The cause is still not well understood. Noise on panda <-> 845 UART? This may address it: commaai/agnos-kernel-sdm845#101, but needs a repro and validation.
Routes
b1c51ac59e436919/00000029--87317c8850/4
b1c51ac59e436919/0000002d--1d4d6b3caf/2
b1c51ac59e436919/00000034--068d4a6097/2
Separately, we need to improve the isolation for the rest of openpilot. Our core driving processes weren't affect in these routes