diff --git a/RELEASES.md b/RELEASES.md
index ded5d2ff..0cb29a65 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,7 +1,9 @@
 Version 0.8.4 (2021-05-07)
 ========================
+ * Delay controls start until system is ready
  * Fuzzy car identification, enabled with Community Features toggle
  * Localizer optimized for increased precision and less CPU usage
+ * Retuned lateral control to be more aggressive when model is confident
  * Toyota Mirai 2021 support
  * Lexus NX 300 2020 support thanks to goesreallyfast!
 
diff --git a/laika_repo b/laika_repo
index d6dafb42..faf2a714 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit d6dafb42fafde4dd98044f5833d01f77493d4c59
+Subproject commit faf2a714dac931da24e2eafb13c4cc37aa37b6e9