diff --git a/selfdrive/assets/img_chffr_wheel.png b/selfdrive/assets/img_chffr_wheel.png
index 3f09a35a79bf45..13cad7a61b3ed9 100644
Binary files a/selfdrive/assets/img_chffr_wheel.png and b/selfdrive/assets/img_chffr_wheel.png differ
diff --git a/selfdrive/assets/img_spinner_comma.png b/selfdrive/assets/img_spinner_comma.png
index 16109557f85911..b54b2e1467cf86 100644
Binary files a/selfdrive/assets/img_spinner_comma.png and b/selfdrive/assets/img_spinner_comma.png differ
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 265175d94038ac..213fae50d06515 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -3,6 +3,7 @@
 from panda import Panda
 from common.conversions import Conversions as CV
 from common.numpy_fast import interp
+from common.params import Params
 from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
 from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -88,15 +89,20 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.wheelbase = CivicParams.WHEELBASE
       ret.centerToFront = CivicParams.CENTER_TO_FRONT
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
       if eps_modified:
-        # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
-        # stock request output values:    0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
-        # modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
-        # stock filter output values:     0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
-        # modified filter output values:  0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
-        # note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
-        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
+        if Params().get_bool('Torque'):
+          max_torque = 2.0
+          friction = 0.05
+
+          ret.lateralTuning.init('torque')
+          ret.lateralTuning.torque.useSteeringAngle = True
+          ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.friction = friction
+        else:
+          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
@@ -108,9 +114,24 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.wheelbase = CivicParams.WHEELBASE
       ret.centerToFront = CivicParams.CENTER_TO_FRONT
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2564, 8000], [0, 2564, 3840]]
+      if eps_modified:
+        if Params().get_bool('Torque'):
+          max_torque = 2.0
+          friction = 0.05
+
+          ret.lateralTuning.init('torque')
+          ret.lateralTuning.torque.useSteeringAngle = True
+          ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.friction = friction
+        else:
+          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.36], [0.108]] #minus 10% from 0.4, 0.12
+      else:
+        ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
       tire_stiffness_factor = 1.
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.ACCORD, CAR.ACCORDH):
       stop_and_go = True
@@ -119,13 +140,20 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.centerToFront = ret.wheelbase * 0.39
       ret.steerRatio = 16.33  # 11.82 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
-      tire_stiffness_factor = 0.8467
-
-      if eps_modified:
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
+      if Params().get_bool('Torque'):
+        max_torque = 2.0
+        friction = 0.05
+
+        ret.lateralTuning.init('torque')
+        ret.lateralTuning.torque.useSteeringAngle = True
+        ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.friction = friction
       else:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
-
+      tire_stiffness_factor = 0.8467
+        
     elif candidate == CAR.ACURA_ILX:
       stop_and_go = False
       ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
@@ -158,7 +186,19 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
         # stock request output values:    0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
         # modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
-        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
+        # Use LQR tune if param is set
+        if Params().get_bool('Torque'):
+          max_torque = 2.0
+          friction = 0.05
+
+          ret.lateralTuning.init('torque')
+          ret.lateralTuning.torque.useSteeringAngle = True
+          ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+          ret.lateralTuning.torque.friction = friction
+        else:
+          ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.21], [0.07]]
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
@@ -223,11 +263,24 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.75
       ret.centerToFront = ret.wheelbase * 0.41
-      ret.steerRatio = 11.95  # as spec
+      ret.steerRatio = 16.0 #11.95 is spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
+      if Params().get_bool('Torque'):
+        max_torque = 2.0
+        friction = 0.05
+
+        ret.lateralTuning.init('torque')
+        ret.lateralTuning.torque.useSteeringAngle = True
+        ret.lateralTuning.torque.kp = 2.0 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.kf = 1.0 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.ki = 0.5 / MAX_LAT_ACCEL
+        ret.lateralTuning.torque.friction = friction
+      else:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
+        ret.lateralTuning.pid.kf = 0.00007818594
       tire_stiffness_factor = 0.677
 
+
     elif candidate == CAR.ODYSSEY:
       stop_and_go = False
       ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index ab1f44ac87b03b..449b67c287efd8 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -535,6 +535,15 @@ class Footnote(Enum):
       b'39990-TGG-J510\x00\x00',
       b'39990-TGL-E130\x00\x00',
       b'39990-TGN-E120\x00\x00',
+      b'39990-TBA,C020\x00\x00',
+      b'39990-TBA,C120\x00\x00',
+      b'39990-TEA,T820\x00\x00',
+      b'39990-TEZ,T020\x00\x00',
+      b'39990-TGG,A020\x00\x00',
+      b'39990-TGG,A120\x00\x00',
+      b'39990-TGG,J510\x00\x00',
+      b'39990-TGL,E130\x00\x00',
+      b'39990-TGN,E120\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TBA-A060\x00\x00',
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index b3d0aefa8439e6..58d9f171b7f9b1 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -2,6 +2,8 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from panda import Panda
+from common.numpy_fast import interp
+from common.params import Params
 from selfdrive.car.toyota.tunes import LatTunes, LongTunes, set_long_tune, set_lat_tune
 from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, CarControllerParams
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
@@ -87,7 +89,10 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.steerRatio = 13.7
       tire_stiffness_factor = 0.7933
       ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
+      if Params().get_bool('Torque'):
+        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.10)
+      else:
+        set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
     elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
       stop_and_go = True
@@ -183,7 +188,10 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       ret.steerRatio = 13.4   # True steerRatio from older prius
       tire_stiffness_factor = 0.6371   # hand-tune
       ret.mass = 3115. * CV.LB_TO_KG + STD_CARGO_KG
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
+      if Params().get_bool('Torque'):
+        set_lat_tune(ret.lateralTuning, LatTunes.TORQUE, MAX_LAT_ACCEL=2.0, FRICTION=0.10)
+      else:
+        set_lat_tune(ret.lateralTuning, LatTunes.PID_N)
 
     elif candidate == CAR.MIRAI:
       stop_and_go = True
@@ -236,7 +244,12 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[], disabl
       set_long_tune(ret.longitudinalTuning, LongTunes.PEDAL)
     elif candidate in TSS2_CAR:
       set_long_tune(ret.longitudinalTuning, LongTunes.TSS2)
-      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+      # Improved longitudinal tune settings from sshane
+      ret.vEgoStopping = 0.2  # car is near 0.1 to 0.2 when car starts requesting stopping accel
+      ret.vEgoStarting = 0.2  # needs to be > or == vEgoStopping
+      ret.stoppingDecelRate = 0.3  # reach stopping target smoothly - seems to take 0.5 seconds to go from 0 to -0.4
+      ret.longitudinalActuatorDelayLowerBound = 0.3
+      ret.longitudinalActuatorDelayUpperBound = 0.3
     else:
       set_long_tune(ret.longitudinalTuning, LongTunes.TSS)
 
diff --git a/selfdrive/common/params.cc b/selfdrive/common/params.cc
index bb3800534bf82d..8c08ef587b962a 100644
--- a/selfdrive/common/params.cc
+++ b/selfdrive/common/params.cc
@@ -177,6 +177,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
     {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
     {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"Torque", PERSISTENT},
 };
 
 } // namespace
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index 19620cbf4b989d..e6b273be0351d6 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -246,10 +246,10 @@ def calibration_incomplete_alert(CP: car.CarParams, sm: messaging.SubMaster, met
 def no_gps_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
   gps_integrated = sm['peripheralState'].pandaType in (log.PandaState.PandaType.uno, log.PandaState.PandaType.dos)
   return Alert(
-    "Poor GPS reception",
-    "Hardware malfunctioning if sky is visible" if gps_integrated else "Check GPS antenna placement",
-    AlertStatus.normal, AlertSize.mid,
-    Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
+    "",
+    "If sky is visible, contact support" if gps_integrated else "",
+    AlertStatus.normal, AlertSize.none,
+    Priority.LOWER, VisualAlert.none, AudibleAlert.none, 0., 0., .2)
 
 # *** debug alerts ***
 
@@ -509,7 +509,7 @@ def joystick_alert(CP: car.CarParams, sm: messaging.SubMaster, metric: bool, sof
       "Take Control",
       "Turn Exceeds Steering Limit",
       AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 1.),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.none, 1., 1., 1.),
   },
 
   # Thrown when the fan is driven at >50% but is not rotating
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 0d21c519a3534b..f94e54b69ca660 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -17,8 +17,8 @@
 LON_MPC_STEP = 0.2  # first step is 0.2s
 AWARENESS_DECEL = -0.2  # car smoothly decel at .2m/s^2 when user is distracted
 A_CRUISE_MIN = -1.2
-A_CRUISE_MAX_VALS = [1.2, 1.2, 0.8, 0.6]
-A_CRUISE_MAX_BP = [0., 15., 25., 40.]
+A_CRUISE_MAX_VALS = [2.5, 3.0, 2.5, 1.5, 1.2]  # Sets the limits of the planner accel, PID may exceed
+A_CRUISE_MAX_BP = [0., 5., 10., 20., 55.]
 
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 1934da67015fcc..1a2074656b3c98 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -41,6 +41,7 @@ def manager_init() -> None:
     ("DisengageOnAccelerator", "1"),
     ("HasAcceptedTerms", "0"),
     ("OpenpilotEnabledToggle", "1"),
+    ("DisableRadar_Allow", "1"),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py
index 25b1bad04dd0c2..cc1f9bd563fb4e 100644
--- a/selfdrive/thermald/power_monitoring.py
+++ b/selfdrive/thermald/power_monitoring.py
@@ -20,7 +20,7 @@
 
 VBATT_PAUSE_CHARGING = 11.0           # Lower limit on the LPF car battery voltage
 VBATT_INSTANT_PAUSE_CHARGING = 7.0    # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss
-MAX_TIME_OFFROAD_S = 30*3600
+MAX_TIME_OFFROAD_S = 3*3600 #3 hours
 MIN_ON_TIME_S = 3600
 
 class PowerMonitoring:
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 23a040dd561418..71e982c2258822 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -71,6 +71,12 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "When enabled, pressing the accelerator pedal will disengage openpilot.",
       "../assets/offroad/icon_disengage_on_accelerator.svg",
     },
+    {
+      "Torque",
+      "Use Torque Tune",
+      "Use Torque tuning values. For select models only..",
+      "../assets/offroad/icon_openpilot.png",
+    },
 #ifdef ENABLE_MAPS
     {
       "NavSettingTime24h",