diff --git a/Dockerfile.agnos b/Dockerfile.agnos
index 11faa611..112b4849 100644
--- a/Dockerfile.agnos
+++ b/Dockerfile.agnos
@@ -14,11 +14,17 @@ RUN set -xe
 
 ARG USERNAME=comma
 
+ARG DEBIAN_FRONTEND=noninteractive
+
 # Base system setup
 RUN echo "resolvconf resolvconf/linkify-resolvconf boolean false" | debconf-set-selections
 COPY ./userspace/base_setup.sh /tmp/agnos
 RUN /tmp/agnos/base_setup.sh
 
+# Additional libraries
+COPY ./userspace/install_libraries.sh /tmp/agnos
+RUN /tmp/agnos/install_libraries.sh
+
 # Install openpilot dependencies
 COPY ./userspace/openpilot_dependencies.sh /tmp/agnos/
 RUN /tmp/agnos/openpilot_dependencies.sh
diff --git a/userspace/base_setup.sh b/userspace/base_setup.sh
index ebf82ad4..f06ede4b 100755
--- a/userspace/base_setup.sh
+++ b/userspace/base_setup.sh
@@ -8,17 +8,14 @@ HOST=comma
 touch /TICI
 touch /AGNOS
 
-# Add armhf as supported architecture
-dpkg --add-architecture armhf
-
 # Install apt-fast
 apt-get update
-apt-get install -yq curl sudo wget
-bash -c "$(curl -sL https://git.io/vokNn)"
+apt-get install --no-install-recommends -yq ca-certificates wget
+bash -c "$(wget -qO- https://git.io/vokNn)"
+
+apt-get upgrade -yq
 
-# Install packages
-export DEBIAN_FRONTEND=noninteractive
-apt-fast install --no-install-recommends -yq locales systemd adduser
+apt-fast install -yq --no-install-recommends ubuntu-minimal
 
 # Create privileged user
 useradd -G sudo -m -s /bin/bash $USERNAME
@@ -50,63 +47,51 @@ echo "comma - nice -10" >> /etc/security/limits.conf
 locale-gen en_US.UTF-8
 update-locale LANG=en_US.UTF-8
 
-apt-fast upgrade -yq
 apt-fast install --no-install-recommends -yq \
     alsa-utils \
-    apport-retrace \
     bc \
     build-essential \
     bzip2 \
-    curl \
     chrony \
     cpuset \
+    curl \
     dfu-util \
+    dnsmasq-base \
     evtest \
+    gdb \
     git \
-    git-core \
     git-lfs \
-    gdb \
+    hostapd \
     htop \
     i2c-tools \
     ifmetric \
     ifupdown \
     iptables-persistent \
+    isc-dhcp-client \
     jq \
     landscape-common \
-    libi2c-dev \
     libqmi-utils \
     libtool \
-    libncursesw5-dev \
-    libnss-myhostname \
-    libgdbm-dev \
-    libc6-dev \
-    libsqlite3-dev \
-    libssl-dev \
-    libffi-dev \
     llvm \
     nano \
     net-tools \
-    nload \
     network-manager \
+    nload \
     nvme-cli \
-    openssl \
+    openssh-server \
     ppp \
+    rsyslog \
     smartmontools \
-    speedtest-cli \
     ssh \
     sshfs \
-    sudo \
     systemd-resolved \
-    traceroute \
     tk-dev \
-    ubuntu-minimal \
+    traceroute \
     ubuntu-server \
     ubuntu-standard \
-    udev \
     udhcpc \
-    wget \
     wireless-tools \
-    zlib1g-dev
+    wpasupplicant
 
 rm -rf /var/lib/apt/lists/*
 
@@ -125,80 +110,3 @@ echo "comma ALL=(ALL) NOPASSWD: ALL" >> /etc/sudoers
 
 # setup /bin/sh symlink
 ln -sf /bin/bash /bin/sh
-
-# Install necessary libs
-apt-fast update -yq
-apt-fast install --no-install-recommends -yq \
-    libacl1:armhf \
-    libasan6-armhf-cross \
-    libatomic1-armhf-cross \
-    libattr1:armhf \
-    libaudit1:armhf \
-    libblkid1:armhf \
-    libc6:armhf \
-    libc6-armhf-cross \
-    libc6-dev:armhf \
-    libc6-dev-armhf-cross \
-    libcairo2:armhf \
-    libcap2:armhf \
-    libdrm2:armhf \
-    libevdev2:armhf \
-    libexpat1:armhf \
-    libffi8:armhf \
-    libfontconfig1:armhf \
-    libfreetype6:armhf \
-    libgbm1:armhf \
-    libgcc-11-dev-armhf-cross \
-    libglib2.0-0t64:armhf \
-    libgomp1-armhf-cross \
-    libgudev-1.0-0:armhf \
-    libinput-bin:armhf \
-    libinput-dev:armhf \
-    libinput10:armhf \
-    libjpeg-dev:armhf \
-    libjpeg-turbo8:armhf \
-    libjpeg-turbo8-dev:armhf \
-    libjpeg8:armhf \
-    libjpeg8-dev:armhf \
-    libkmod2:armhf \
-    libmtdev1t64:armhf \
-    libpam0g:armhf \
-    libpam0g-dev:armhf \
-    libpcre3:armhf \
-    libpixman-1-0:armhf \
-    libpng16-16t64:armhf \
-    libselinux1:armhf \
-    libstdc++6:armhf \
-    libstdc++6-armhf-cross \
-    libubsan1-armhf-cross \
-    libudev-dev:armhf \
-    libudev1:armhf \
-    libuuid1:armhf \
-    libwacom9:armhf \
-    libx11-6:armhf \
-    libxau6:armhf \
-    libxcb-render0:armhf \
-    libxcb-shm0:armhf \
-    libxcb1:armhf \
-    libxdmcp6:armhf \
-    libxext6:armhf \
-    libxkbcommon0:armhf \
-    libxrender1:armhf \
-    linux-libc-dev:armhf \
-    linux-libc-dev-armhf-cross \
-    zlib1g:armhf \
-    libegl1 \
-    libegl-dev \
-    libgles1 \
-    libgles2 \
-    libgles-dev \
-    openssh-server \
-    dnsmasq-base \
-    isc-dhcp-client \
-    iputils-ping \
-    rsyslog \
-    kmod \
-    wpasupplicant \
-    hostapd \
-    libgtk2.0-dev \
-    libxml2:armhf \
diff --git a/userspace/install_extras.sh b/userspace/install_extras.sh
index 272af83b..d7ac2d1e 100755
--- a/userspace/install_extras.sh
+++ b/userspace/install_extras.sh
@@ -5,7 +5,9 @@
 apt-fast update && apt-fast install -y --no-install-recommends \
   irqtop \
   ripgrep \
-  nfs-common
+  nfs-common \
+  apport-retrace \
+  speedtest-cli
 
 # color prompt
 sed -i 's/#force_color_prompt=yes/force_color_prompt=yes/g' /home/comma/.bashrc
diff --git a/userspace/install_libraries.sh b/userspace/install_libraries.sh
new file mode 100755
index 00000000..f450a82c
--- /dev/null
+++ b/userspace/install_libraries.sh
@@ -0,0 +1,82 @@
+#!/bin/bash -e
+
+export DEBIAN_FRONTEND=noninteractive
+
+# Add armhf as supported architecture
+dpkg --add-architecture armhf
+
+apt-fast update && apt-fast install --no-install-recommends -yq \
+    libacl1:armhf \
+    libasan6-armhf-cross \
+    libatomic1-armhf-cross \
+    libattr1:armhf \
+    libaudit1:armhf \
+    libblkid1:armhf \
+    libc6-armhf-cross \
+    libc6-dev \
+    libc6-dev-armhf-cross \
+    libc6-dev:armhf \
+    libc6:armhf \
+    libcairo2:armhf \
+    libcap2:armhf \
+    libdrm2:armhf \
+    libegl-dev \
+    libegl1 \
+    libevdev2:armhf \
+    libexpat1:armhf \
+    libffi-dev \
+    libffi8:armhf \
+    libfontconfig1:armhf \
+    libfreetype6:armhf \
+    libgbm1:armhf \
+    libgcc-11-dev-armhf-cross \
+    libgdbm-dev \
+    libgles-dev \
+    libgles1 \
+    libgles2 \
+    libglib2.0-0t64:armhf \
+    libgomp1-armhf-cross \
+    libgudev-1.0-0:armhf \
+    libi2c-dev \
+    libinput-bin:armhf \
+    libinput-dev:armhf \
+    libgtk2.0-dev \
+    libinput10:armhf \
+    libjpeg-dev:armhf \
+    libjpeg-turbo8-dev:armhf \
+    libjpeg-turbo8:armhf \
+    libjpeg8-dev:armhf \
+    libjpeg8:armhf \
+    libkmod2:armhf \
+    libmtdev1t64:armhf \
+    libncursesw5-dev \
+    libnss-myhostname \
+    libpam0g-dev:armhf \
+    libpam0g:armhf \
+    libpcre3:armhf \
+    libpixman-1-0:armhf \
+    libpng16-16t64:armhf \
+    libselinux1:armhf \
+    libsqlite3-dev \
+    libssl-dev \
+    libstdc++6-armhf-cross \
+    libstdc++6:armhf \
+    libubsan1-armhf-cross \
+    libudev-dev:armhf \
+    libudev1:armhf \
+    libuuid1:armhf \
+    libwacom9:armhf \
+    libx11-6:armhf \
+    libxau6:armhf \
+    libxcb-render0:armhf \
+    libxcb-shm0:armhf \
+    libxcb1:armhf \
+    libxdmcp6:armhf \
+    libxext6:armhf \
+    libxkbcommon0:armhf \
+    libxml2:armhf \
+    libxrender1:armhf \
+    linux-libc-dev-armhf-cross \
+    linux-libc-dev:armhf \
+    zlib1g-dev \
+    zlib1g:armhf