diff --git a/Dockerfile.agnos b/Dockerfile.agnos
index 12901a85..77549cf9 100644
--- a/Dockerfile.agnos
+++ b/Dockerfile.agnos
@@ -29,6 +29,12 @@ COPY ./userspace/openpilot_dependencies.sh /tmp/agnos/
 RUN /tmp/agnos/openpilot_dependencies.sh
 
 # Individual compiling images
+FROM agnos-compiler AS agnos-compiler-pyqt5
+COPY ./userspace/openpilot_python_dependencies.sh /tmp/agnos/
+RUN /tmp/agnos/openpilot_python_dependencies.sh
+COPY ./userspace/compile-pyqt5.sh /tmp/agnos/
+RUN /tmp/agnos/compile-pyqt5.sh
+
 FROM agnos-compiler AS agnos-compiler-capnp
 COPY ./userspace/compile-capnp.sh /tmp/agnos/
 RUN /tmp/agnos/compile-capnp.sh
@@ -72,13 +78,16 @@ RUN /tmp/agnos/openpilot_python_dependencies.sh
 COPY --from=agnos-compiler-ffmpeg /tmp/ffmpeg.deb /tmp/ffmpeg.deb
 RUN cd /tmp && apt-get -o Dpkg::Options::="--force-overwrite" install -yq ./ffmpeg.deb
 
+# Use pre-compiled PyQt5 wheel
+COPY --from=agnos-compiler-pyqt5 /tmp/PyQt5-5.15.9/PyQt5-5.15.9-cp38-abi3-manylinux_2_17_aarch64.whl /tmp/PyQt5-5.15.9.whl
+
 RUN export PATH="/usr/local/pyenv/bin:/usr/local/pyenv/shims:$PATH" && \
     export PYENV_ROOT="/usr/local/pyenv" && \
     eval "$(pyenv init -)" && \
     eval "$(pyenv virtualenv-init -)" && \
     export MAKEFLAGS="-j$(nproc)" && \
     pip install pyqt5-sip==12.12.1 && \
-    pip install pyqt5==5.15.9 --verbose --config-settings --confirm-license= && \
+    pip install /tmp/PyQt5-5.15.9.whl --verbose --config-settings --confirm-license= && \
     pyenv rehash
 
 # Install openpilot python packages
diff --git a/userspace/compile-pyqt5.sh b/userspace/compile-pyqt5.sh
new file mode 100755
index 00000000..9742bca1
--- /dev/null
+++ b/userspace/compile-pyqt5.sh
@@ -0,0 +1,16 @@
+#!/bin/bash -e
+
+# Use pyenv venv
+export PATH="/usr/local/pyenv/bin:/usr/local/pyenv/shims:$PATH"
+export PYENV_ROOT="/usr/local/pyenv"
+eval "$(pyenv init -)"
+eval "$(pyenv virtualenv-init -)"
+
+# Build PyQt5 wheel
+cd /tmp
+wget https://files.pythonhosted.org/packages/5c/46/b4b6eae1e24d9432905ef1d4e7c28b6610e28252527cdc38f2a75997d8b5/PyQt5-5.15.9.tar.gz
+tar xf PyQt5-5.15.9.tar.gz
+cd PyQt5-5.15.9
+
+export MAKEFLAGS="-j$(nproc)"
+pip wheel -w . --verbose --config-settings --confirm-license= .