Truck and squad clash after a tense call rescuing a doomsday prepper. Herrmann struggles with Cindy's diagnosis. Violet gives Brett and Gallo dating advice.

Jimmy chats with members of the audience and asks The Roots to improvise songs about them on the spot in Freestylin’ with the Roots before speaking with guests Yara Shahidi and John Leguizamo and welcoming musical guest SG Lewis.