comma four: ignition and audio issues on Mazda

# Bug Report: comma 4 Splash Screen Hang and Post-Restart Audio Delay (v0.11.0)

## Checklist

* [x] The issue is not likely limited to my specific car make (Initialization/UI hang)
* [x] The issue is not related to driving or driver monitoring models
* [x] I am running the latest openpilot release (v0.11.0)
* [x] I am using officially supported hardware (comma 4)
* [x] I have searched for existing issues (related to #37384)
* [x] I am running stock openpilot

## Environment

* **Device:** comma 4
* **Version:** v0.11.0 (Release: March 14, 2026)
* **Vehicle:** 2025 Mazda CX-5 Preferred
* **Historical Context:** This behavior occurred once on v0.10.3; it has become a frequent daily regression since updating to v0.11.0.

## Description of Primary Bug: Initialization Hang

During "warm start" scenarios, the comma 4 fails to transition from the "openpilot" splash/initialization screen to the onroad camera UI. The device remains unresponsive to the vehicle's ignition state.

* **Trigger Condition:** Vehicle ignition cycle after being powered off for a duration between **2 minutes and 6 hours**.
* **Observed Behavior:** The screen remains on the splash image indefinitely.
* **Expected Behavior:** The device should detect the ignition/CAN wake-up and transition to the driving UI.
* **Cold Start Comparison:** Does not occur during "Cold Starts" (e.g., >8 hours off); the device performs a clean boot and functions normally.

## Description of Secondary Bug: Post-Recovery Audio Delay

This symptom occurs **only after** a manual intervention is performed to resolve the primary hang described above.

* **Trigger:** Manual software restart or physical power cycle performed while the device is stuck on the splash screen.
* **Behavior:**
* Following the restart, the UI enters the road view and detects the car.
* Engagement is possible; the device successfully provides lateral control (steering).
* **Audio Failure:** System sounds (engagement chimes, disengagement sounds) are completely silent for **a few minutes** after engagement begins.
* **Recovery:** Audio functionality restores itself automatically after this period.
* **Developer Context:** This secondary symptom seems to be identical to [Issue #37384](https://github.com/commaai/openpilot/issues/37384), but in this instance, it is consistently preceded by the splash screen hang.

## Steps to Reproduce

1. Operate the vehicle until the comma 4 is at operating temperature.
2. Turn off the vehicle for a duration between 2 minutes and 6 hours.
3. Restart the vehicle; observe the device remaining on the splash screen.
4. Perform a manual software restart or physical power cycle.
5. Engage openpilot and observe the lack of audio feedback for several minutes while lateral control remains functional.

## Technical Notes

* **Regression:** The frequency increase from v0.10.3 to v0.11.0 suggests a regression in the new "Stop Mode" logic.
* **Process State:** `controlsd` initializes correctly post-restart (enabling steering), while `soundd` or the peripheral audio hardware remains in a non-responsive state for an extended duration.
* **Hypothesis:** This is likely a failure in the transition from **VOS3 (Low Power)** to **VOS1 (High Performance)** or a peripheral wake-up timeout affecting the audio ADC and GPU/UI layers.

### Provide a route where the issue occurs

N/A - ALL drives that encountered this issue does not have route recorded/logged, suggesting system is not initialized or recognize ignition/driving to start route logging/recording.

### openpilot version

0.11.0

### Additional info

_No response_