diff --git a/Makefile b/Makefile
index bdb97e37ab..cc91208f4c 100644
--- a/Makefile
+++ b/Makefile
@@ -240,3 +240,11 @@ go-fmt:
 .PHONY: check-license
 check-license:
 	./scripts/check-license.sh
+
+.PHONY: dev/up
+dev/up: deploy/manifests
+	source ./scripts/local-dev.sh && up
+
+.PHONY: dev/down
+dev/down:
+	source ./scripts/local-dev.sh && down
diff --git a/Tiltfile b/Tiltfile
new file mode 100644
index 0000000000..8d0906a16d
--- /dev/null
+++ b/Tiltfile
@@ -0,0 +1,11 @@
+docker_prune_settings(num_builds=5)
+
+## Parca Agent
+
+docker_build(
+    'parca.io/parca/parca-agent:dev', '',
+     dockerfile='Dockerfile.dev',
+     only=['./cmd', './pkg', './3rdparty', './go.mod', './go.sum', './parca-agent.bpf.c', './vmlinux.h', './Makefile'],
+)
+k8s_yaml('deploy/tilt/parca-agent-daemonSet.yaml')
+k8s_resource('parca-agent', port_forwards=[7071])
diff --git a/deploy/Makefile b/deploy/Makefile
index 7280ffc126..3291bc001f 100644
--- a/deploy/Makefile
+++ b/deploy/Makefile
@@ -1,5 +1,6 @@
 JSONNET_FMT := jsonnetfmt -n 2 --max-blank-lines 2 --string-style s --comment-style s
 VERSION ?= $(shell git describe --exact-match --tags $$(git log -n1 --pretty='%h') 2>/dev/null || echo "$$(git rev-parse --abbrev-ref HEAD)-$$(git rev-parse --short HEAD)")
+SERVER_LATEST_VERSION ?= $(shell curl -s https://api.github.com/repos/parca-dev/parca/releases/latest | grep -oP '"tag_name": "\K(.*)(?=")' | xargs echo -n)
 
 .PHONY: vendor
 vendor:
@@ -7,12 +8,13 @@ vendor:
 
 .PHONY: manifests
 manifests: vendor $(shell find . -name 'vendor' -prune -o -name '*.libsonnet' -print -o -name '*.jsonnet' -print)
-	rm -rf manifests
-	mkdir -p manifests/openshift manifests/kubernetes
+	rm -rf manifests tilt
+	mkdir -p manifests/openshift manifests/kubernetes tilt
 	jsonnet --tla-str version="$(VERSION)" -J vendor main.jsonnet -m manifests/kubernetes | xargs -I{} sh -c 'cat {} | gojsontoyaml > {}.yaml; rm -f {}' -- {}
 	awk 'BEGINFILE {print "---"}{print}' manifests/kubernetes/* > manifests/kubernetes/manifest.yaml
 	jsonnet --tla-str version="$(VERSION)" -J vendor openshift.jsonnet -m manifests/openshift | xargs -I{} sh -c 'cat {} | gojsontoyaml > {}.yaml; rm -f {}' -- {}
 	awk 'BEGINFILE {print "---"}{print}' manifests/openshift/* > manifests/openshift/manifest.yaml
+	jsonnet --tla-str serverVersion="$(SERVER_LATEST_VERSION)" -J vendor dev.jsonnet -m tilt | xargs -I{} sh -c 'cat {} | gojsontoyaml > {}.yaml; rm -f {}' -- {}
 
 fmt:
 	find . -name 'vendor' -prune -o -name '*.libsonnet' -print -o -name '*.jsonnet' -print | \
diff --git a/deploy/dev.jsonnet b/deploy/dev.jsonnet
index 03d65d625d..034b3c7fd3 100644
--- a/deploy/dev.jsonnet
+++ b/deploy/dev.jsonnet
@@ -1,7 +1,41 @@
-local agent = (import 'main.jsonnet');
+function(serverVersion='v0.4.2')
+    local ns = {
+      apiVersion: 'v1',
+      kind: 'Namespace',
+      metadata: {
+        name: 'parca',
+      },
+    };
 
-std.manifestYamlStream([
-  agent[name]
-  for name in std.objectFields(agent)
-  if agent[name] != null
-])
+    local server = (import 'parca/parca.libsonnet')({
+        name: 'parca',
+        namespace: ns.metadata.name,
+        image: 'ghcr.io/parca-dev/parca:' + serverVersion,
+        version: serverVersion,
+        replicas: 1,
+        corsAllowedOrigins: '*',
+    });
+
+    local agent = (import 'parca-agent/parca-agent.libsonnet')({
+      name: 'parca-agent',
+      namespace: ns.metadata.name,
+      version: 'dev',
+      image: 'parca.io/parca/parca-agent:dev',
+      stores: ['%s.%s.svc.cluster.local:%d' % [server.service.metadata.name, server.service.metadata.namespace, server.config.port]],
+      logLevel: 'debug',
+      insecure: true,
+      insecureSkipVerify: true,
+      tempDir: 'tmp',
+    });
+
+    {
+      '0namespace': ns,
+    } + {
+      ['parca-server-' + name]: server[name]
+      for name in std.objectFields(server)
+      if server[name] != null
+    } + {
+      ['parca-agent-' + name]: agent[name]
+      for name in std.objectFields(agent)
+      if agent[name] != null
+    }
diff --git a/deploy/jsonnetfile.json b/deploy/jsonnetfile.json
index 7c0ca1861f..c7ba924ee7 100644
--- a/deploy/jsonnetfile.json
+++ b/deploy/jsonnetfile.json
@@ -8,6 +8,15 @@
         }
       },
       "version": ""
+    },
+        {
+      "source": {
+        "git": {
+          "remote": "https://github.com/parca-dev/parca.git",
+          "subdir": "deploy/lib/parca"
+        }
+      },
+      "version": "main"
     }
   ],
   "legacyImports": true
diff --git a/deploy/jsonnetfile.lock.json b/deploy/jsonnetfile.lock.json
index 28f133889d..5499170db2 100644
--- a/deploy/jsonnetfile.lock.json
+++ b/deploy/jsonnetfile.lock.json
@@ -1,6 +1,16 @@
 {
   "version": 1,
   "dependencies": [
+    {
+      "source": {
+        "git": {
+          "remote": "https://github.com/parca-dev/parca.git",
+          "subdir": "deploy/lib/parca"
+        }
+      },
+      "version": "7dc4a2456d95b124459fbc7661c9d9b9099f126d",
+      "sum": "pg6sezCvcHFY2A3OE5Ijs8AsRWw27ENvxtEdzw91JrA="
+    },
     {
       "source": {
         "local": {
diff --git a/deploy/tilt/0namespace.yaml b/deploy/tilt/0namespace.yaml
new file mode 100644
index 0000000000..d5a14e66c3
--- /dev/null
+++ b/deploy/tilt/0namespace.yaml
@@ -0,0 +1,4 @@
+apiVersion: v1
+kind: Namespace
+metadata:
+  name: parca
diff --git a/deploy/tilt/parca-agent-clusterRole.yaml b/deploy/tilt/parca-agent-clusterRole.yaml
new file mode 100644
index 0000000000..3e64dacd49
--- /dev/null
+++ b/deploy/tilt/parca-agent-clusterRole.yaml
@@ -0,0 +1,24 @@
+apiVersion: rbac.authorization.k8s.io/v1
+kind: ClusterRole
+metadata:
+  labels:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca-agent
+    app.kubernetes.io/name: parca-agent
+    app.kubernetes.io/version: dev
+  name: parca-agent
+  namespace: parca
+rules:
+- apiGroups:
+  - ""
+  resources:
+  - pods
+  verbs:
+  - list
+  - watch
+- apiGroups:
+  - ""
+  resources:
+  - nodes
+  verbs:
+  - get
diff --git a/deploy/tilt/parca-agent-clusterRoleBinding.yaml b/deploy/tilt/parca-agent-clusterRoleBinding.yaml
new file mode 100644
index 0000000000..f0efbe2d20
--- /dev/null
+++ b/deploy/tilt/parca-agent-clusterRoleBinding.yaml
@@ -0,0 +1,18 @@
+apiVersion: rbac.authorization.k8s.io/v1
+kind: ClusterRoleBinding
+metadata:
+  labels:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca-agent
+    app.kubernetes.io/name: parca-agent
+    app.kubernetes.io/version: dev
+  name: parca-agent
+  namespace: parca
+roleRef:
+  apiGroup: rbac.authorization.k8s.io
+  kind: ClusterRole
+  name: parca-agent
+subjects:
+- kind: ServiceAccount
+  name: parca-agent
+  namespace: parca
diff --git a/deploy/tilt/parca-agent-daemonSet.yaml b/deploy/tilt/parca-agent-daemonSet.yaml
new file mode 100644
index 0000000000..85f87d18c4
--- /dev/null
+++ b/deploy/tilt/parca-agent-daemonSet.yaml
@@ -0,0 +1,90 @@
+apiVersion: apps/v1
+kind: DaemonSet
+metadata:
+  labels:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca-agent
+    app.kubernetes.io/name: parca-agent
+    app.kubernetes.io/version: dev
+  name: parca-agent
+  namespace: parca
+spec:
+  selector:
+    matchLabels:
+      app.kubernetes.io/component: observability
+      app.kubernetes.io/instance: parca-agent
+      app.kubernetes.io/name: parca-agent
+  template:
+    metadata:
+      labels:
+        app.kubernetes.io/component: observability
+        app.kubernetes.io/instance: parca-agent
+        app.kubernetes.io/name: parca-agent
+        app.kubernetes.io/version: dev
+    spec:
+      containers:
+      - args:
+        - /bin/parca-agent
+        - --log-level=debug
+        - --node=$(NODE_NAME)
+        - --kubernetes
+        - --store-address=parca.parca.svc.cluster.local:7070
+        - --insecure
+        - --insecure-skip-verify
+        - --temp-dir=tmp
+        env:
+        - name: NODE_NAME
+          valueFrom:
+            fieldRef:
+              fieldPath: spec.nodeName
+        image: parca.io/parca/parca-agent:dev
+        name: parca-agent
+        ports:
+        - containerPort: 7071
+          hostPort: 7071
+          name: http
+        resources: {}
+        securityContext:
+          privileged: true
+          readOnlyRootFilesystem: true
+        volumeMounts:
+        - mountPath: /tmp
+          name: tmp
+        - mountPath: /run
+          name: run
+        - mountPath: /lib/modules
+          name: modules
+        - mountPath: /sys/kernel/debug
+          name: debugfs
+        - mountPath: /sys/fs/cgroup
+          name: cgroup
+        - mountPath: /sys/fs/bpf
+          name: bpffs
+      hostPID: true
+      nodeSelector:
+        kubernetes.io/arch: amd64
+        kubernetes.io/os: linux
+      serviceAccountName: parca-agent
+      tolerations:
+      - effect: NoSchedule
+        operator: Exists
+      - effect: NoExecute
+        operator: Exists
+      volumes:
+      - emptyDir: {}
+        name: tmp
+      - hostPath:
+          path: /run
+        name: run
+      - hostPath:
+          path: /sys/fs/cgroup
+        name: cgroup
+      - hostPath:
+          path: /lib/modules
+        name: modules
+      - hostPath:
+          path: /sys/fs/bpf
+        name: bpffs
+      - hostPath:
+          path: /sys/kernel/debug
+        name: debugfs
diff --git a/deploy/tilt/parca-agent-podSecurityPolicy.yaml b/deploy/tilt/parca-agent-podSecurityPolicy.yaml
new file mode 100644
index 0000000000..4a757dcecb
--- /dev/null
+++ b/deploy/tilt/parca-agent-podSecurityPolicy.yaml
@@ -0,0 +1,41 @@
+apiVersion: policy/v1beta1
+kind: PodSecurityPolicy
+metadata:
+  labels:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca-agent
+    app.kubernetes.io/name: parca-agent
+    app.kubernetes.io/version: dev
+  name: parca-agent
+  namespace: parca
+spec:
+  allowPrivilegeEscalation: true
+  allowedCapabilities:
+  - '*'
+  allowedHostPaths:
+  - pathPrefix: /sys
+  - pathPrefix: /lib/modules
+  fsGroup:
+    rule: RunAsAny
+  hostIPC: true
+  hostNetwork: true
+  hostPID: true
+  hostPorts:
+  - max: 7071
+    min: 7071
+  privileged: true
+  readOnlyRootFilesystem: true
+  runAsUser:
+    rule: RunAsAny
+  seLinux:
+    rule: RunAsAny
+  supplementalGroups:
+    rule: RunAsAny
+  volumes:
+  - configMap
+  - emptyDir
+  - projected
+  - secret
+  - downwardAPI
+  - persistentVolumeClaim
+  - hostPath
diff --git a/deploy/tilt/parca-agent-role.yaml b/deploy/tilt/parca-agent-role.yaml
new file mode 100644
index 0000000000..5e1b125010
--- /dev/null
+++ b/deploy/tilt/parca-agent-role.yaml
@@ -0,0 +1,19 @@
+apiVersion: rbac.authorization.k8s.io/v1
+kind: Role
+metadata:
+  labels:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca-agent
+    app.kubernetes.io/name: parca-agent
+    app.kubernetes.io/version: dev
+  name: parca-agent
+  namespace: parca
+rules:
+- apiGroups:
+  - policy
+  resourceNames:
+  - parca-agent
+  resources:
+  - podsecuritypolicies
+  verbs:
+  - use
diff --git a/deploy/tilt/parca-agent-roleBinding.yaml b/deploy/tilt/parca-agent-roleBinding.yaml
new file mode 100644
index 0000000000..9d7bcefdc2
--- /dev/null
+++ b/deploy/tilt/parca-agent-roleBinding.yaml
@@ -0,0 +1,17 @@
+apiVersion: rbac.authorization.k8s.io/v1
+kind: RoleBinding
+metadata:
+  labels:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca-agent
+    app.kubernetes.io/name: parca-agent
+    app.kubernetes.io/version: dev
+  name: parca-agent
+  namespace: parca
+roleRef:
+  apiGroup: rbac.authorization.k8s.io
+  kind: Role
+  name: parca-agent
+subjects:
+- kind: ServiceAccount
+  name: parca-agent
diff --git a/deploy/tilt/parca-agent-serviceAccount.yaml b/deploy/tilt/parca-agent-serviceAccount.yaml
new file mode 100644
index 0000000000..73c12d70bc
--- /dev/null
+++ b/deploy/tilt/parca-agent-serviceAccount.yaml
@@ -0,0 +1,10 @@
+apiVersion: v1
+kind: ServiceAccount
+metadata:
+  labels:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca-agent
+    app.kubernetes.io/name: parca-agent
+    app.kubernetes.io/version: dev
+  name: parca-agent
+  namespace: parca
diff --git a/deploy/tilt/parca-server-configmap.yaml b/deploy/tilt/parca-server-configmap.yaml
new file mode 100644
index 0000000000..cadf0ea475
--- /dev/null
+++ b/deploy/tilt/parca-server-configmap.yaml
@@ -0,0 +1,16 @@
+apiVersion: v1
+data:
+  parca.yaml: |-
+    "debug_info":
+      "bucket":
+        "config":
+          "directory": "./tmp"
+        "type": "FILESYSTEM"
+      "cache":
+        "config":
+          "directory": "./tmp"
+        "type": "FILESYSTEM"
+kind: ConfigMap
+metadata:
+  name: parca-config
+  namespace: parca
diff --git a/deploy/tilt/parca-server-deployment.yaml b/deploy/tilt/parca-server-deployment.yaml
new file mode 100644
index 0000000000..883b73f5cb
--- /dev/null
+++ b/deploy/tilt/parca-server-deployment.yaml
@@ -0,0 +1,67 @@
+apiVersion: apps/v1
+kind: Deployment
+metadata:
+  labels:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca
+    app.kubernetes.io/name: parca
+    app.kubernetes.io/version: v0.5.0
+  name: parca
+  namespace: parca
+spec:
+  replicas: 1
+  selector:
+    matchLabels:
+      app.kubernetes.io/component: observability
+      app.kubernetes.io/instance: parca
+      app.kubernetes.io/name: parca
+  template:
+    metadata:
+      labels:
+        app.kubernetes.io/component: observability
+        app.kubernetes.io/instance: parca
+        app.kubernetes.io/name: parca
+        app.kubernetes.io/version: v0.5.0
+    spec:
+      containers:
+      - args:
+        - /parca
+        - --config-path=/var/parca/parca.yaml
+        - --log-level=info
+        - --cors-allowed-origins=*
+        image: ghcr.io/parca-dev/parca:v0.5.0
+        livenessProbe:
+          exec:
+            command:
+            - /grpc-health-probe
+            - -v
+            - -addr=:7070
+          initialDelaySeconds: 5
+        name: parca
+        ports:
+        - containerPort: 7070
+          name: http
+        readinessProbe:
+          exec:
+            command:
+            - /grpc-health-probe
+            - -v
+            - -addr=:7070
+          initialDelaySeconds: 10
+        resources: {}
+        terminationMessagePolicy: FallbackToLogsOnError
+        volumeMounts:
+        - mountPath: /var/parca
+          name: parca-config
+      nodeSelector:
+        kubernetes.io/arch: amd64
+        kubernetes.io/os: linux
+      securityContext:
+        fsGroup: 65534
+        runAsUser: 65534
+      serviceAccountName: parca
+      terminationGracePeriodSeconds: 120
+      volumes:
+      - configMap:
+          name: parca-config
+        name: parca-config
diff --git a/deploy/tilt/parca-server-podSecurityPolicy.yaml b/deploy/tilt/parca-server-podSecurityPolicy.yaml
new file mode 100644
index 0000000000..3e1d19f27d
--- /dev/null
+++ b/deploy/tilt/parca-server-podSecurityPolicy.yaml
@@ -0,0 +1,29 @@
+apiVersion: policy/v1beta1
+kind: PodSecurityPolicy
+metadata:
+  name: parca
+spec:
+  allowPrivilegeEscalation: false
+  fsGroup:
+    ranges:
+    - max: 65535
+      min: 1
+    rule: MustRunAs
+  requiredDropCapabilities:
+  - ALL
+  runAsUser:
+    rule: MustRunAsNonRoot
+  seLinux:
+    rule: RunAsAny
+  supplementalGroups:
+    ranges:
+    - max: 65535
+      min: 1
+    rule: MustRunAs
+  volumes:
+  - configMap
+  - emptyDir
+  - projected
+  - secret
+  - downwardAPI
+  - persistentVolumeClaim
diff --git a/deploy/tilt/parca-server-role.yaml b/deploy/tilt/parca-server-role.yaml
new file mode 100644
index 0000000000..6ac3766c3f
--- /dev/null
+++ b/deploy/tilt/parca-server-role.yaml
@@ -0,0 +1,19 @@
+apiVersion: rbac.authorization.k8s.io/v1
+kind: Role
+metadata:
+  labels:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca
+    app.kubernetes.io/name: parca
+    app.kubernetes.io/version: v0.5.0
+  name: parca
+  namespace: parca
+rules:
+- apiGroups:
+  - policy
+  resourceNames:
+  - parca
+  resources:
+  - podsecuritypolicies
+  verbs:
+  - use
diff --git a/deploy/tilt/parca-server-roleBinding.yaml b/deploy/tilt/parca-server-roleBinding.yaml
new file mode 100644
index 0000000000..935fa6a6f6
--- /dev/null
+++ b/deploy/tilt/parca-server-roleBinding.yaml
@@ -0,0 +1,17 @@
+apiVersion: rbac.authorization.k8s.io/v1
+kind: RoleBinding
+metadata:
+  labels:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca
+    app.kubernetes.io/name: parca
+    app.kubernetes.io/version: v0.5.0
+  name: parca
+  namespace: parca
+roleRef:
+  apiGroup: rbac.authorization.k8s.io
+  kind: Role
+  name: parca
+subjects:
+- kind: ServiceAccount
+  name: parca
diff --git a/deploy/tilt/parca-server-service.yaml b/deploy/tilt/parca-server-service.yaml
new file mode 100644
index 0000000000..fb530375cb
--- /dev/null
+++ b/deploy/tilt/parca-server-service.yaml
@@ -0,0 +1,19 @@
+apiVersion: v1
+kind: Service
+metadata:
+  labels:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca
+    app.kubernetes.io/name: parca
+    app.kubernetes.io/version: v0.5.0
+  name: parca
+  namespace: parca
+spec:
+  ports:
+  - name: http
+    port: 7070
+    targetPort: 7070
+  selector:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca
+    app.kubernetes.io/name: parca
diff --git a/deploy/tilt/parca-server-serviceAccount.yaml b/deploy/tilt/parca-server-serviceAccount.yaml
new file mode 100644
index 0000000000..27436b0b15
--- /dev/null
+++ b/deploy/tilt/parca-server-serviceAccount.yaml
@@ -0,0 +1,10 @@
+apiVersion: v1
+kind: ServiceAccount
+metadata:
+  labels:
+    app.kubernetes.io/component: observability
+    app.kubernetes.io/instance: parca
+    app.kubernetes.io/name: parca
+    app.kubernetes.io/version: v0.5.0
+  name: parca
+  namespace: parca
diff --git a/scripts/local-dev.sh b/scripts/local-dev.sh
new file mode 100644
index 0000000000..2640802d4d
--- /dev/null
+++ b/scripts/local-dev.sh
@@ -0,0 +1,46 @@
+#!/usr/bin/env bash
+
+################################################################################
+#
+# This script is meant to be run from the root of this project with the Makefile
+#
+################################################################################
+
+set -euo pipefail
+
+# Creates a local minikube cluster, and deploys the dev env into the cluster
+function up() {
+  # Spin up local cluster if one isn't running
+  if minikube status -p parca-agent; then
+    echo "----------------------------------------------------------"
+    echo "Dev cluster already running. Skipping minikube cluster creation"
+    echo "----------------------------------------------------------"
+  else
+    ctlptl create registry ctlptl-registry || echo 'Registry already exists'
+    # kvm2, hyperkit, hyperv, vmwarefusion, virtualbox, vmware, xhyve
+    minikube start -p parca-agent \
+      --driver=virtualbox \
+      --kubernetes-version=v1.22.3 \
+      --cpus=12 \
+      --memory=40gb \
+      --disk-size=120gb \
+      --docker-opt dns=8.8.8.8 \
+      --docker-opt default-ulimit=memlock=9223372036854775807:9223372036854775807
+  fi
+
+  # Deploy all services into the cluster
+  deploy
+
+  echo "Now run \"tilt up\" to start developing!"
+}
+
+# Tears down a local minikube cluster
+function down() {
+  minikube delete -p parca-agent
+}
+
+# Deploys the dev env into the minikube cluster
+function deploy() {
+  # Deploy all generated manifests
+  kubectl apply -R -f ./deploy/tilt
+}