diff --git a/CHANGELOG.md b/CHANGELOG.md
index b08ae006..3a1b9316 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,15 @@ will consitute of a breaking change warranting a new major release:
 
 # [unreleased]
 
+## Fixed
+
+- Allow arbitrary submodes for dual lane boards to avoid FDIR reactions of subsystem components.
+  Bump FSFW to allow this.
+
+## Changed
+
+- Fast ACS subsystem commanding: Command SUS board consecutively with other devices now
+
 # [v1.35.1] 2023-03-04
 
 ## Fixed
diff --git a/mission/system/tree/acsModeTree.cpp b/mission/system/tree/acsModeTree.cpp
index a743bb87..adcc0e01 100644
--- a/mission/system/tree/acsModeTree.cpp
+++ b/mission/system/tree/acsModeTree.cpp
@@ -6,8 +6,11 @@
 #include <fsfw/subsystem/Subsystem.h>
 #include <fsfw/subsystem/modes/ModeDefinitions.h>
 
+#include <optional>
+
 #include "eive/objects.h"
 #include "mission/acsDefs.h"
+#include "mission/system/objects/definitions.h"
 #include "util.h"
 
 AcsSubsystem satsystem::acs::ACS_SUBSYSTEM(objects::ACS_SUBSYSTEM, 12, 24);
@@ -100,16 +103,20 @@ Subsystem& satsystem::acs::init() {
   ModeListEntry entry;
   const char* ctxc = "satsystem::acs::init: generic target";
   // Insert Helper Table
-  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table) {
+  auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode, ArrayList<ModeListEntry>& table,
+                 bool allowAllSubmodes = false) {
     entry.setObject(obj);
     entry.setMode(mode);
     entry.setSubmode(submode);
+    if (allowAllSubmodes) {
+      entry.allowAllSubmodes();
+    }
     check(table.insert(entry), "satsystem::acs::init: generic target");
   };
   // Build TARGET PT transition 0
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_PTG_TRANS_0.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TRANS_0.second);
   check(ACS_SUBSYSTEM.addTable(
@@ -117,7 +124,7 @@ Subsystem& satsystem::acs::init() {
         ctxc);
 
   // Build SUS board transition
-  iht(objects::SUS_BOARD_ASS, NML, 0, SUS_BOARD_NML_TRANS.second);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, SUS_BOARD_NML_TRANS.second, true);
   check(ACS_SUBSYSTEM.addTable(TableEntry(SUS_BOARD_NML_TRANS.first, &SUS_BOARD_NML_TRANS.second)),
         ctxc);
 
@@ -182,10 +189,13 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -199,13 +209,14 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build SAFE target
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::SAFE, ACS_TABLE_SAFE_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TGT.second, true);
   check(ss.addTable(&ACS_TABLE_SAFE_TGT.second, ACS_TABLE_SAFE_TGT.first, false, true), ctxc);
 
   // Build SAFE transition 0
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_SAFE_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_SAFE_TRANS_0.second, true);
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
   iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_SAFE_TRANS_0.second);
   check(ss.addTable(&ACS_TABLE_SAFE_TRANS_0.second, ACS_TABLE_SAFE_TRANS_0.first, false, true),
@@ -220,7 +231,7 @@ void buildSafeSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build SAFE sequence
   ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false);
+  // ihs(ACS_SEQUENCE_SAFE.second, SUS_BOARD_NML_TRANS.first, 0, false);
   ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_0.first, 0, false);
   ihs(ACS_SEQUENCE_SAFE.second, ACS_TABLE_SAFE_TRANS_1.first, 0, false);
   check(ss.addSequence(&ACS_SEQUENCE_SAFE.second, ACS_SEQUENCE_SAFE.first, ACS_SEQUENCE_SAFE.first,
@@ -233,10 +244,13 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -250,17 +264,15 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build DETUMBLE target
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::DETUMBLE, ACS_TABLE_DETUMBLE_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TGT.second, true);
   check(ss.addTable(&ACS_TABLE_DETUMBLE_TGT.second, ACS_TABLE_DETUMBLE_TGT.first, false, true),
         ctxc);
 
-  // SUS board transition table is defined above
-
   // Build DETUMBLE transition 0
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_DETUMBLE_TRANS_0.second, true);
   iht(objects::STAR_TRACKER, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
   iht(objects::RW_ASSY, OFF, 0, ACS_TABLE_DETUMBLE_TRANS_0.second);
   check(ss.addTable(&ACS_TABLE_DETUMBLE_TRANS_0.second, ACS_TABLE_DETUMBLE_TRANS_0.first, false,
@@ -275,7 +287,7 @@ void buildDetumbleSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build DETUMBLE sequence
   ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false);
+  // ihs(ACS_SEQUENCE_DETUMBLE.second, SUS_BOARD_NML_TRANS.first, 0, false);
   ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_0.first, 0, false);
   ihs(ACS_SEQUENCE_DETUMBLE.second, ACS_TABLE_DETUMBLE_TRANS_1.first, 0, false);
   check(ss.addSequence(&ACS_SEQUENCE_DETUMBLE.second, ACS_SEQUENCE_DETUMBLE.first,
@@ -288,10 +300,13 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -306,16 +321,14 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_IDLE, ACS_TABLE_IDLE_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TGT.second, true);
   ss.addTable(&ACS_TABLE_IDLE_TGT.second, ACS_TABLE_IDLE_TGT.first, false, true);
 
-  // SUS board transition table is built above
-
   // Build IDLE transition 0
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
+  iht(objects::ACS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
+  iht(objects::SUS_BOARD_ASS, NML, duallane::A_SIDE, ACS_TABLE_IDLE_TRANS_0.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_IDLE_TRANS_0.second);
   ss.addTable(&ACS_TABLE_IDLE_TRANS_0.second, ACS_TABLE_IDLE_TRANS_0.first, false, true);
@@ -326,7 +339,7 @@ void buildIdleSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build IDLE sequence
   ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true);
+  // ihs(ACS_SEQUENCE_IDLE.second, SUS_BOARD_NML_TRANS.first, 0, true);
   ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_0.first, 0, true);
   ihs(ACS_SEQUENCE_IDLE.second, ACS_TABLE_IDLE_TRANS_1.first, 0, true);
   ss.addSequence(&ACS_SEQUENCE_IDLE.second, ACS_SEQUENCE_IDLE.first, ACS_SEQUENCE_SAFE.first, false,
@@ -338,10 +351,13 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -356,14 +372,13 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
   // Build TARGET PT table
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_TGT.second);
   check(ss.addTable(&ACS_TABLE_PTG_TARGET_TGT.second, ACS_TABLE_PTG_TARGET_TGT.first, false, true),
         ctxc);
 
-  // SUS board transition table is built above
   // Transition 0 already built
   // Build TARGET PT transition 1
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET, ACS_TABLE_PTG_TARGET_TRANS_1.second);
@@ -373,7 +388,7 @@ void buildTargetPtSequence(Subsystem& ss, ModeListEntry& eh) {
 
   // Build IDLE sequence
   ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TGT.first, 0, true);
-  ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true);
+  // ihs(ACS_SEQUENCE_PTG_TARGET.second, SUS_BOARD_NML_TRANS.first, 0, true);
   ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TRANS_0.first, 0, true);
   ihs(ACS_SEQUENCE_PTG_TARGET.second, ACS_TABLE_PTG_TARGET_TRANS_1.first, 0, true);
   check(ss.addSequence(&ACS_SEQUENCE_PTG_TARGET.second, ACS_SEQUENCE_PTG_TARGET.first,
@@ -386,10 +401,13 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -405,8 +423,8 @@ void buildTargetPtNadirSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET,
       ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_NADIR_TGT.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_NADIR_TGT.first,
@@ -437,10 +455,13 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes = false) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -456,8 +477,8 @@ void buildTargetPtGsSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_TARGET_GS,
       ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_GS_TGT.second);
   check(ss.addTable(
@@ -487,10 +508,13 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
   auto ctxc = context.c_str();
   // Insert Helper Table
   auto iht = [&](object_id_t obj, Mode_t mode, Submode_t submode,
-                 ArrayList<ModeListEntry>& sequence) {
+                 ArrayList<ModeListEntry>& sequence, bool allowAllSubmodes) {
     eh.setObject(obj);
     eh.setMode(mode);
     eh.setSubmode(submode);
+    if (allowAllSubmodes) {
+      eh.allowAllSubmodes();
+    }
     check(sequence.insert(eh), ctxc);
   };
   // Insert Helper Sequence
@@ -506,8 +530,8 @@ void buildTargetPtInertialSequence(Subsystem& ss, ModeListEntry& eh) {
   iht(objects::ACS_CONTROLLER, NML, acs::AcsMode::PTG_INERTIAL,
       ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::IMTQ_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
-  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
+  iht(objects::SUS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
+  iht(objects::ACS_BOARD_ASS, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second, true);
   iht(objects::RW_ASSY, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   iht(objects::STAR_TRACKER, NML, 0, ACS_TABLE_PTG_TARGET_INERTIAL_TGT.second);
   check(ss.addTable(TableEntry(ACS_TABLE_PTG_TARGET_INERTIAL_TGT.first,