Reapply "Online lateral lag learning"

[fredyshox]

Reverts #34974

TODO:

• make tests (unit or process replay) cover the cross correlation codepath in update_estimate
• • RIVIAN segment from process replay has enough valid data to cover it
• tweak fft size for performance
• write unit tests
• regen logs for selfdrived

let it sink in and merge on monday

[gomtings]

The pop-up message on the on-road screen is supposed to be floating, but isn't that supposed to be floating? The pop-up message on the on-road screen is supposed to be floating, but isn't that supposed to be floating? How can I get it floating on the on-road screen?
//liveDelay
const auto steer_delay = sm["liveDelay"].lateralDelay()
Is it possible to import it like this from the qt code on the on-road?

[Copilot]

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selfdrive/locationd/lagd.py:250

• [nitpick] The calculation of new_values_start_idx using negative indices from a reversed list is non-obvious; consider adding an inline comment or refactoring the logic for better clarity.

new_values_start_idx = next(-i for i, t in enumerate(reversed(times)) if t <= self.last_estimate_t)