diff --git a/LICENSE b/LICENSE
index d975039..0ca69e8 100644
--- a/LICENSE
+++ b/LICENSE
@@ -1,4 +1,4 @@
-Copyright 2022-2023 Anduril Industries
+Copyright 2022-2024 Anduril Industries
 
 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
 
diff --git a/UPGRADE_CHECKLIST.md b/UPGRADE_CHECKLIST.md
index e6dff5f..98bb85a 100644
--- a/UPGRADE_CHECKLIST.md
+++ b/UPGRADE_CHECKLIST.md
@@ -1,15 +1,15 @@
 ### Updating
-- [ ] Update `l4tVersion`, `bspVersion`, and `cudaVersion` in default.nix
+- [ ] Update `l4tVersion`, `jetpackVersion`, and `cudaVersion` in default.nix
 - [ ] Update branch/revision/sha256s in:
+    - [ ] `default.nix`
     - [ ] `kernel/default.nix`
-    - [ ] `kernel/display-driver.nix`
     - [ ] `uefi-firmware.nix`
-    - [ ] `optee.nix`
     - [ ] Grep for "sha256 = ", see if there is anything else not covered
-- [ ] Grep for the previous version strings e.g. "35.3.1"
+- [ ] Update the kernel version in `kernel/default.nix` if it chaged.
+- [ ] Grep for the previous version strings e.g. "35.4.1"
 - [ ] Compare files from `unpackedDebs` before and after
-- [ ] Ensure the soc variants in `modules/flash-script.nix` match those in jetson_board_spec.cfg from BSP
-- [ ] Ensure logic in ota-utils/ota_helpers.func matches nvidia-l4t-init/opt/nvidia/nv-l4t-bootloader-config.sh
+- [ ] Ensure the soc variants in `modules/flash-script.nix` match those in `jetson_board_spec.cfg` from BSP
+- [ ] Ensure logic in `ota-utils/ota_helpers.func` matches `nvidia-l4t-init/opt/nvidia/nv-l4t-bootloader-config.sh`
 - [ ] Run `nix build .#genL4tJson` and copy output to `pkgs/containers/l4t.json`
 
 ### Testing
diff --git a/debs/default.nix b/debs/default.nix
deleted file mode 100644
index 866ddfd..0000000
--- a/debs/default.nix
+++ /dev/null
@@ -1,13 +0,0 @@
-{ lib, fetchurl }:
-
-let
-  debsJSON = lib.importJSON ./r35.3.json;
-  baseURL = "https://repo.download.nvidia.com/jetson";
-  repos = [ "t194" "t234" "common" ];
-
-  fetchDeb = repo: pkg: fetchurl {
-    url = "${baseURL}/${repo}/${pkg.filename}";
-    sha256 = pkg.sha256;
-  };
-in
-lib.mapAttrs (repo: pkgs: lib.mapAttrs (pkgname: pkg: pkg // { src = fetchDeb repo pkg; }) pkgs) debsJSON
diff --git a/default.nix b/default.nix
index fff28fc..bd88283 100644
--- a/default.nix
+++ b/default.nix
@@ -5,6 +5,7 @@
 , lib
 , runCommand
 , fetchurl
+, fetchgit
 , bzip2_1_1
 , dpkg
 , pkgs
@@ -20,19 +21,20 @@ let
 
   pkgsAarch64 = if pkgs.stdenv.buildPlatform.isAarch64 then pkgs else pkgs.pkgsCross.aarch64-multiplatform;
 
+  jetpackVersion = "5.1.2";
+  l4tVersion = "35.4.1";
+  cudaVersion = "11.4";
+
   # https://developer.nvidia.com/embedded/jetson-linux-archive
   # https://repo.download.nvidia.com/jetson/
 
   src = fetchurl {
-    url = "https://developer.download.nvidia.com/embedded/L4T/r35_Release_v3.1/release/Jetson_Linux_R35.3.1_aarch64.tbz2";
-    sha256 = "sha256-gKVVBKLOnNwKMo7bb9BpBhXE/96cKzL05k4KGjQyouI=";
+    url = with lib.versions; "https://developer.download.nvidia.com/embedded/L4T/r${major l4tVersion}_Release_v${minor l4tVersion}.${patch l4tVersion}/release/Jetson_Linux_R${l4tVersion}_aarch64.tbz2";
+    sha256 = "sha256-crdaDH+jv270GuBmNLtnw4qSaCFV0SBgJtvuSmuaAW8=";
   };
 
-  debs = import ./debs { inherit lib fetchurl; };
-
-  jetpackVersion = "5.1.1";
-  l4tVersion = "35.3.1";
-  cudaVersion = "11.4";
+  sourceInfo = import ./sourceinfo { inherit lib fetchurl fetchgit l4tVersion; };
+  inherit (sourceInfo) debs gitRepos;
 
   # we use a more recent version of bzip2 here because we hit this bug extracting nvidia's archives:
   # https://bugs.launchpad.net/ubuntu/+source/bzip2/+bug/1834494
@@ -42,19 +44,28 @@ let
   '';
 
   # Here for convenience, to see what is in upstream Jetpack
-  unpackedDebs = pkgs.runCommand "unpackedDebs" { nativeBuildInputs = [ dpkg ]; } ''
+  unpackedDebs = pkgs.runCommand "unpackedDebs-${l4tVersion}" { nativeBuildInputs = [ dpkg ]; } ''
     mkdir -p $out
     ${lib.concatStringsSep "\n" (lib.mapAttrsToList (n: p: "echo Unpacking ${n}; dpkg -x ${p.src} $out/${n}") debs.common)}
     ${lib.concatStringsSep "\n" (lib.mapAttrsToList (n: p: "echo Unpacking ${n}; dpkg -x ${p.src} $out/${n}") debs.t234)}
   '';
 
   # Also just for convenience,
-  unpackedDebsFilenames = pkgs.runCommand "unpackedDebsFilenames" { nativeBuildInputs = [ dpkg ]; } ''
+  unpackedDebsFilenames = pkgs.runCommand "unpackedDebsFilenames-${l4tVersion}" { nativeBuildInputs = [ dpkg ]; } ''
     mkdir -p $out
     ${lib.concatStringsSep "\n" (lib.mapAttrsToList (n: p: "echo Extracting file list from ${n}; dpkg --fsys-tarfile ${p.src} | tar --list > $out/${n}") debs.common)}
     ${lib.concatStringsSep "\n" (lib.mapAttrsToList (n: p: "echo Extracting file list from ${n}; dpkg --fsys-tarfile ${p.src} | tar --list > $out/${n}") debs.t234)}
   '';
 
+  unpackedGitRepos = pkgs.runCommand "unpackedGitRepos-${l4tVersion}" { } (
+    lib.mapAttrsToList
+      (relpath: repo: ''
+        mkdir -p $out/${relpath}
+        cp --no-preserve=all -r ${repo}/. $out/${relpath}
+      '')
+      gitRepos
+  );
+
   inherit (pkgsAarch64.callPackages ./pkgs/uefi-firmware { inherit l4tVersion; })
     edk2-jetson uefi-firmware;
 
@@ -62,7 +73,7 @@ let
     # Nvidia's recommended toolchain is gcc9:
     # https://nv-tegra.nvidia.com/r/gitweb?p=tegra/optee-src/nv-optee.git;a=blob;f=optee/atf_and_optee_README.txt;h=591edda3d4ec96997e054ebd21fc8326983d3464;hb=5ac2ab218ba9116f1df4a0bb5092b1f6d810e8f7#l33
     stdenv = pkgsAarch64.gcc9Stdenv;
-    inherit bspSrc l4tVersion;
+    inherit bspSrc gitRepos l4tVersion;
   }) buildTOS buildOpteeTaDevKit opteeClient;
 
   flash-tools = callPackage ./pkgs/flash-tools {
@@ -86,7 +97,7 @@ let
 
   kernel = callPackage ./kernel { inherit (l4t) l4t-xusb-firmware; kernelPatches = [ ]; };
   kernelPackagesOverlay = self: super: {
-    nvidia-display-driver = self.callPackage ./kernel/display-driver.nix { inherit l4tVersion; };
+    nvidia-display-driver = self.callPackage ./kernel/display-driver.nix { inherit gitRepos l4tVersion; };
   };
   kernelPackages = (pkgs.linuxPackagesFor kernel).extend kernelPackagesOverlay;
 
@@ -112,6 +123,7 @@ let
       value = c;
     }) [
     { som = "orin-agx"; carrierBoard = "devkit"; }
+    { som = "orin-agx-industrial"; carrierBoard = "devkit"; }
     { som = "orin-nx"; carrierBoard = "devkit"; }
     { som = "orin-nano"; carrierBoard = "devkit"; }
     { som = "xavier-agx"; carrierBoard = "devkit"; }
@@ -144,7 +156,8 @@ rec {
   inherit jetpackVersion l4tVersion cudaVersion;
 
   # Just for convenience
-  inherit bspSrc debs unpackedDebs unpackedDebsFilenames;
+  inherit bspSrc debs gitRepos;
+  inherit unpackedDebs unpackedDebsFilenames unpackedGitRepos;
 
   inherit cudaPackages samples;
   inherit flash-tools;
diff --git a/device-pkgs/default.nix b/device-pkgs/default.nix
index a2fe963..5f60785 100644
--- a/device-pkgs/default.nix
+++ b/device-pkgs/default.nix
@@ -13,6 +13,7 @@
 , buildOpteeTaDevKit
 , python3
 , openssl
+, gcc
 , dtc
 , l4tVersion
 , pkgsAarch64
@@ -112,6 +113,7 @@ let
     in
     import ./flashcmd-script.nix {
       inherit lib;
+      inherit gcc dtc;
       flash-tools = flash-tools-flashcmd;
     };
 
diff --git a/device-pkgs/flashcmd-script.nix b/device-pkgs/flashcmd-script.nix
index 17db57a..2fdfa7d 100644
--- a/device-pkgs/flashcmd-script.nix
+++ b/device-pkgs/flashcmd-script.nix
@@ -1,4 +1,4 @@
-{ lib, flash-tools }:
+{ lib, flash-tools, gcc, dtc }:
 ''
   set -euo pipefail
 
@@ -14,6 +14,9 @@
   chmod -R u+w "$WORKDIR"
   cd "$WORKDIR"
 
+  # bootloader/tegraflash_impl_t234.py needs these to modify dtbs ;(
+  export PATH=${lib.makeBinPath [ gcc dtc ]}:$PATH
+
   cd bootloader
   bash ./flashcmd.txt
 ''
diff --git a/kernel/0009-bonding-gcc13-synchronize-bond_-a-t-lb_xmit-types.patch b/kernel/0009-bonding-gcc13-synchronize-bond_-a-t-lb_xmit-types.patch
deleted file mode 100644
index 218c296..0000000
--- a/kernel/0009-bonding-gcc13-synchronize-bond_-a-t-lb_xmit-types.patch
+++ /dev/null
@@ -1,46 +0,0 @@
-From 212f7a3e399fa3f6c695f54abccda5967c697aba Mon Sep 17 00:00:00 2001
-From: "Jiri Slaby (SUSE)" <jirislaby@kernel.org>
-Date: Mon, 31 Oct 2022 12:44:09 +0100
-Subject: [PATCH 9/9] bonding (gcc13): synchronize bond_{a,t}lb_xmit() types
-
-Both bond_alb_xmit() and bond_tlb_xmit() produce a valid warning with
-gcc-13:
-  drivers/net/bonding/bond_alb.c:1409:13: error: conflicting types for 'bond_tlb_xmit' due to enum/integer mismatch; have 'netdev_tx_t(struct sk_buff *, struct net_device *)' ...
-  include/net/bond_alb.h:160:5: note: previous declaration of 'bond_tlb_xmit' with type 'int(struct sk_buff *, struct net_device *)'
-
-  drivers/net/bonding/bond_alb.c:1523:13: error: conflicting types for 'bond_alb_xmit' due to enum/integer mismatch; have 'netdev_tx_t(struct sk_buff *, struct net_device *)' ...
-  include/net/bond_alb.h:159:5: note: previous declaration of 'bond_alb_xmit' with type 'int(struct sk_buff *, struct net_device *)'
-
-I.e. the return type of the declaration is int, while the definitions
-spell netdev_tx_t. Synchronize both of them to the latter.
-
-Cc: Martin Liska <mliska@suse.cz>
-Cc: Jay Vosburgh <j.vosburgh@gmail.com>
-Cc: Veaceslav Falico <vfalico@gmail.com>
-Cc: Andy Gospodarek <andy@greyhouse.net>
-Signed-off-by: Jiri Slaby (SUSE) <jirislaby@kernel.org>
-Link: https://lore.kernel.org/r/20221031114409.10417-1-jirislaby@kernel.org
-Signed-off-by: Jakub Kicinski <kuba@kernel.org>
-(cherry picked from commit 777fa87c7682228e155cf0892ba61cb2ab1fe3ae)
----
- include/net/bond_alb.h | 4 ++--
- 1 file changed, 2 insertions(+), 2 deletions(-)
-
-diff --git a/include/net/bond_alb.h b/include/net/bond_alb.h
-index 191c36afa1f4..9dc082b2d543 100644
---- a/include/net/bond_alb.h
-+++ b/include/net/bond_alb.h
-@@ -156,8 +156,8 @@ int bond_alb_init_slave(struct bonding *bond, struct slave *slave);
- void bond_alb_deinit_slave(struct bonding *bond, struct slave *slave);
- void bond_alb_handle_link_change(struct bonding *bond, struct slave *slave, char link);
- void bond_alb_handle_active_change(struct bonding *bond, struct slave *new_slave);
--int bond_alb_xmit(struct sk_buff *skb, struct net_device *bond_dev);
--int bond_tlb_xmit(struct sk_buff *skb, struct net_device *bond_dev);
-+netdev_tx_t bond_alb_xmit(struct sk_buff *skb, struct net_device *bond_dev);
-+netdev_tx_t bond_tlb_xmit(struct sk_buff *skb, struct net_device *bond_dev);
- struct slave *bond_xmit_alb_slave_get(struct bonding *bond,
- 				      struct sk_buff *skb);
- struct slave *bond_xmit_tlb_slave_get(struct bonding *bond,
--- 
-2.42.0
-
diff --git a/kernel/default.nix b/kernel/default.nix
index 6f9c0e8..8adf253 100644
--- a/kernel/default.nix
+++ b/kernel/default.nix
@@ -15,7 +15,7 @@ let
   pkgsAarch64 = if isNative then pkgs else pkgs.pkgsCross.aarch64-multiplatform;
 in
 pkgsAarch64.buildLinux (args // {
-  version = "5.10.104" + lib.optionalString realtime "-rt63";
+  version = "5.10.120" + lib.optionalString realtime "-rt70";
   extraMeta.branch = "5.10";
 
   defconfig = "tegra_defconfig";
@@ -26,8 +26,8 @@ pkgsAarch64.buildLinux (args // {
     src = fetchFromGitHub {
       owner = "OE4T";
       repo = "linux-tegra-5.10";
-      rev = "7191dccf8670635906182cc2da862d9c0fdcb93a"; # latest on oe4t-patches-l4t-r35.3.ga as of 2023-07-27
-      sha256 = "sha256-s71v4Bzc2jF9l65FY7OlrB/zi8Vkty+dBxZry8MyBno=";
+      rev = "76678311c10b59a385a6d74152f3a0b976ae2a67"; # latest on oe4t-patches-l4t-r35.4.ga as of 2023-09-27
+      sha256 = "sha256-jHqIYDztVs/yw/oMxr4oPabxXk+l+CPlRrODEaduBgg=";
     };
     # Remove device tree overlays with some incorrect "remote-endpoint" nodes.
     # They are strings, but should be phandles. Otherwise, it fails to compile
@@ -89,19 +89,6 @@ pkgsAarch64.buildLinux (args // {
 
     # Lower priority of tegra-se crypto modules since they're slow and flaky
     { patch = ./0008-Lower-priority-of-tegra-se-crypto.patch; }
-
-    # Fix gcc13 compilation failure
-    { patch = ./0009-bonding-gcc13-synchronize-bond_-a-t-lb_xmit-types.patch; }
-
-    # Fixes a memory leak by kernel tegra serial driver
-    # This manifested via slab unreclaimable growing unbounded via repeated kmalloc-256 calls
-    # This patch is present in 35.4.1 and should be removed when we update
-    {
-      patch = fetchpatch {
-        url = "https://github.com/OE4T/linux-tegra-5.10/commit/d5b90d6b9365250adb73b2fe5b52a5228df3b1d9.patch";
-        sha256 = "sha256-a5LL4avaxQ3WYr9fRPMCfHrl4iAp1yhH95R+iI/PwYc=";
-      };
-    }
   ] ++ kernelPatches;
 
   structuredExtraConfig = with lib.kernel; {
diff --git a/kernel/display-driver.nix b/kernel/display-driver.nix
index d9bb7fd..415b8ed 100644
--- a/kernel/display-driver.nix
+++ b/kernel/display-driver.nix
@@ -1,8 +1,8 @@
 # TODO: Should try to merge with upstream nixpkgs's open.nix nvidia driver
 { stdenv
 , lib
-, fetchgit
 , kernel
+, gitRepos
 , l4tVersion
 }:
 
@@ -10,11 +10,7 @@ stdenv.mkDerivation rec {
   pname = "nvidia-display-driver";
   version = "jetson_${l4tVersion}";
 
-  src = fetchgit {
-    url = "https://nv-tegra.nvidia.com/tegra/kernel-src/nv-kernel-display-driver.git";
-    rev = version;
-    sha256 = "sha256-nXLrls3r9wRrZUGQIPZZS34hSt7ccsb4TZfaiIebMSU=";
-  };
+  src = gitRepos."tegra/kernel-src/nv-kernel-display-driver";
 
   setSourceRoot = "sourceRoot=$(echo */NVIDIA-kernel-module-source-TempVersion)";
 
diff --git a/modules/default.nix b/modules/default.nix
index 0fe72be..427e33b 100644
--- a/modules/default.nix
+++ b/modules/default.nix
@@ -55,7 +55,7 @@ in
         # with additional possibilies in an external NixOS module. See:
         # "Extensible option types" in the NixOS manual
         # The "generic" value signals that jetpack-nixos should try to maximize compatility across all varisnts. This may lead
-        type = types.enum [ "generic" "orin-agx" "orin-nx" "orin-nano" "xavier-agx" "xavier-nx" "xavier-nx-emmc" ];
+        type = types.enum [ "generic" "orin-agx" "orin-agx-industrial" "orin-nx" "orin-nano" "xavier-agx" "xavier-nx" "xavier-nx-emmc" ];
         default = "generic";
         description = lib.mdDoc ''
           Jetson SoM (System-on-Module) to target. Can be set to "generic" to target a generic jetson device, but some things may not work.
diff --git a/modules/devices.nix b/modules/devices.nix
index cb00995..5c73053 100644
--- a/modules/devices.nix
+++ b/modules/devices.nix
@@ -11,6 +11,7 @@ let
 
   nvpModelConf = {
     orin-agx = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_p3701_0000.conf";
+    orin-agx-industrial = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_p3701_0008.conf";
     orin-nx = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_p3767_0000.conf";
     orin-nano = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_p3767_0003.conf";
     xavier-agx = "${pkgs.nvidia-jetpack.l4t-nvpmodel}/etc/nvpmodel/nvpmodel_t194.conf";
@@ -20,6 +21,7 @@ let
 
   nvfancontrolConf = {
     orin-agx = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p3701_0000.conf";
+    orin-agx-industrial = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p3701_0008.conf";
     orin-nx = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p3767_0000.conf";
     orin-nano = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p3767_0000.conf";
     xavier-agx = "${pkgs.nvidia-jetpack.l4t-nvfancontrol}/etc/nvpower/nvfancontrol/nvfancontrol_p2888.conf";
@@ -80,6 +82,14 @@ lib.mkMerge [{
         partitionTemplate = mkDefault "${pkgs.nvidia-jetpack.bspSrc}/bootloader/t186ref/cfg/flash_t234_qspi.xml";
       })
 
+      (mkIf (cfg.som == "orin-agx-industrial") {
+        targetBoard = mkDefault "jetson-agx-orin-devkit-industrial";
+        # Remove the sdmmc part of this flash.xmo file. The industrial spi part is still different
+        partitionTemplate = mkDefault (pkgs.runCommand "flash.xml" { nativeBuildInputs = [ pkgs.buildPackages.xmlstarlet ]; } ''
+          xmlstarlet ed -d '//device[@type="sdmmc_user"]' ${pkgs.nvidia-jetpack.bspSrc}/bootloader/t186ref/cfg/flash_t234_qspi_sdmmc_industrial.xml >$out
+        '');
+      })
+
       (mkIf (cfg.som == "orin-nx" || cfg.som == "orin-nano") {
         targetBoard = mkDefault "jetson-orin-nano-devkit";
         # Use this instead if you want to use the original Xavier NX Devkit module (p3509-a02)
diff --git a/modules/flash-script.nix b/modules/flash-script.nix
index 6f94826..4af133d 100644
--- a/modules/flash-script.nix
+++ b/modules/flash-script.nix
@@ -200,7 +200,7 @@ in
           default = null;
         };
 
-        # See: https://docs.nvidia.com/jetson/archives/r35.3.1/DeveloperGuide/text/SD/Security/SecureBoot.html#prepare-an-sbk-key
+        # See: https://docs.nvidia.com/jetson/archives/r35.4.1/DeveloperGuide/text/SD/Security/SecureBoot.html#prepare-an-sbk-key
         secureBoot = {
           pkcFile = mkOption {
             type = types.nullOr types.path;
@@ -386,6 +386,10 @@ in
                 { boardid = "3701"; boardsku = "0005"; fab = "000"; boardrev = ""; fuselevel = "fuselevel_production"; chiprev = ""; } # 64GB
               ];
 
+              orin-agx-industrial = [
+                { boardid = "3701"; boardsku = "0008"; fab = "300"; boardrev = ""; fuselevel = "fuselevel_production"; chiprev = ""; }
+              ];
+
               orin-nx = [
                 { boardid = "3767"; boardsku = "0000"; fab = "000"; boardrev = ""; fuselevel = "fuselevel_production"; chiprev = ""; } # Orin NX 16GB
                 { boardid = "3767"; boardsku = "0001"; fab = "000"; boardrev = ""; fuselevel = "fuselevel_production"; chiprev = ""; } # Orin NX 8GB
diff --git a/pkgs/containers/l4t.json b/pkgs/containers/l4t.json
index 2f6a566..1f23151 100644
--- a/pkgs/containers/l4t.json
+++ b/pkgs/containers/l4t.json
@@ -1,14 +1,14 @@
 {
   "nvidia-l4t-3d-core": [
     "/usr/lib/aarch64-linux-gnu/tegra/libGLX_nvidia.so.0",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-eglcore.so.35.3.1",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-glcore.so.35.3.1",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-glsi.so.35.3.1",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-glvkspirv.so.35.3.1",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-nvvm.so.35.3.1",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-ptxjitcompiler.so.35.3.1",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-rmapi-tegra.so.35.3.1",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-rtcore.so.35.3.1",
+    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-eglcore.so.35.4.1",
+    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-glcore.so.35.4.1",
+    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-glsi.so.35.4.1",
+    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-glvkspirv.so.35.4.1",
+    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-nvvm.so.35.4.1",
+    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-ptxjitcompiler.so.35.4.1",
+    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-rmapi-tegra.so.35.4.1",
+    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-rtcore.so.35.4.1",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-vulkan-producer.so",
     "/usr/lib/aarch64-linux-gnu/tegra/nvidia_icd.json",
     "/usr/lib/aarch64-linux-gnu/tegra-egl/ld.so.conf",
@@ -31,7 +31,6 @@
     "/usr/lib/aarch64-linux-gnu/tegra/libnvcamlog.so",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvcamv4l2.so",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvcapture.so",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnveglstream_camconsumer.so",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvfusacap.so",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvfusacapinterface.so",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvisp.so",
@@ -65,7 +64,7 @@
     "/usr/lib/aarch64-linux-gnu/tegra/libnvgov_spincircle.so",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvgov_tbc.so",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvgov_ui.so",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-tls.so.35.3.1",
+    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-tls.so.35.4.1",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvimp.so",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvisp_utils.so",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvll.so",
@@ -129,12 +128,11 @@
     "/usr/lib/aarch64-linux-gnu/libgstnvexifmeta.so",
     "/usr/lib/aarch64-linux-gnu/libgstnvivameta.so",
     "/usr/lib/aarch64-linux-gnu/libnvsample_cudaprocess.so",
+    "/usr/lib/aarch64-linux-gnu/tegra/libgstnvcustomhelper.so.1.0.0",
     "/usr/lib/aarch64-linux-gnu/tegra/libgstnvdsseimeta.so.1.0.0",
     "/usr/lib/aarch64-linux-gnu/tegra/libnveglstreamproducer.so",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvgstreamer-1.0.so",
-    "/usr/lib/aarch64-linux-gnu/libgstreamer-1.0.so.0.1603.99999",
-    "/usr/lib/aarch64-linux-gnu/tegra/libgstnvdsseimeta.so",
-    "/usr/lib/aarch64-linux-gnu/tegra/libgstreamer-1.0.so.0"
+    "/usr/lib/aarch64-linux-gnu/tegra/libgstnvcustomhelper.so",
+    "/usr/lib/aarch64-linux-gnu/tegra/libgstnvdsseimeta.so"
   ],
   "nvidia-l4t-libvulkan": [
     "/usr/lib/aarch64-linux-gnu/tegra/libvulkan.so.1.3.204",
@@ -200,9 +198,7 @@
   ],
   "nvidia-l4t-multimedia-utils": [
     "/usr/lib/aarch64-linux-gnu/tegra/libnvbuf_fdmap.so.1.0.0",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvbuf_utils.so.1.0.0",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvbufsurface.so.1.0.0",
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvbuf_utils.so",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvbufsurface.so"
   ],
   "nvidia-l4t-nvsci": [
@@ -217,7 +213,7 @@
     "/usr/lib/aarch64-linux-gnu/tegra/libnvscisync.so"
   ],
   "nvidia-l4t-openwfd": [
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-kms.so.35.3.1",
+    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-kms.so.35.4.1",
     "/usr/lib/aarch64-linux-gnu/tegra/libtegrawfd.so",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-kms.so"
   ],
@@ -225,7 +221,7 @@
     "/usr/lib/aarch64-linux-gnu/tegra/libnvpvaintf.so"
   ],
   "nvidia-l4t-vulkan-sc": [
-    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-vksc-core.so.35.3.1",
+    "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-vksc-core.so.35.4.1",
     "/usr/lib/aarch64-linux-gnu/tegra/libnvidia-vksc-core.so"
   ],
   "nvidia-l4t-vulkan-sc-sdk": [
diff --git a/pkgs/cuda-packages/default.nix b/pkgs/cuda-packages/default.nix
index 4231bc1..3c41b34 100644
--- a/pkgs/cuda-packages/default.nix
+++ b/pkgs/cuda-packages/default.nix
@@ -474,7 +474,7 @@ let
       version = debs.common.vpi2-dev.version;
       srcs = [ debs.common.libnvvpi2.src debs.common.vpi2-dev.src ];
       sourceRoot = "source/opt/nvidia/vpi2";
-      buildInputs = (with l4t; [ l4t-core l4t-cuda l4t-nvsci l4t-3d-core l4t-multimedia l4t-pva ])
+      buildInputs = (with l4t; [ l4t-core l4t-3d-core l4t-multimedia l4t-cupva ])
         ++ (with cudaPackages; [ libcufft libnpp ]);
       patches = [ ./vpi2.patch ];
       postPatch = ''
@@ -488,7 +488,7 @@ let
     # Needed for vpi2-samples benchmark w/ pva to work
     vpi2-firmware = runCommand "vpi2-firmware" { nativeBuildInputs = [ dpkg ]; } ''
       dpkg-deb -x ${debs.common.libnvvpi2.src} source
-      install -D -t $out/lib/firmware source/opt/nvidia/vpi2/lib64/priv/pva_auth_allowlist
+      install -D source/opt/nvidia/vpi2/lib64/priv/vpi2_pva_auth_allowlist $out/lib/firmware/pva_auth_allowlist
     '';
   };
 in
diff --git a/pkgs/flash-tools/default.nix b/pkgs/flash-tools/default.nix
index dfd9e88..a7cce8e 100644
--- a/pkgs/flash-tools/default.nix
+++ b/pkgs/flash-tools/default.nix
@@ -33,22 +33,6 @@
 }:
 
 let
-  # This "overlay" can be found here: https://developer.nvidia.com/embedded/jetson-linux-r3521
-  # It includes the tegra_v3_oemkey.yaml file which was missing in Jetpack 5.1, and still isn't in Jetpack 5.1.1 :(
-  secureboot_overlay = fetchzip {
-    url = "https://developer.download.nvidia.com/embedded/L4T/r35_Release_v2.1/secureboot_overlay_35.2.1.tbz2";
-    sha256 = "sha256-mgtgI/MNTHRbmiJdfg6Nl1ZnEw6Swniaej2/5z/bpoI=";
-  };
-
-  mb1_overlay = fetchzip {
-    url = "https://developer.download.nvidia.com/embedded/L4T/r35_Release_v3.1/mb1_35.3.1_overlay.tbz2";
-    sha256 = "sha256-Ytp3vESEyPPwEXVSVjhCWEglgmK82To605vRbMhjv50=";
-  };
-  usb_overlay = fetchzip {
-    url = "https://developer.download.nvidia.com/embedded/L4T/r35_Release_v3.1/overlay_xusb_35.3.1.tbz2";
-    sha256 = "sha256-3ZH2gPKilZfexg2YdnppDBRSBO0oQVDBkjBl1Iw+iOw=";
-  };
-
   flash-tools = stdenv.mkDerivation {
     pname = "flash-tools";
     version = l4tVersion;
@@ -61,7 +45,7 @@ let
       perl
     ];
 
-    patches = [ ./flash-tools.patch ./flash-tools-secureboot.patch ];
+    patches = [ ./flash-tools.patch ];
 
     postPatch = ''
       # Needed in Jetpack 5
@@ -75,19 +59,12 @@ let
       # We should never be flashing upstream's kernel, so just remove it so we get errors if it is used
       #rm -f kernel/Image*
 
-      # Flash script looks for this file
+      # Remove the big nv_tegra dir, since its not neede by flash scripts.
+      # However, save the needed bsp_version file
       mv nv_tegra/bsp_version .
       rm -rf nv_tegra
       mkdir nv_tegra
       mv bsp_version nv_tegra
-
-      # This file was missing from Jetpack 5.1, and still isn't in Jetpack 5.1.1 :(
-      cp ${secureboot_overlay}/bootloader/tegrasign_v3_oemkey.yaml bootloader/
-
-      # Apply additional overlays added after 35.3.1 was released
-      cp ${mb1_overlay}/bootloader/* bootloader/
-      cp ${usb_overlay}/bootloader/* bootloader/
-      chmod u+w -R bootloader
     '' + (lib.optionalString (!stdenv.hostPlatform.isx86) ''
       # Wrap x86 binaries in qemu
       pushd bootloader/ >/dev/null
diff --git a/pkgs/flash-tools/flash-tools-secureboot.patch b/pkgs/flash-tools/flash-tools-secureboot.patch
deleted file mode 100644
index 3a14b52..0000000
--- a/pkgs/flash-tools/flash-tools-secureboot.patch
+++ /dev/null
@@ -1,110 +0,0 @@
-diff -u a/bootloader/tegrasign_v3_internal.py b/bootloader/tegrasign_v3_internal.py
---- a/bootloader/tegrasign_v3_internal.py	1969-12-31 16:00:01.000000000 -0800
-+++ b/bootloader/tegrasign_v3_internal.py	2023-03-29 12:24:24.000000000 -0700
-@@ -1115,7 +1115,6 @@
-     is_hex = True
-     is_str = False
-     L = 256
--    basic_params = params['BASIC']
- 
-     # Derive the key relationship: dk -> kdk -> *_dec_kdk
-     dk_params = params['DK'][dk]
-@@ -1166,21 +1165,12 @@
-         bl_dec_kdk_ctx['Msg'] = None
-         fw_dec_kdk_ctx['Msg'] = None
- 
--    dec_kdk_params = params['DEC_KDK'][kdk_to_use]
--
--    dec_kdk_ctx = {
--        'KDK'   : basic_params[dec_kdk_params['KDK']],
--        'KDD'   : basic_params[dec_kdk_params['KDD']],
--        'Label' : dec_kdk_params['Label'],
--    }
--
--    dec_kdk_ctx["Msg"] = get_composed_msg(dec_kdk_ctx['Label'], '', L, is_str)
- 
-     # Pop the elements that are no longer needed
-     while (len(kdf_list) > KdfArg.FLAG):
-         kdf_list.pop()
- 
--    return ([dec_kdk_ctx['KDK'] + dec_kdk_ctx['KDD'], dec_kdk_ctx["Msg"],
-+    return ([None, None,
-             bl_dec_kdk_ctx["Msg"], kdk_ctx["Msg"], dk_ctx["Msg"]])
- 
- def do_kdf(params_slist, kdf_list):
-@@ -1260,7 +1250,6 @@
-     is_hex = True
-     is_str = False
-     L = 256
--    basic_params = params['BASIC']
- 
-     dk_params = params['DK'][dk]
-     dk_ctx = {
-@@ -1355,20 +1344,8 @@
-         count = count - 1
- 
-     aes_params = params['AES'][kdk_to_use]
--    aes_iv = manifest_xor_offset(basic_params[aes_params['IV']], aes_params["Offset"])
--    aes_aad = aes_params['Manifest'] + AAD_0_96
-     aes_tag = bytes(16)
- 
--    dec_kdk_params = params['DEC_KDK'][aes_params['KDK']]
--
--    dec_kdk_ctx = {
--        'KDK'   : basic_params[dec_kdk_params['KDK']],
--        'KDD'   : basic_params[dec_kdk_params['KDD']],
--        "Label" : dec_kdk_params["Label"],
--    }
--
--    dec_kdk_ctx["Msg"] = get_composed_msg(dec_kdk_ctx['Label'], '', L, is_str)
--
-     # Pop the elements that are no longer needed
-     while (len(kdf_list) > KdfArg.DKSTR):
-         kdf_list.pop()
-@@ -1381,7 +1358,7 @@
-             if extract_AES_key(key_buf, p_key):
-                 sbk_keystr = hex_to_str(p_key.key.aeskey)
- 
--    return [dec_kdk_ctx['KDK'] + dec_kdk_ctx['KDD'], aes_iv,  aes_aad, sbk_keystr, dec_kdk_ctx['Msg'],
-+    return [None, None, None, sbk_keystr, None,
-             bl_kdk_ctx['Msg'], tz_kdk_ctx['Msg'], gp_kdk_ctx['Msg'], gpto_kdk_ctx['Msg'],  kdk_ctx['Msg'], dk_ctx['Msg']]
- 
- def do_kdf_params_oem(dk, params, kdf_list, p_key):
-@@ -1389,7 +1366,6 @@
-     is_hex = True
-     is_str = False
-     L = 256
--    basic_params = params['BASIC']
- 
-     dk_params = params['DK'][dk]
-     dk_ctx = {
-@@ -1488,20 +1464,8 @@
-         count = count - 1
- 
-     aes_params = params['AES'][kdk_to_use]
--    aes_iv = manifest_xor_offset(basic_params[aes_params['IV']], aes_params["Offset"])
--    aes_aad = aes_params['Manifest'] + AAD_0_96
-     aes_tag = bytes(16)
- 
--    dec_kdk_params = params['DEC_KDK'][aes_params['KDK']]
--
--    dec_kdk_ctx = {
--        'KDK'   : basic_params[dec_kdk_params['KDK']],
--        'KDD'   : basic_params[dec_kdk_params['KDD']],
--        "Label" : dec_kdk_params["Label"],
--    }
--
--    dec_kdk_ctx["Msg"] = get_composed_msg(dec_kdk_ctx['Label'], '', L, is_str)
--
-     # Pop the elements that are no longer needed
-     while (len(kdf_list) > KdfArg.DKSTR):
-         kdf_list.pop()
-@@ -1514,7 +1478,7 @@
-             if extract_AES_key(key_buf, p_key):
-                 sbk_keystr = hex_to_str(p_key.key.aeskey)
- 
--    return [dec_kdk_ctx['KDK'] + dec_kdk_ctx['KDD'], aes_iv,  aes_aad, sbk_keystr, dec_kdk_ctx['Msg'],
-+    return [None, None, None, sbk_keystr, None,
-             bl_kdk_ctx['Msg'], tz_kdk_ctx['Msg'], gp_kdk_ctx['Msg'], gpto_kdk_ctx['Msg'],  kdk_ctx['Msg'], dk_ctx['Msg']]
- 
- # calls for offset, then enc, then do sha and returns
diff --git a/pkgs/flash-tools/flash-tools.patch b/pkgs/flash-tools/flash-tools.patch
index ff1b70b..491ca81 100644
--- a/pkgs/flash-tools/flash-tools.patch
+++ b/pkgs/flash-tools/flash-tools.patch
@@ -1,6 +1,6 @@
-diff -Naur bsp-5.1.1/bootloader/l4t_bup_gen.func bsp-5.1.1-new/bootloader/l4t_bup_gen.func
---- bsp-5.1.1/bootloader/l4t_bup_gen.func	1969-12-31 16:00:01.000000000 -0800
-+++ bsp-5.1.1-new/bootloader/l4t_bup_gen.func	2023-04-27 15:38:42.531828490 -0700
+diff -Naur bsp-5.1.2/bootloader/l4t_bup_gen.func bsp-5.1.2-new/bootloader/l4t_bup_gen.func
+--- bsp-5.1.2/bootloader/l4t_bup_gen.func	1969-12-31 16:00:01.000000000 -0800
++++ bsp-5.1.2-new/bootloader/l4t_bup_gen.func	2023-08-06 22:42:06.120107569 -0700
 @@ -23,7 +23,6 @@
  
  declare -A ENTRY_LIST
@@ -9,22 +9,22 @@ diff -Naur bsp-5.1.1/bootloader/l4t_bup_gen.func bsp-5.1.1-new/bootloader/l4t_bu
  
  PART_NAME=""
  IMAGE_SIGNED=0
-diff -Naur bsp-5.1.1/bootloader/tegraflash_impl_t234.py bsp-5.1.1-new/bootloader/tegraflash_impl_t234.py
---- bsp-5.1.1/bootloader/tegraflash_impl_t234.py	1969-12-31 16:00:01.000000000 -0800
-+++ bsp-5.1.1-new/bootloader/tegraflash_impl_t234.py	2023-05-08 10:58:50.257272841 -0700
-@@ -1853,7 +1853,7 @@
+diff -Naur bsp-5.1.2/bootloader/tegraflash_impl_t234.py bsp-5.1.2-new/bootloader/tegraflash_impl_t234.py
+--- bsp-5.1.2/bootloader/tegraflash_impl_t234.py	1969-12-31 16:00:01.000000000 -0800
++++ bsp-5.1.2-new/bootloader/tegraflash_impl_t234.py	2023-08-06 22:40:37.923500980 -0700
+@@ -1861,7 +1861,7 @@
              xml_tree = ElementTree.parse(file)
              mode = xml_tree.getroot().get('mode')
  
 -            for file_nodes in xml_tree.getiterator('file'):
 +            for file_nodes in xml_tree.iter('file'):
-                 filename = file_nodes.get('name')
-                 if 'dce' in filename:
-                     continue
-diff -Naur bsp-5.1.1/flash.sh bsp-5.1.1-new/flash.sh
---- bsp-5.1.1/flash.sh	1969-12-31 16:00:01.000000000 -0800
-+++ bsp-5.1.1-new/flash.sh	2023-04-27 15:36:47.766684941 -0700
-@@ -2431,6 +2431,9 @@
+                 # To dinf encryptcompress node - Marcos
+                 sbknode = file_nodes.find('sbk')
+                 if sbknode is None:
+diff -Naur bsp-5.1.2/flash.sh bsp-5.1.2-new/flash.sh
+--- bsp-5.1.2/flash.sh	1969-12-31 16:00:01.000000000 -0800
++++ bsp-5.1.2-new/flash.sh	2023-08-06 22:43:04.708431157 -0700
+@@ -2585,6 +2585,9 @@
  			cmdline+="${string} ";
  		fi
  	done
diff --git a/pkgs/l4t/default.nix b/pkgs/l4t/default.nix
index 9b885fa..f76942a 100644
--- a/pkgs/l4t/default.nix
+++ b/pkgs/l4t/default.nix
@@ -89,23 +89,6 @@ let
   l4t-core = buildFromDeb {
     name = "nvidia-l4t-core";
     buildInputs = [ stdenv.cc.cc.lib expat libglvnd ];
-
-    # Some libraries, like libEGL_nvidia.so.0 from l3t-3d-core use a dlopen
-    # wrapper called NvOsLibraryLoad, which originates in libnvos.so in this
-    # l4t-core. Unfortunately, calling dlopen from libnvos.so instead of the
-    # original library/executable means that dlopen will use the DT_RUNPATH
-    # from libnvos.so instead of the binary/library which called it. We
-    # typically just need ${driverLink}/lib anyway, so lets add it to
-    # libnvos.so here instead.
-    #
-    # We append a postFixupHook since we need to have this happen after
-    # autoPatchelfHook, which itself also runs as a postFixupHook.
-    # TODO: Use runtimeDependencies instead
-    preFixup = ''
-      postFixupHooks+=('
-        patchelf --add-rpath ${addOpenGLRunpath.driverLink}/lib $out/lib/libnvos.so
-      ')
-    '';
   };
 
   l4t-3d-core = buildFromDeb {
@@ -130,6 +113,17 @@ let
       # Make some symlinks also done by OE4T
       ln -sf libnvidia-ptxjitcompiler.so.${l4tVersion} lib/libnvidia-ptxjitcompiler.so.1
       ln -sf libnvidia-ptxjitcompiler.so.${l4tVersion} lib/libnvidia-ptxjitcompiler.so
+
+      # Some libraries, like libEGL_nvidia.so.0 from l3t-3d-core use a dlopen
+      # wrapper called NvOsLibraryLoad, which originates in libnvos.so in this
+      # l4t-core. Unfortunately, calling dlopen from libnvos.so instead of the
+      # original library/executable means that dlopen will use the DT_RUNPATH
+      # from libnvos.so instead of the binary/library which called it. In ordo
+      # to handle this, we Make a copy of libnvos specifically for this package
+      # so we can set the RUNPATH differently here.
+      patchelf --replace-needed libnvos.so libnvos_3d.so lib/*.so
+      cp --no-preserve=ownership,mode ${l4t-core}/lib/libnvos.so lib/libnvos_3d.so
+      patchelf --set-soname libnvos_3d.so lib/libnvos_3d.so
     '';
 
     # We append a postFixupHook since we need to have this happen after
@@ -144,7 +138,7 @@ let
 
         patchelf --add-rpath ${lib.makeLibraryPath (with xorg; [ libX11 libXext libxcb ])} \
           $out/lib/libGLX_nvidia.so.0 \
-          $out/lib/libnvidia-glsi.so.* \
+          $out/lib/libnvidia-glsi.so.*
 
         for lib in $(find "$out/lib" -name "*.so*"); do
           patchelf $lib --add-rpath $out/lib
@@ -171,6 +165,18 @@ let
     '';
   };
 
+  l4t-cupva = buildFromDeb {
+    name = "cupva";
+    src = debs.common."cupva-2.3-l4t".src;
+    version = debs.common."cupva-2.3-l4t".version;
+    buildInputs = [ stdenv.cc.cc.lib l4t-cuda l4t-nvsci l4t-pva ];
+    postPatch = ''
+      mkdir -p lib
+      mv opt/nvidia/cupva-2.3/lib/aarch64-linux-gnu/* lib/
+      rm -rf opt
+    '';
+  };
+
   # TODO: Make nvwifibt systemd scripts work
   l4t-firmware = buildFromDeb {
     name = "nvidia-l4t-firmware";
@@ -253,6 +259,12 @@ let
 
       ln -sf ../../../libv4l2_nvcuvidvideocodec.so lib/libv4l/plugins/nv/libv4l2_nvcuvidvideocodec.so
       ln -sf ../../../libv4l2_nvvideocodec.so lib/libv4l/plugins/nv/libv4l2_nvvideocodec.so
+
+      # Make a copy of libnvos specifically for this package so we can set the RUNPATH differently here.
+      # See note above for NvOsLibraryLoad
+      patchelf --replace-needed libnvos.so libnvos_multimedia.so lib/*.so
+      cp --no-preserve=ownership,mode ${l4t-core}/lib/libnvos.so lib/libnvos_multimedia.so
+      patchelf --set-soname libnvos_multimedia.so lib/libnvos_multimedia.so
     '';
 
     # We append a postFixupHook since we need to have this happen after
@@ -261,6 +273,9 @@ let
     preFixup = ''
       postFixupHooks+=('
         patchelf --add-rpath ${lib.getLib l4t-nvsci}/lib $out/lib/libnvmedia*.so
+
+        # dlopen in NvOsLibraryLoad from libnvos.so needs to be able to access these libraries
+        patchelf --add-rpath $out/lib $out/lib/libnvos_multimedia.so
       ')
     '';
   };
@@ -317,6 +332,7 @@ in
     l4t-camera
     l4t-core
     l4t-cuda
+    l4t-cupva
     l4t-firmware
     l4t-gbm
     l4t-init
diff --git a/pkgs/optee/default.nix b/pkgs/optee/default.nix
index 613f1f0..28e6174 100644
--- a/pkgs/optee/default.nix
+++ b/pkgs/optee/default.nix
@@ -9,20 +9,12 @@
 , dtc
 , nukeReferences
 , fetchpatch
+, gitRepos
 }:
 
 let
-  atfSrc = fetchgit {
-    url = "https://nv-tegra.nvidia.com/r/tegra/optee-src/atf";
-    rev = "jetson_${l4tVersion}";
-    sha256 = "sha256-9ml28qXN0B04ZocBr04x4tBzJ3iLgqGoVBveSkSCrgk=";
-  };
-
-  nvopteeSrc = fetchgit {
-    url = "https://nv-tegra.nvidia.com/r/tegra/optee-src/nv-optee";
-    rev = "jetson_${l4tVersion}";
-    sha256 = "sha256-44RBXFNUlqZoq3OY/OFwhiU4Qxi4xQNmetFmlrr6jzY=";
-  };
+  atfSrc = gitRepos."tegra/optee-src/atf";
+  nvopteeSrc = gitRepos."tegra/optee-src/nv-optee";
 
   opteeClient = stdenv.mkDerivation {
     pname = "optee_client";
diff --git a/pkgs/samples/default.nix b/pkgs/samples/default.nix
index 643bfa3..b3e0321 100644
--- a/pkgs/samples/default.nix
+++ b/pkgs/samples/default.nix
@@ -19,6 +19,8 @@
 , wayland
 , libxkbcommon
 , libffi
+, vulkan-headers
+, vulkan-loader
 , writeShellApplication
 , l4t
 , cudaPackages
@@ -229,7 +231,7 @@ let
     sourceRoot = "source/usr/src/jetson_multimedia_api";
 
     nativeBuildInputs = [ dpkg python3 ];
-    buildInputs = [ libX11 libdrm libglvnd opencv2 ]
+    buildInputs = [ libX11 libdrm libglvnd opencv2 vulkan-headers vulkan-loader ]
       ++ (with l4t; [ l4t-cuda l4t-multimedia l4t-camera ])
       ++ (with cudaPackages; [ cudatoolkit tensorrt ]);
 
diff --git a/pkgs/uefi-firmware/default.nix b/pkgs/uefi-firmware/default.nix
index 14142d2..e7ac58b 100644
--- a/pkgs/uefi-firmware/default.nix
+++ b/pkgs/uefi-firmware/default.nix
@@ -52,7 +52,7 @@ let
     repo = "edk2";
     rev = "r${l4tVersion}-edk2-stable202208";
     fetchSubmodules = true;
-    sha256 = "sha256-PTbNxbncfSvxLW2XmdRHzUy+w5+1Blpk62DJpxDmedA=";
+    sha256 = "sha256-A4nICu2g4Kprdmb0KVfuo8d5I5P7nAri5bzB4j9vUb4=";
   };
 
   edk2-platforms = fetchFromGitHub {
@@ -73,11 +73,13 @@ let
     src = fetchFromGitHub {
       owner = "NVIDIA";
       repo = "edk2-nvidia";
-      rev = "2c81e0fc74f703012dd3b2f18da5be256e142fe3"; # Latest on r35.3.1-updates as of 2023-05-17
-      sha256 = "sha256-Qh1g+8a7ZcFG4VmwH+xDix6dpZ881HaNRE/FJoaRljw=";
+      rev = "8444db349648a77ed8e2e3047a93004c9cadb2d3"; # Latest on r35.4.1-updates as of 2023-08-07
+      sha256 = "sha256-jHyyg5Ywg/tQg39oY1EwHPBjUTE7r7C9q0HO1vqCL6s=";
     };
     patches = edk2NvidiaPatches ++ [
       (fetchpatch {
+        # https://github.com/NVIDIA/edk2-nvidia/pull/68
+        name = "fix-disabled-serial.patch";
         url = "https://github.com/NVIDIA/edk2-nvidia/commit/9604259b0d11c049f6a3eb5365a3ae10cfb9e6d9.patch";
         hash = "sha256-v/WEwcSNjBXeN0eXVzzl31dn6mq78wIm0u5lW1jGcdE=";
       })
@@ -108,7 +110,7 @@ let
     owner = "NVIDIA";
     repo = "edk2-nvidia-non-osi";
     rev = "r${l4tVersion}";
-    sha256 = "sha256-27PTl+svZUocmU6r/8FdqqI9rwHAi+6zSFs4fBA13Ks=";
+    sha256 = "sha256-h0EW5j5/pq0c48alz7w2+g4RCU2yQdYOtDiNFH9VI3M=";
   };
 
   # Patches from upstream tianocore/edk2 for OpenSSL, to enable in-tree build
diff --git a/debs/update.py b/sourceinfo/debs-update.py
similarity index 97%
rename from debs/update.py
rename to sourceinfo/debs-update.py
index 06d2a7e..96579ea 100755
--- a/debs/update.py
+++ b/sourceinfo/debs-update.py
@@ -10,8 +10,8 @@
 
 
 BASE_URL = 'https://repo.download.nvidia.com/jetson'
-REPOS = ['t194', 't234', 'common']
-VERSION = 'r35.3'
+REPOS = ['t234', 'common']
+VERSION = 'r36.2'
 
 def fetch_debs(url):
     fd = urllib.request.urlopen(url)
diff --git a/sourceinfo/default.nix b/sourceinfo/default.nix
new file mode 100644
index 0000000..e15afc7
--- /dev/null
+++ b/sourceinfo/default.nix
@@ -0,0 +1,23 @@
+{ lib, fetchurl, fetchgit, l4tVersion }:
+
+let
+  debsJSON = lib.importJSON (./r${lib.versions.majorMinor l4tVersion}-debs.json);
+  baseURL = "https://repo.download.nvidia.com/jetson";
+  repos = [ "t194" "t234" "common" ];
+
+  fetchDeb = repo: pkg: fetchurl {
+    url = "${baseURL}/${repo}/${pkg.filename}";
+    sha256 = pkg.sha256;
+  };
+  debs = lib.mapAttrs (repo: pkgs: lib.mapAttrs (pkgname: pkg: pkg // { src = fetchDeb repo pkg; }) pkgs) debsJSON;
+
+  gitJSON = lib.importJSON (./r${l4tVersion}-gitrepos.json);
+  gitRepos = lib.mapAttrs
+    (relpath: info: fetchgit {
+      inherit (info) url rev hash;
+    })
+    gitJSON;
+in
+{
+  inherit debs gitRepos;
+}
diff --git a/sourceinfo/gitrepos-update.py b/sourceinfo/gitrepos-update.py
new file mode 100755
index 0000000..86eb871
--- /dev/null
+++ b/sourceinfo/gitrepos-update.py
@@ -0,0 +1,52 @@
+#!/usr/bin/env nix-shell
+#!nix-shell -i python -p python3 nix-prefetch-git
+
+import json
+import re
+import subprocess
+import sys
+import os
+
+VERSION = '35.4.1'
+TAG = 'jetson_' + VERSION
+FILENAME = 'r' + VERSION + '-srcs.json'
+
+REPOS_TO_SKIP = [
+    '3rdparty/dtc' # This doesn't have tags...
+]
+
+def fetch_git(url, ref):
+    result = subprocess.run(['nix-prefetch-git', '--quiet', url, ref], check=True, capture_output=True)
+    return json.loads(result.stdout)
+
+def main():
+    script_contents = open(sys.argv[1]).read()
+    m = re.search(r'^SOURCE_INFO="(.*?)^"$', script_contents, re.MULTILINE | re.DOTALL)
+
+    if m is None:
+        raise Exception("SOURCE_INFO regex did not match")
+
+    source_info = m.group(1).strip()
+
+    data = {}
+
+    # Since theses are bigger files, we do this incrementally
+    if os.path.exists(FILENAME):
+        with open(FILENAME) as fd:
+            data = json.load(fd)
+
+    for line in source_info.split('\n'):
+        k, relpath, giturl, _ = line.split(':')
+
+        giturl = "https://" + giturl
+
+        if relpath not in data and relpath not in REPOS_TO_SKIP:
+            print(f"Checking out {giturl}")
+            data[relpath] = fetch_git(giturl, TAG)
+
+        with open(FILENAME, 'w') as fd:
+            fd.write(json.dumps(data, sort_keys=True, indent=2, separators=(',', ': ')))
+
+if __name__ == "__main__":
+    main()
+
diff --git a/debs/r35.3.json b/sourceinfo/r35.4-debs.json
similarity index 61%
rename from debs/r35.3.json
rename to sourceinfo/r35.4-debs.json
index 2317cfb..14c8b52 100644
--- a/debs/r35.3.json
+++ b/sourceinfo/r35.4-debs.json
@@ -46,12 +46,6 @@
       "source": "cuda-cupti",
       "version": "11.4.298-1"
     },
-    "cuda-cupti-11-7": {
-      "filename": "pool/main/c/cuda-cupti/cuda-cupti-11-7_11.7.102-1_arm64.deb",
-      "sha256": "70fc1c1108ea17ee54867e56c0e97a4f6d0dd391ad94e3eeff70614616092d16",
-      "source": "cuda-cupti",
-      "version": "11.7.102-1"
-    },
     "cuda-cupti-dev-11-4": {
       "filename": "pool/main/c/cuda-cupti/cuda-cupti-dev-11-4_11.4.298-1_arm64.deb",
       "sha256": "10b120cf4ae112f071134bc3541c5e4ee77d756f4729b330652044c8949e942b",
@@ -153,12 +147,6 @@
       "source": "cuda-sanitizer-api",
       "version": "11.4.298-1"
     },
-    "cuda-sanitizer-11-7": {
-      "filename": "pool/main/c/cuda-sanitizer-api/cuda-sanitizer-11-7_11.7.50-1_arm64.deb",
-      "sha256": "d8ceb5058daa4ed4ddfc2b0352f51489adaf82a85682b8ce3d55e785683f841b",
-      "source": "cuda-sanitizer-api",
-      "version": "11.7.50-1"
-    },
     "cuda-toolkit-11-4-config-common": {
       "filename": "pool/main/c/cuda-cudart/cuda-toolkit-11-4-config-common_11.4.298-1_all.deb",
       "sha256": "39d1aee28677c015029972737fdc05bfa95c8e6738470821465bbc7dac5ef270",
@@ -182,15 +170,15 @@
       "sha256": "3eeb898e41e31f412c7bdae7328a33e1cc0c22022a619279b838b9537ee58914",
       "version": "11.4.19-1"
     },
-    "cupva-2.0-l4t": {
-      "filename": "pool/main/c/cupva-2.0-l4t/cupva-2.0-l4t_2.0.0_arm64.deb",
-      "sha256": "5d279a2f1a998328ad64b952a57d6aa6cb6c3f710b81c27b4b1e1d39d6699cb1",
-      "version": "2.0.0"
+    "cupva-2.3-l4t": {
+      "filename": "pool/main/c/cupva-2.3-l4t/cupva-2.3-l4t_2.3.0_arm64.deb",
+      "sha256": "2808c39298a5b208feffdfbb9d69ffe860a6949771f12bb9b5496d0f09a490b1",
+      "version": "2.3.0"
     },
-    "deepstream-6.2": {
-      "filename": "pool/main/d/deepstream-6.2/deepstream-6.2_6.2.0-1_arm64.deb",
-      "sha256": "0029fb3b4cad214e24844d9532703ef7809c097df9d92b0567dd8963e3a9dbd2",
-      "version": "6.2.0-1"
+    "deepstream-6.3": {
+      "filename": "pool/main/d/deepstream-6.3/deepstream-6.3_6.3.0-1_arm64.deb",
+      "sha256": "f3961bc473312d46f5e2568f41b37913cb09a5aef69d905451eaea9cb5ad42cf",
+      "version": "6.3.0-1"
     },
     "graphsurgeon-tf": {
       "filename": "pool/main/t/tensorrt/graphsurgeon-tf_8.5.2-1+cuda11.4_arm64.deb",
@@ -379,9 +367,9 @@
       "version": "8.5.2-1+cuda11.4"
     },
     "libnvvpi2": {
-      "filename": "pool/main/libn/libnvvpi2/libnvvpi2_2.2.7_arm64.deb",
-      "sha256": "47649e512d28e6abddc418c7da55827b30be4928a8bef9d24285f35dd3370599",
-      "version": "2.2.7"
+      "filename": "pool/main/libn/libnvvpi2/libnvvpi2_2.3.9_arm64.deb",
+      "sha256": "e8e24e6852201773e0bd8dab3c70272ea4467f7fa38894b7b085a229af6b61c8",
+      "version": "2.3.9"
     },
     "libopencv": {
       "filename": "pool/main/libo/libopencv/libopencv_4.5.4-8-g3e4c170df4_arm64.deb",
@@ -409,20 +397,20 @@
       "source": "nsight-compute",
       "version": "2022.2.1.6-1"
     },
-    "nsight-graphics-for-embeddedlinux-2022.6.0.0": {
-      "filename": "pool/main/n/nsight-graphics-for-embeddedlinux-2022.6.0.0/nsight-graphics-for-embeddedlinux-2022.6.0.0_2022.6.0.0_arm64.deb",
-      "sha256": "e1876318bdebb41d3f1cb4c5741c0229f666a093d581d91de100c4bb1ed42491",
-      "version": "2022.6.0.0"
+    "nsight-graphics-for-embeddedlinux-2023.2.0.0": {
+      "filename": "pool/main/n/nsight-graphics-for-embeddedlinux-2023.2.0.0/nsight-graphics-for-embeddedlinux-2023.2.0.0_2023.2.0.0_arm64.deb",
+      "sha256": "1e9245ec3cbb2c5c1aa55da4cac5a1ffd815339251c6f008c261354d3197b944",
+      "version": "2023.2.0.0"
     },
-    "nsight-systems-2022.5.2": {
-      "filename": "pool/main/n/nsight-systems-2022.5.2/nsight-systems-2022.5.2_2022.5.2.171-32559007v0_arm64.deb",
-      "sha256": "444d62345248749e33dcac40668b509c96735263cf8a42391015eba6ec87118a",
-      "version": "2022.5.2.171-32559007v0"
+    "nsight-systems-2023.2.4": {
+      "filename": "pool/main/n/nsight-systems-2023.2.4/nsight-systems-2023.2.4_2023.2.4.44-33011852v0_arm64.deb",
+      "sha256": "be1164b03cf1291e5e7162c42070eef1b07934efd96124864e569bf1804f9212",
+      "version": "2023.2.4.44-33011852v0"
     },
     "nvidia-container": {
-      "filename": "pool/main/n/nvidia-container/nvidia-container_5.1.1-b56_arm64.deb",
-      "sha256": "34c030412fbe426b5727512fcc1438aac5562c8c68a4d1b29e44b1971fffc7be",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-container/nvidia-container_5.1.2-b104_arm64.deb",
+      "sha256": "f79931fda6d85ff1f536902cdc44096322353e16c719159d3de8db522d73acf8",
+      "version": "5.1.2-b104"
     },
     "nvidia-container-runtime": {
       "filename": "pool/main/n/nvidia-container-runtime/nvidia-container-runtime_3.9.0-1_all.deb",
@@ -435,29 +423,29 @@
       "version": "1.11.0~rc.1-1"
     },
     "nvidia-cuda": {
-      "filename": "pool/main/n/nvidia-cuda/nvidia-cuda_5.1.1-b56_arm64.deb",
-      "sha256": "0b3eff0603b93791b5f5f777e9a3533debc65ff0583ddd3567ad83415e9ddc29",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-cuda/nvidia-cuda_5.1.2-b104_arm64.deb",
+      "sha256": "03cd25b96d0556e0d11fd6b4d77663d94333ef23e06544b172da93a2924291f4",
+      "version": "5.1.2-b104"
     },
     "nvidia-cuda-dev": {
-      "filename": "pool/main/n/nvidia-cuda-dev/nvidia-cuda-dev_5.1.1-b56_arm64.deb",
-      "sha256": "a27e0b99bc8a7cd949d29142c934117c517005bc3d2d3cec4c905f1d2e9b7626",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-cuda-dev/nvidia-cuda-dev_5.1.2-b104_arm64.deb",
+      "sha256": "fe3ea4b9a3bb88ee305d8ca3aa2f84eb698007babc60555cfb67c06714a790d5",
+      "version": "5.1.2-b104"
     },
     "nvidia-cudnn8": {
-      "filename": "pool/main/n/nvidia-cudnn8/nvidia-cudnn8_5.1.1-b56_arm64.deb",
-      "sha256": "b5b64cb1a184e574b36738e6377a5feb643f13de46ad9418aed506db6781ed28",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-cudnn8/nvidia-cudnn8_5.1.2-b104_arm64.deb",
+      "sha256": "cf74ea432b4f5a83862aeab44db4b5bc1f4911b739df8cb4ec044f02c420f93d",
+      "version": "5.1.2-b104"
     },
     "nvidia-cudnn8-dev": {
-      "filename": "pool/main/n/nvidia-cudnn8-dev/nvidia-cudnn8-dev_5.1.1-b56_arm64.deb",
-      "sha256": "7b9caf314e10d5ee980c018db66558863ce4ec45f799eed51e8eb6949eeeb9c3",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-cudnn8-dev/nvidia-cudnn8-dev_5.1.2-b104_arm64.deb",
+      "sha256": "3e75e1418a6c8371069b09ac7a06a1dc4d096e8ca2cb7faef2737d5657e8b188",
+      "version": "5.1.2-b104"
     },
     "nvidia-cupva": {
-      "filename": "pool/main/n/nvidia-cupva/nvidia-cupva_5.1.1-b56_arm64.deb",
-      "sha256": "14ca97291e2e0feecaf812ce746f68979e91400ddaf634aaa67f3952a536d554",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-cupva/nvidia-cupva_5.1.2-b104_arm64.deb",
+      "sha256": "83b4678b318ebe08ec45e766e13a9b5cb6155ba934060696a614e65c4c948b65",
+      "version": "5.1.2-b104"
     },
     "nvidia-docker2": {
       "filename": "pool/main/n/nvidia-docker2/nvidia-docker2_2.11.0-1_all.deb",
@@ -465,59 +453,59 @@
       "version": "2.11.0-1"
     },
     "nvidia-jetpack": {
-      "filename": "pool/main/n/nvidia-jetpack/nvidia-jetpack_5.1.1-b56_arm64.deb",
-      "sha256": "7b6c8c6cb16028dcd141144b6b0bbaa762616d0a47aafa3c3b720cb02b2c8430",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-jetpack/nvidia-jetpack_5.1.2-b104_arm64.deb",
+      "sha256": "fda2eed24747319ccd9fee9a8548c0e5dd52812363877ebe90e223b5a6e7e827",
+      "version": "5.1.2-b104"
     },
     "nvidia-jetpack-dev": {
-      "filename": "pool/main/n/nvidia-jetpack-dev/nvidia-jetpack-dev_5.1.1-b56_arm64.deb",
-      "sha256": "6483d27d61198bcd2aef77eaad1e902a211fe6a945183eb9557bd70895917eec",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-jetpack-dev/nvidia-jetpack-dev_5.1.2-b104_arm64.deb",
+      "sha256": "0e241b523f88c33802fc265e756ed35c1a528bff17e38c37d937e2cab04c202d",
+      "version": "5.1.2-b104"
     },
     "nvidia-jetpack-runtime": {
-      "filename": "pool/main/n/nvidia-jetpack-runtime/nvidia-jetpack-runtime_5.1.1-b56_arm64.deb",
-      "sha256": "9ace6b379964740fc40902bd023ba3b9fe4a981c5a7599dc87b336614c81d1ae",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-jetpack-runtime/nvidia-jetpack-runtime_5.1.2-b104_arm64.deb",
+      "sha256": "c21c2d6e4e2096806a52e22abef23e07be7e368141c5df06cfcdbd817b99ca83",
+      "version": "5.1.2-b104"
     },
     "nvidia-l4t-jetson-multimedia-api": {
-      "filename": "pool/main/n/nvidia-l4t-jetson-multimedia-api/nvidia-l4t-jetson-multimedia-api_35.3.1-20230319081403_arm64.deb",
-      "sha256": "e571a85e243ddb1b0e5e26d98a41042993f576ac762db32760883fa132fd5f56",
-      "version": "35.3.1-20230319081403"
+      "filename": "pool/main/n/nvidia-l4t-jetson-multimedia-api/nvidia-l4t-jetson-multimedia-api_35.4.1-20230801124926_arm64.deb",
+      "sha256": "a28d46509bbe2c2f0dd40c9e43854b5cf95c33ac04502176c68f3c2f1cd7883e",
+      "version": "35.4.1-20230801124926"
     },
     "nvidia-nsight-sys": {
-      "filename": "pool/main/n/nvidia-nsight-sys/nvidia-nsight-sys_5.1.1-b56_arm64.deb",
-      "sha256": "a379df38cd5102cd85e711ba56f81ff380b85285116b3a6bef5d46cdfe023b94",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-nsight-sys/nvidia-nsight-sys_5.1.2-b104_arm64.deb",
+      "sha256": "0cee6cd471bdfa9e34416488f21f9b1ef3f3f49c7b47aa8fe099f97916c9dec4",
+      "version": "5.1.2-b104"
     },
     "nvidia-opencv": {
-      "filename": "pool/main/n/nvidia-opencv/nvidia-opencv_5.1.1-b56_arm64.deb",
-      "sha256": "aaa23050f722a99bc8980452dfb1497974d052c8572aa278260757591fde6d94",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-opencv/nvidia-opencv_5.1.2-b104_arm64.deb",
+      "sha256": "f57984e87064869079bcde4604351c22ada0731f2c74b7b353630da37ef8cc3d",
+      "version": "5.1.2-b104"
     },
     "nvidia-opencv-dev": {
-      "filename": "pool/main/n/nvidia-opencv-dev/nvidia-opencv-dev_5.1.1-b56_arm64.deb",
-      "sha256": "92cad4e828e4d8f492b52a26d1dbcdcf81c765e724d4fcf13d5d92469d00322e",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-opencv-dev/nvidia-opencv-dev_5.1.2-b104_arm64.deb",
+      "sha256": "acac41bc91c8c7f983ccd264a27e32454ac0ea8f9800e91b19f1626d28ed1fc2",
+      "version": "5.1.2-b104"
     },
     "nvidia-tensorrt": {
-      "filename": "pool/main/n/nvidia-tensorrt/nvidia-tensorrt_5.1.1-b56_arm64.deb",
-      "sha256": "c88731729c0fd5dfa8a5dc0e2c0991c94c05fc5de3f46e45772dc07f2a3e1664",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-tensorrt/nvidia-tensorrt_5.1.2-b104_arm64.deb",
+      "sha256": "a740a0e3516d76e556807c9f29aeb12b773577cef71541d95aa199bbd9c4b374",
+      "version": "5.1.2-b104"
     },
     "nvidia-tensorrt-dev": {
-      "filename": "pool/main/n/nvidia-tensorrt-dev/nvidia-tensorrt-dev_5.1.1-b56_arm64.deb",
-      "sha256": "1594ae3b066f21182ed7093dd751eecb23b718f127119f0702aa2643c7ab272a",
-      "version": "5.1.1-b56"
+      "filename": "pool/main/n/nvidia-tensorrt-dev/nvidia-tensorrt-dev_5.1.2-b104_arm64.deb",
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-      "version": "35.3.1-20230319081403"
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     "python-jetson-gpio": {
       "filename": "pool/main/j/jetson-gpio/python-jetson-gpio_2.1.1ubuntu1_arm64.deb",
@@ -1040,6 +1043,16 @@
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       "source": "jetson-gpio",
       "version": "2.1.1ubuntu1"
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+      "version": "2.3.9"
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   }
 }
diff --git a/sourceinfo/r35.4.1-gitrepos.json b/sourceinfo/r35.4.1-gitrepos.json
new file mode 100644
index 0000000..836aee6
--- /dev/null
+++ b/sourceinfo/r35.4.1-gitrepos.json
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+}
\ No newline at end of file