diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
index d3840f361..059a5d37e 100644
--- a/.github/workflows/main.yml
+++ b/.github/workflows/main.yml
@@ -75,6 +75,8 @@ jobs:
       - name: Setup cmake
         if: matrix.os == 'macos-latest'
         uses: jwlawson/actions-setup-cmake@v1.13
+        with:
+          cmake-version: '3.29.x'
       - name: Cache .hunter folder
         if: matrix.os != 'windows-latest'
         uses: actions/cache@v3
@@ -136,6 +138,10 @@ jobs:
       matrix:
         rpi-os: [rpi-buster, rpi-bullseye, rpi-bookworm]
     runs-on: ${{ matrix.rpi-os }}
+    env:
+      # workaround required for cache@v3, https://github.com/actions/cache/issues/1428
+      # to be removed when upgrading the manylinux image
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     steps:
       - name: Print home directory
         run: echo Home directory inside container $HOME
@@ -298,8 +304,12 @@ jobs:
   build-linux-x86_64:
     needs: build-docstrings
     runs-on: ubuntu-latest
+    env:
+      # workaround required for cache@v3, https://github.com/actions/cache/issues/1428
+      # to be removed when upgrading the manylinux image
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     container:
-      image: quay.io/pypa/manylinux2014_x86_64:2024-01-08-eb135ed
+      image: quay.io/pypa/manylinux2014_x86_64:latest
       env:
         PLAT: manylinux2014_x86_64
     steps:
@@ -362,8 +372,12 @@ jobs:
   build-linux-arm64:
     needs: build-docstrings
     runs-on: [self-hosted, linux, ARM64]
+    env:
+      # workaround required for cache@v3, https://github.com/actions/cache/issues/1428
+      # to be removed when upgrading the manylinux image
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     container:
-      image: quay.io/pypa/manylinux2014_aarch64:2024-01-08-eb135ed
+      image: quay.io/pypa/manylinux2014_aarch64:latest
       env:
         PLAT: manylinux2014_aarch64
       # Mount local hunter cache directory, instead of transfering to Github and back
diff --git a/.github/workflows/test-install-dependencies.yml b/.github/workflows/test-install-dependencies.yml
index 74bfd239a..fd8f6d84b 100644
--- a/.github/workflows/test-install-dependencies.yml
+++ b/.github/workflows/test-install-dependencies.yml
@@ -48,7 +48,7 @@
    test_macos:
       strategy:
         matrix:
-          os: ["macos-11", "macos-12", "macos-13", "macos-14"]
+          os: ["macos-12", "macos-13", "macos-14"]
       runs-on: ${{ matrix.os }}
       steps:
        - uses: actions/checkout@v3
diff --git a/depthai-core b/depthai-core
index 729e47810..12158a516 160000
--- a/depthai-core
+++ b/depthai-core
@@ -1 +1 @@
-Subproject commit 729e478108f40d117ef7876b1360596f35645ddf
+Subproject commit 12158a5166e0162ee94ae7a86aaac48eafd2a15f
diff --git a/src/pipeline/datatype/ToFConfigBindings.cpp b/src/pipeline/datatype/ToFConfigBindings.cpp
index 1657a58e1..381c463b8 100644
--- a/src/pipeline/datatype/ToFConfigBindings.cpp
+++ b/src/pipeline/datatype/ToFConfigBindings.cpp
@@ -38,6 +38,7 @@ void bind_tofconfig(pybind11::module& m, void* pCallstack){
         .def_readwrite("median", &RawToFConfig::median, DOC(dai, RawToFConfig, median))
         .def_readwrite("enablePhaseShuffleTemporalFilter", &RawToFConfig::enablePhaseShuffleTemporalFilter, DOC(dai, RawToFConfig, enablePhaseShuffleTemporalFilter))
         .def_readwrite("enableBurstMode", &RawToFConfig::enableBurstMode, DOC(dai, RawToFConfig, enableBurstMode))
+        .def_readwrite("enableDistortionCorrection", &RawToFConfig::enableDistortionCorrection, DOC(dai, RawToFConfig, enableDistortionCorrection))
         .def_readwrite("phaseUnwrappingLevel", &RawToFConfig::phaseUnwrappingLevel, DOC(dai, RawToFConfig, phaseUnwrappingLevel))
         .def_readwrite("enableFPPNCorrection", &RawToFConfig::enableFPPNCorrection, DOC(dai, RawToFConfig, enableFPPNCorrection))
         .def_readwrite("enableOpticalCorrection", &RawToFConfig::enableOpticalCorrection, DOC(dai, RawToFConfig, enableOpticalCorrection))
diff --git a/src/pipeline/node/ToFBindings.cpp b/src/pipeline/node/ToFBindings.cpp
index 06b79348e..53cb01a45 100644
--- a/src/pipeline/node/ToFBindings.cpp
+++ b/src/pipeline/node/ToFBindings.cpp
@@ -32,6 +32,7 @@ void bind_tof(pybind11::module& m, void* pCallstack){
         .def_readwrite("initialConfig", &ToFProperties::initialConfig, DOC(dai, ToFProperties, initialConfig))
         .def_readwrite("numFramesPool", &ToFProperties::numFramesPool, DOC(dai, ToFProperties, numFramesPool))
         .def_readwrite("numShaves", &ToFProperties::numShaves, DOC(dai, ToFProperties, numShaves))
+        .def_readwrite("warpHwIds", &ToFProperties::warpHwIds, DOC(dai, ToFProperties, warpHwIds))
         ;
 
     // Node