diff --git a/opendbc_repo b/opendbc_repo
index 8c0b1367c5178f..7689bdd278c45d 160000
--- a/opendbc_repo
+++ b/opendbc_repo
@@ -1 +1 @@
-Subproject commit 8c0b1367c5178f919c05ae58a1dcf7439ed3eb37
+Subproject commit 7689bdd278c45da51252fa5beb9a7afe834948ff
diff --git a/openpilot/cereal/log.capnp b/openpilot/cereal/log.capnp
index 2b43a95d7bee12..d0c5d01eb58c4c 100644
--- a/openpilot/cereal/log.capnp
+++ b/openpilot/cereal/log.capnp
@@ -811,6 +811,9 @@ struct SelfdriveState {
     promptDistracted @8;
 
     preAlert @9;
+
+    complete @10;
+    dmCriticalMax @11;
   }
 
   enum OpenpilotState @0xdbe58b96d2d1ac61 {
diff --git a/openpilot/selfdrive/assets/sounds/complete.wav b/openpilot/selfdrive/assets/sounds/complete.wav
new file mode 100644
index 00000000000000..f85d48f315e074
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/complete.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3027da9834adf9c71177bc3086f8de3018ce22e4725b694d635723c5b3c860cd
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/critical.wav b/openpilot/selfdrive/assets/sounds/critical.wav
new file mode 100644
index 00000000000000..f36aa1bacd0df3
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/critical.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca29ff46fbd6d00cc02596de8c9abfbf1cacdc6a7b2f98b27a74d24c790da004
+size 52374
diff --git a/openpilot/selfdrive/assets/sounds/disengage.wav b/openpilot/selfdrive/assets/sounds/disengage.wav
index 7bfd97ad715e2e..7db1d31911303d 100644
--- a/openpilot/selfdrive/assets/sounds/disengage.wav
+++ b/openpilot/selfdrive/assets/sounds/disengage.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013
-size 48044
+oid sha256:6f47633b5082b911e79dd13fc2d1f4c2a9d44d2fe0860f3d390ffc4e3d772f7d
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/dm_critical.wav b/openpilot/selfdrive/assets/sounds/dm_critical.wav
new file mode 100644
index 00000000000000..9a4171444ff80e
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/dm_critical.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538271820d618046009bb456e930598f2736dd1a6174c11925ec3912581b05c1
+size 52374
diff --git a/openpilot/selfdrive/assets/sounds/dm_critical_max.wav b/openpilot/selfdrive/assets/sounds/dm_critical_max.wav
new file mode 100644
index 00000000000000..9526364f99374b
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/dm_critical_max.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c4699e3a456a0df2bbfac7ab1eb8972fc8bd970296133fd322e214c61884407
+size 52374
diff --git a/openpilot/selfdrive/assets/sounds/dm_warning.wav b/openpilot/selfdrive/assets/sounds/dm_warning.wav
new file mode 100644
index 00000000000000..52124b0801c091
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/dm_warning.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:634fad6590295ef2e73d5f7e5aecbb5dd245a0f7692f1e300c2ebac95aabb8e3
+size 73026
diff --git a/openpilot/selfdrive/assets/sounds/dm_warning_low.wav b/openpilot/selfdrive/assets/sounds/dm_warning_low.wav
new file mode 100644
index 00000000000000..1e146ed03d950d
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/dm_warning_low.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc1a1d07a8ecb960705308d8973a1369b71d5ef612552cfd8ac5d4d7c1ebf09d
+size 145308
diff --git a/openpilot/selfdrive/assets/sounds/engage.wav b/openpilot/selfdrive/assets/sounds/engage.wav
index 8633b5ac2d82b1..a984e2f3da2a27 100644
--- a/openpilot/selfdrive/assets/sounds/engage.wav
+++ b/openpilot/selfdrive/assets/sounds/engage.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a
-size 48044
+oid sha256:a380fe0a022856b302841a0dd19b71eab318c6b08ec851f128942758a7f1631a
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/pre_alert.wav b/openpilot/selfdrive/assets/sounds/pre_alert.wav
index 4443bf7d23425b..d8240a17176f2a 100644
--- a/openpilot/selfdrive/assets/sounds/pre_alert.wav
+++ b/openpilot/selfdrive/assets/sounds/pre_alert.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2c0af7f5fe57bb36ab96fae868e20feca763541c97a61b3a3a84a0e7fcb81163
-size 83350
+oid sha256:cc9e67cfaba77e8e4f4049f0add9238660e4cf8f886c6915600d8f47a30c98db
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/prompt.wav b/openpilot/selfdrive/assets/sounds/prompt.wav
deleted file mode 100644
index e482c85a629806..00000000000000
--- a/openpilot/selfdrive/assets/sounds/prompt.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ad19268e4aaaeac8dd21f6b26c16a121e7b3f50bba867748e7226727643ae682
-size 144642
diff --git a/openpilot/selfdrive/assets/sounds/prompt_distracted.wav b/openpilot/selfdrive/assets/sounds/prompt_distracted.wav
deleted file mode 100644
index c11993f20c0442..00000000000000
--- a/openpilot/selfdrive/assets/sounds/prompt_distracted.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:412ef25d2fb103c1ebd55c667313a5921493305fb4e1f4e1dafc08d3b95d86ab
-size 73026
diff --git a/openpilot/selfdrive/assets/sounds/refuse.wav b/openpilot/selfdrive/assets/sounds/refuse.wav
index 1e0c47697d89cb..10026d7be9883b 100644
--- a/openpilot/selfdrive/assets/sounds/refuse.wav
+++ b/openpilot/selfdrive/assets/sounds/refuse.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4af81cbf1d96a42cc351878b015298aee82874b46baaf1a615ca91ec36c0ced6
-size 83228
+oid sha256:081d64ca28a84a59ff5e6aea4732865b8687585938b8a287bc7e6a49d0646508
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/warning.wav b/openpilot/selfdrive/assets/sounds/warning.wav
new file mode 100644
index 00000000000000..bb71a0176a51a9
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/warning.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb440f424c989c06e203bfba0b32d39aede8f6c78a9b335e5e778460202b601
+size 73026
diff --git a/openpilot/selfdrive/assets/sounds/warning_immediate.wav b/openpilot/selfdrive/assets/sounds/warning_immediate.wav
deleted file mode 100644
index fcbfed79ed87d6..00000000000000
--- a/openpilot/selfdrive/assets/sounds/warning_immediate.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5a390831afca3bfc6ea3c2739b872ebf866e70df8ae30653f8587e5cd3993959
-size 68306
diff --git a/openpilot/selfdrive/assets/sounds/warning_soft.wav b/openpilot/selfdrive/assets/sounds/warning_soft.wav
deleted file mode 100644
index 7db30303d60f5d..00000000000000
--- a/openpilot/selfdrive/assets/sounds/warning_soft.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:67e636d072703e6b1233a12344c0a6304fd43d64dbb31c66b71c2c8870a339c1
-size 153764
diff --git a/openpilot/selfdrive/ui/mici/layouts/settings/developer.py b/openpilot/selfdrive/ui/mici/layouts/settings/developer.py
index 2d7dc0899ddda8..efee3bb7fc6ecd 100644
--- a/openpilot/selfdrive/ui/mici/layouts/settings/developer.py
+++ b/openpilot/selfdrive/ui/mici/layouts/settings/developer.py
@@ -1,5 +1,11 @@
+import threading
+import time
+import wave
 from collections.abc import Callable
+from openpilot.cereal import messaging
+from openpilot.common.basedir import BASEDIR
 from openpilot.common.time_helpers import system_time_valid
+from openpilot.selfdrive.ui.soundd import AudibleAlert, sound_list
 from openpilot.system.ui.widgets.scroller import NavScroller
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton, BigToggle, BigParamControl, BigCircleParamControl, GreyBigButton
 from openpilot.selfdrive.ui.mici.widgets.dialog import BigDialog, BigInputDialog, BigConfirmationCircleButton
@@ -85,8 +91,13 @@ def ssh_keys_callback():
     self._debug_mode_toggle = BigParamControl("ui debug mode", "ShowDebugInfo",
                                               toggle_callback=lambda checked: (gui_app.set_show_touches(checked),
                                                                                gui_app.set_show_fps(checked)))
+    self._playing_sounds = False
+    self._play_sounds_btn = BigButton("play sounds")
+    self._play_sounds_btn.set_click_callback(self._on_play_sounds)
+    self._play_sounds_btn.set_enabled(lambda: ui_state.is_offroad() and not self._playing_sounds)
 
     self._scroller.add_widgets([
+      self._play_sounds_btn,
       self._adb_toggle,
       self._ssh_toggle,
       self._ssh_keys_btn,
@@ -162,6 +173,46 @@ def _update_toggles(self):
     for key, item in self._refresh_toggles:
       item.set_checked(ui_state.params.get_bool(key))
 
+  def _on_play_sounds(self):
+    self._playing_sounds = True
+
+    def play():
+      pm = messaging.PubMaster(['selfdriveState'])
+      sm = messaging.SubMaster(['managerState'])
+
+      def publish(alert, duration):
+        for _ in range(int(duration * 20)):
+          msg = messaging.new_message('selfdriveState')
+          msg.selfdriveState.alertSound = alert
+          pm.send('selfdriveState', msg)
+          time.sleep(0.05)
+
+      try:
+        ui_state.params.put_bool("IsDriverViewEnabled", True)  # get manager to start soundd offroad
+        deadline = time.monotonic() + 10.
+        while time.monotonic() < deadline:
+          sm.update(100)
+          if any(p.name == 'soundd' and p.running for p in sm['managerState'].processes):
+            break
+        time.sleep(1.)  # let soundd open its audio stream
+
+        # each sound plays twice back to back, same transitions soundd sees while driving
+        for alert, (filename, play_count, _) in sound_list.items():
+          with wave.open(BASEDIR + "/openpilot/selfdrive/assets/sounds/" + filename) as f:
+            duration = f.getnframes() / f.getframerate()
+          if play_count is None:
+            publish(alert, 2 * duration - 0.1)  # seamless loop, stop finishes the second loop
+          else:
+            publish(alert, duration + 0.1)
+            publish(AudibleAlert.none, 0.05)  # one frame of none to retrigger
+            publish(alert, duration + 0.1)
+          publish(AudibleAlert.none, 1.)
+      finally:
+        ui_state.params.put_bool("IsDriverViewEnabled", False)
+        self._playing_sounds = False
+
+    threading.Thread(target=play, daemon=True).start()
+
   def _on_joystick_debug_mode(self, state: bool):
     ui_state.params.put_bool("JoystickDebugMode", state, block=True)
     ui_state.params.put_bool("LongitudinalManeuverMode", False, block=True)
diff --git a/openpilot/selfdrive/ui/soundd.py b/openpilot/selfdrive/ui/soundd.py
index d84c98710b6d50..5667a3ab444c59 100644
--- a/openpilot/selfdrive/ui/soundd.py
+++ b/openpilot/selfdrive/ui/soundd.py
@@ -22,7 +22,7 @@
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
-AMBIENT_DB = 24 # DB where MIN_VOLUME is applied
+AMBIENT_DB = 25 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
 VOLUME_BASE = 20
@@ -39,14 +39,17 @@
   AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME),
   AudibleAlert.refuse: ("refuse.wav", 1, MAX_VOLUME),
 
-  AudibleAlert.prompt: ("prompt.wav", 1, MAX_VOLUME),
-  AudibleAlert.promptRepeat: ("prompt.wav", None, MAX_VOLUME),
-  AudibleAlert.promptDistracted: ("prompt_distracted.wav", None, MAX_VOLUME),
+  AudibleAlert.prompt: ("warning.wav", 1, MAX_VOLUME),
+  AudibleAlert.promptRepeat: ("warning.wav", None, MAX_VOLUME),
+  AudibleAlert.promptDistracted: ("dm_warning.wav", None, MAX_VOLUME),
 
   AudibleAlert.preAlert: ("pre_alert.wav", 1, MAX_VOLUME),
 
-  AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
-  AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+  AudibleAlert.complete: ("complete.wav", 1, MAX_VOLUME),
+  AudibleAlert.dmCriticalMax: ("dm_critical_max.wav", None, MAX_VOLUME),
+
+  AudibleAlert.warningSoft: ("critical.wav", None, MAX_VOLUME),
+  AudibleAlert.warningImmediate: ("dm_critical.wav", None, MAX_VOLUME),
 }
 if HARDWARE.get_device_type() == "tizi":
   sound_list.update({
@@ -76,6 +79,7 @@ def __init__(self):
     self.ramp_start_time = 0.
 
     self.selfdrive_timeout_alert = False
+    self.pending_stop = False
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
@@ -114,6 +118,10 @@ def get_sound_data(self, frames): # get "frames" worth of data from the current
         self.current_sound_frame += frames_to_write
         current_sound_frame = self.current_sound_frame % len(sound_data)
         loops = self.current_sound_frame // len(sound_data)
+        if self.pending_stop and current_sound_frame == 0:
+          self.current_alert = AudibleAlert.none
+          self.pending_stop = False
+          break
 
     return ret * self.current_volume
 
@@ -124,6 +132,15 @@ def callback(self, data_out: np.ndarray, frames: int, time, status) -> None:
 
   def update_alert(self, new_alert):
     current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_alert])
+    # let looping sounds finish the current loop instead of cutting off mid tone
+    if new_alert == AudibleAlert.none and self.current_alert != AudibleAlert.none and sound_list[self.current_alert][1] is None:
+      if current_alert_played_once:
+        self.pending_stop = True
+      else:
+        self.current_alert = AudibleAlert.none
+        self.current_sound_frame = 0
+      return
+    self.pending_stop = False
     if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
       if new_alert == AudibleAlert.warningImmediate:
         self.ramp_start_volume = self.current_volume