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 Version 0.8.6 (2021-XX-XX)
 ========================
+ * New driving model with improved laneless performance
+   * Trained on 5000+ hours of diverse driving data from 3000+ users in 40+ countries
+   * Better anti-cheating methods during simulator training ensure the model hugs less when in laneless mode
+   * All new desire ground-truthing stack makes the model better at lane changes and keeps
+ * Revamp lateral and longitudinal planners
+   * Refactor planner output API to be more readable and verbose
+   * Planners now output desired trajectories for speed, acceleration, curvature, and curvature rate
+   * Use MPC for longitudinal planning when no lead car is present, this replaces a mostly hardcoded policy and makes accel and deccel smoother
+ * Remove "CHECK DRIVER FACE VISIBILITY" warning
  * Hyundai Elantra Hybrid 2021 support thanks to tecandrew!
  * Hyundai Ioniq PHEV 2020 support thanks to YawWashout!
  * Kia Niro Hybrid 2019 support thanks to jyoung8607!