diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 5d6573b169..a7abe9a656 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -320,20 +320,20 @@ ELANTRA_NON_SCC_TURN_IN_BOOST_RIGHT = 0.12
 ELANTRA_NON_SCC_UNWIND_TAPER_LEFT = 0.22
 ELANTRA_NON_SCC_UNWIND_TAPER_RIGHT = 0.12
 
-KIA_XCEED_FF_REDUCTION_LEFT = 0.08
+KIA_XCEED_FF_REDUCTION_LEFT = 0.04
 KIA_XCEED_FF_REDUCTION_RIGHT = 0.10
 KIA_XCEED_FF_ONSET = 0.16
 KIA_XCEED_FF_ONSET_WIDTH = 0.06
 KIA_XCEED_FF_CUTOFF = 1.30
 KIA_XCEED_FF_CUTOFF_WIDTH = 0.36
-KIA_XCEED_TRANSITION_SPEED = 8.5
+KIA_XCEED_TRANSITION_SPEED = 11.5
 KIA_XCEED_PHASE_SCALE = 0.10
-KIA_XCEED_TURN_IN_BOOST_LEFT = 0.08
+KIA_XCEED_TURN_IN_BOOST_LEFT = 0.26
 KIA_XCEED_TURN_IN_BOOST_RIGHT = 0.06
-KIA_XCEED_UNWIND_TAPER_LEFT = 0.16
+KIA_XCEED_UNWIND_TAPER_LEFT = 0.20
 KIA_XCEED_UNWIND_TAPER_RIGHT = 0.14
-KIA_XCEED_CENTER_TAPER_MAX = 0.05
-KIA_XCEED_CENTER_TAPER_LAT = 0.14
+KIA_XCEED_CENTER_TAPER_MAX = 0.06
+KIA_XCEED_CENTER_TAPER_LAT = 0.12
 KIA_XCEED_CENTER_TAPER_LAT_WIDTH = 0.03
 KIA_XCEED_CENTER_TAPER_SPEED = 17.5
 KIA_XCEED_CENTER_TAPER_SPEED_WIDTH = 2.5
@@ -545,7 +545,7 @@ IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.97
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
 KIA_EV6_FF_GAIN_LEFT = 0.06
-KIA_EV6_FF_GAIN_RIGHT = 0.07
+KIA_EV6_FF_GAIN_RIGHT = 0.10
 KIA_EV6_FF_ONSET = 0.08
 KIA_EV6_FF_ONSET_WIDTH = 0.04
 KIA_EV6_FF_CUTOFF = 0.60
@@ -553,22 +553,22 @@ KIA_EV6_FF_CUTOFF_WIDTH = 0.14
 KIA_EV6_TRANSITION_SPEED = 11.0
 KIA_EV6_PHASE_SCALE = 0.09
 KIA_EV6_TURN_IN_BOOST_LEFT = 0.18
-KIA_EV6_TURN_IN_BOOST_RIGHT = 0.12
+KIA_EV6_TURN_IN_BOOST_RIGHT = 0.26
 KIA_EV6_UNWIND_TAPER_LEFT = 0.48
 KIA_EV6_UNWIND_TAPER_RIGHT = 0.46
 KIA_EV6_FRICTION_MULT = 1.01
 KIA_EV6_FRICTION_LAT_RISE = 0.18
 KIA_EV6_FRICTION_JERK_RISE = 0.22
 KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
-KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
+KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.24
 KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.28
 KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.24
 KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.04
-KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
+KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.12
 KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.28
 KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
-KIA_EV6_CENTER_TAPER_MAX = 0.08
-KIA_EV6_CENTER_TAPER_LAT = 0.16
+KIA_EV6_CENTER_TAPER_MAX = 0.09
+KIA_EV6_CENTER_TAPER_LAT = 0.14
 KIA_EV6_CENTER_TAPER_LAT_WIDTH = 0.035
 KIA_EV6_CENTER_TAPER_SPEED = 18.0
 KIA_EV6_CENTER_TAPER_SPEED_WIDTH = 3.0