfa653cd2aa27abfe35653494d85e94/cfgv-3.4.0.tar.gz", hash = "sha256:e52591d4c5f5dead8e0f673fb16db7949d2cfb3f7da4582893288f0ded8fe560", size = 7114 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/c5/55/51844dd50c4fc7a33b653bfaba4c2456f06955289ca770a5dbd5fd267374/cfgv-3.4.0-py2.py3-none-any.whl", hash = "sha256:b7265b1f29fd3316bfcd2b330d63d024f2bfd8bcb8b0272f8e19a504856c48f9", size = 7249 },
-]
-
 [[distribution]]
 name = "charset-normalizer"
 version = "3.3.2"
@@ -328,6 +308,15 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/96/43/dae06432d0c4b1dc9e9149ad37b4ca8384cf6eb7700cd9215b177b914f0a/cloudpickle-3.0.0-py3-none-any.whl", hash = "sha256:246ee7d0c295602a036e86369c77fecda4ab17b506496730f2f576d9016fd9c7", size = 20088 },
 ]
 
+[[distribution]]
+name = "codespell"
+version = "2.3.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/a0/a9/98353dfc7afcdf18cffd2dd3e959a25eaaf2728cf450caa59af89648a8e4/codespell-2.3.0.tar.gz", hash = "sha256:360c7d10f75e65f67bad720af7007e1060a5d395670ec11a7ed1fed9dd17471f", size = 329791 }
+wheels = [
+    { url = "https://files.pythonhosted.org/packages/0e/20/b6019add11e84f821184234cea0ad91442373489ef7ccfa3d73a71b908fa/codespell-2.3.0-py3-none-any.whl", hash = "sha256:a9c7cef2501c9cfede2110fd6d4e5e62296920efe9abfb84648df866e47f58d1", size = 329167 },
+]
+
 [[distribution]]
 name = "colorama"
 version = "0.4.6"
@@ -486,15 +475,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/47/ef/4cb333825d10317a36a1154341ba37e6e9c087bac99c1990ef07ffdb376f/dictdiffer-0.9.0-py2.py3-none-any.whl", hash = "sha256:442bfc693cfcadaf46674575d2eba1c53b42f5e404218ca2c2ff549f2df56595", size = 16754 },
 ]
 
-[[distribution]]
-name = "distlib"
-version = "0.3.8"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c4/91/e2df406fb4efacdf46871c25cde65d3c6ee5e173b7e5a4547a47bae91920/distlib-0.3.8.tar.gz", hash = "sha256:1530ea13e350031b6312d8580ddb6b27a104275a31106523b8f123787f494f64", size = 609931 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/8e/41/9307e4f5f9976bc8b7fea0b66367734e8faf3ec84bc0d412d8cfabbb66cd/distlib-0.3.8-py2.py3-none-any.whl", hash = "sha256:034db59a0b96f8ca18035f36290806a9a6e6bd9d1ff91e45a7f172eb17e51784", size = 468850 },
-]
-
 [[distribution]]
 name = "dnspython"
 version = "2.6.1"
@@ -762,15 +742,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/d3/a7/389bbaade2cbbb2534cb2715986041ed01c6d792152c527e71f7f68e93b5/hypothesis-6.47.5-py3-none-any.whl", hash = "sha256:87049b781ee11ec1c7948565b889ab02e428a1e32d427ab4de8fdb3649242d06", size = 387311 },
 ]
 
-[[distribution]]
-name = "identify"
-version = "2.6.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/32/f4/8e8f7db397a7ce20fbdeac5f25adaf567fc362472432938d25556008e03a/identify-2.6.0.tar.gz", hash = "sha256:cb171c685bdc31bcc4c1734698736a7d5b6c8bf2e0c15117f4d469c8640ae5cf", size = 99116 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/24/6c/a4f39abe7f19600b74528d0c717b52fff0b300bb0161081510d39c53cb00/identify-2.6.0-py2.py3-none-any.whl", hash = "sha256:e79ae4406387a9d300332b5fd366d8994f1525e8414984e1a59e058b2eda2dd0", size = 98962 },
-]
-
 [[distribution]]
 name = "idna"
 version = "3.7"
@@ -1081,28 +1052,28 @@ name = "metadrive-simulator"
 version = "0.4.2.3"
 source = { git = "https://github.com/commaai/metadrive?rev=opencv_headless#9b6ddb791919249effa0573883076681514787e4" }
 dependencies = [
-    { name = "filelock", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "geopandas", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "gymnasium", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "lxml", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "matplotlib", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "opencv-python-headless", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "panda3d", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "panda3d-gltf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pandas", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pillow", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "progressbar", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "psutil", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pygame", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pygments", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "pytest", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "scipy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "seaborn", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "shapely", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "tqdm", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
-    { name = "yapf", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'" },
+    { name = "filelock" },
+    { name = "geopandas" },
+    { name = "gymnasium" },
+    { name = "lxml" },
+    { name = "matplotlib" },
+    { name = "numpy" },
+    { name = "opencv-python-headless" },
+    { name = "panda3d" },
+    { name = "panda3d-gltf" },
+    { name = "pandas" },
+    { name = "pillow" },
+    { name = "progressbar" },
+    { name = "psutil" },
+    { name = "pygame" },
+    { name = "pygments" },
+    { name = "pytest" },
+    { name = "requests" },
+    { name = "scipy" },
+    { name = "seaborn" },
+    { name = "shapely" },
+    { name = "tqdm" },
+    { name = "yapf" },
 ]
 
 [[distribution]]
@@ -1169,7 +1140,6 @@ version = "1.30.0"
 source = { registry = "https://pypi.org/simple" }
 dependencies = [
     { name = "cryptography", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pyjwt", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "pyjwt", extra = ["crypto"] },
     { name = "requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
 ]
@@ -1271,15 +1241,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/ef/82/7a9d0550484a62c6da82858ee9419f3dd1ccc9aa1c26a1e43da3ecd20b0d/natsort-8.4.0-py3-none-any.whl", hash = "sha256:4732914fb471f56b5cce04d7bae6f164a592c7712e1c85f9ef585e197299521c", size = 38268 },
 ]
 
-[[distribution]]
-name = "nodeenv"
-version = "1.9.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/43/16/fc88b08840de0e0a72a2f9d8c6bae36be573e475a6326ae854bcc549fc45/nodeenv-1.9.1.tar.gz", hash = "sha256:6ec12890a2dab7946721edbfbcd91f3319c6ccc9aec47be7c7e6b7011ee6645f", size = 47437 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/d2/1d/1b658dbd2b9fa9c4c9f32accbfc0205d532c8c6194dc0f2a4c0428e7128a/nodeenv-1.9.1-py2.py3-none-any.whl", hash = "sha256:ba11c9782d29c27c70ffbdda2d7415098754709be8a7056d79a737cd901155c9", size = 22314 },
-]
-
 [[distribution]]
 name = "numpy"
 version = "1.26.4"
@@ -1404,8 +1365,8 @@ dependencies = [
     { name = "libusb1", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "numpy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "onnx", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "onnxruntime", marker = "platform_machine == 'aarch64' and platform_system == 'Linux'" },
-    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux'" },
+    { name = "onnxruntime", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" },
+    { name = "onnxruntime-gpu", marker = "platform_machine == 'x86_64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')" },
     { name = "psutil", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "pyaudio", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "pycapnp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
@@ -1419,7 +1380,7 @@ dependencies = [
     { name = "setuptools", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "smbus2", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "sounddevice", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "spidev", marker = "platform_system == 'Linux'" },
+    { name = "spidev", marker = "(python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux') or (python_version == '3.12' and platform_machine == 'aarch64' and platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64')) or (platform_system == 'Linux' and (python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64'))" },
     { name = "sympy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "tqdm", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
     { name = "websocket-client", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
@@ -1428,49 +1389,49 @@ dependencies = [
 
 [distribution.optional-dependencies]
 dev = [
-    { name = "av", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "azure-identity", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "azure-storage-blob", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "dictdiffer", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "flaky", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "inputs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "lru-dict", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "matplotlib", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "av" },
+    { name = "azure-identity" },
+    { name = "azure-storage-blob" },
+    { name = "dictdiffer" },
+    { name = "flaky" },
+    { name = "inputs" },
+    { name = "lru-dict" },
+    { name = "matplotlib" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
-    { name = "parameterized", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pyautogui", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "parameterized" },
+    { name = "pyautogui" },
     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },
-    { name = "pyprof2calltree", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pyprof2calltree" },
     { name = "pyqt5", marker = "platform_machine == 'x86_64'" },
     { name = "pytools", marker = "platform_machine != 'aarch64'" },
-    { name = "pywinctl", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "rerun-sdk", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "tabulate", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "types-requests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "types-tabulate", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "pywinctl" },
+    { name = "rerun-sdk" },
+    { name = "tabulate" },
+    { name = "types-requests" },
+    { name = "types-tabulate" },
 ]
 docs = [
-    { name = "jinja2", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "mkdocs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "natsort", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "jinja2" },
+    { name = "mkdocs" },
+    { name = "natsort" },
 ]
 testing = [
-    { name = "coverage", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "hypothesis", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "import-linter", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "mypy", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pre-commit", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-asyncio", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-cov", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-cpp", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-mock", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-randomly", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-repeat", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-subtests", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-timeout", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pytest-xdist", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "ruff", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
+    { name = "codespell" },
+    { name = "coverage" },
+    { name = "hypothesis" },
+    { name = "import-linter" },
+    { name = "mypy" },
+    { name = "pytest" },
+    { name = "pytest-asyncio" },
+    { name = "pytest-cov" },
+    { name = "pytest-cpp" },
+    { name = "pytest-mock" },
+    { name = "pytest-randomly" },
+    { name = "pytest-repeat" },
+    { name = "pytest-subtests" },
+    { name = "pytest-timeout" },
+    { name = "pytest-xdist" },
+    { name = "ruff" },
 ]
 
 [[distribution]]
@@ -1643,22 +1604,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9b/fb/a70a4214956182e0d7a9099ab17d50bfcba1056188e9b14f35b9e2b62a0d/portalocker-2.10.1-py3-none-any.whl", hash = "sha256:53a5984ebc86a025552264b459b46a2086e269b21823cb572f8f28ee759e45bf", size = 18423 },
 ]
 
-[[distribution]]
-name = "pre-commit"
-version = "3.8.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "cfgv", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "identify", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "nodeenv", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "pyyaml", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "virtualenv", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/64/10/97ee2fa54dff1e9da9badbc5e35d0bbaef0776271ea5907eccf64140f72f/pre_commit-3.8.0.tar.gz", hash = "sha256:8bb6494d4a20423842e198980c9ecf9f96607a07ea29549e180eef9ae80fe7af", size = 177815 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/07/92/caae8c86e94681b42c246f0bca35c059a2f0529e5b92619f6aba4cf7e7b6/pre_commit-3.8.0-py2.py3-none-any.whl", hash = "sha256:9a90a53bf82fdd8778d58085faf8d83df56e40dfe18f45b19446e26bf1b3a63f", size = 204643 },
-]
-
 [[distribution]]
 name = "progressbar"
 version = "2.5"
@@ -5170,20 +5115,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/ca/1c/89ffc63a9605b583d5df2be791a27bc1a42b7c32bab68d3c8f2f73a98cd4/urllib3-2.2.2-py3-none-any.whl", hash = "sha256:a448b2f64d686155468037e1ace9f2d2199776e17f0a46610480d311f73e3472", size = 121444 },
 ]
 
-[[distribution]]
-name = "virtualenv"
-version = "20.26.3"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "distlib", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "filelock", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-    { name = "platformdirs", marker = "python_version < '3.12' or python_version > '3.12' or platform_machine != 'aarch64' or (python_version == '3.12' and platform_machine == 'aarch64')" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/68/60/db9f95e6ad456f1872486769c55628c7901fb4de5a72c2f7bdd912abf0c1/virtualenv-20.26.3.tar.gz", hash = "sha256:4c43a2a236279d9ea36a0d76f98d84bd6ca94ac4e0f4a3b9d46d05e10fea542a", size = 9057588 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/07/4d/410156100224c5e2f0011d435e477b57aed9576fc7fe137abcf14ec16e11/virtualenv-20.26.3-py3-none-any.whl", hash = "sha256:8cc4a31139e796e9a7de2cd5cf2489de1217193116a8fd42328f1bd65f434589", size = 5684792 },
-]
-
 [[distribution]]
 name = "watchdog"
 version = "4.0.1"