diff --git a/opendbc_repo/opendbc/car/gm/carcontroller.py b/opendbc_repo/opendbc/car/gm/carcontroller.py
index dc9f014696..078e12d536 100644
--- a/opendbc_repo/opendbc/car/gm/carcontroller.py
+++ b/opendbc_repo/opendbc/car/gm/carcontroller.py
@@ -116,12 +116,12 @@ def get_testing_ground_1_brake_switch_bias(v_ego: float) -> int:
   return int(round(np.interp(v_ego, [0.0, 6.0, 15.0, 30.0], [40.0, 85.0, 130.0, 170.0])))
 
 
-def supports_volt_auto_hold(CP, starpilot_toggles):
+def supports_volt_auto_hold(CP, auto_hold_enabled: bool):
   safety_cfg = getattr(CP, "safetyConfigs", ())
   safety_param = safety_cfg[0].safetyParam if safety_cfg else 0
   stock_hold_safety_ready = CP.openpilotLongitudinalControl or bool(safety_param & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value)
   return (
-    getattr(starpilot_toggles, "gm_auto_hold", False) and
+    auto_hold_enabled and
     stock_hold_safety_ready and
     CP.carFingerprint in AUTO_HOLD_VOLT_CARS
   )
@@ -134,13 +134,15 @@ def estimate_auto_hold_brake(driver_brake: float, op_brake: float) -> int:
 
 
 def should_activate_auto_hold(hold_ready: bool, auto_hold_armed: bool, auto_hold_engaged: bool,
-                              brake_pressed: bool, long_active: bool, regen_braking: bool, v_ego: float) -> bool:
+                              brake_pressed: bool, standstill: bool, long_active: bool,
+                              regen_braking: bool, v_ego: float) -> bool:
+  stopped = standstill or v_ego < 0.02
   return (
     hold_ready and
     (auto_hold_armed or auto_hold_engaged or brake_pressed) and
+    stopped and
     not long_active and
-    not regen_braking and
-    v_ego < 0.02
+    not regen_braking
   )
 
 
@@ -214,6 +216,10 @@ class CarController(CarControllerBase):
     self.malibu_button_phase = 0
     self.malibu_last_button_ts_nanos = 0
     self.auto_hold_brake = 0
+    try:
+      self.gm_auto_hold_enabled = self.params_.get_bool("GMAutoHold")
+    except UnknownKeyName:
+      self.gm_auto_hold_enabled = False
 
   def calc_pedal_command(self, accel: float, long_active: bool, v_ego: float):
     if not long_active:
@@ -363,7 +369,7 @@ class CarController(CarControllerBase):
     self.aego = CS.out.aEgo
     accel = actuators.accel
     press_regen_paddle = False
-    auto_hold_enabled = supports_volt_auto_hold(self.CP, starpilot_toggles)
+    auto_hold_enabled = supports_volt_auto_hold(self.CP, self.gm_auto_hold_enabled)
     stock_hold_apply_brake = self.apply_brake if self.CP.openpilotLongitudinalControl else 0
 
     hold_ready = (
@@ -376,7 +382,7 @@ class CarController(CarControllerBase):
       CS.auto_hold_armed = False
     elif CS.regen_release_timer > 0.0:
       CS.auto_hold_armed = False
-    elif not CS.auto_hold_armed and (CS.out.vEgo > 0.03 or (CS.out.vEgo < 0.02 and CS.out.brakePressed)):
+    elif not CS.auto_hold_armed and (CS.out.vEgo > 0.03 or ((CS.out.standstill or CS.out.vEgo < 0.02) and CS.out.brakePressed)):
       CS.auto_hold_armed = True
 
     if CS.out.vEgo > 0.1 or CS.out.gasPressed or CS.out.gearShifter not in AUTO_HOLD_DRIVE_GEARS:
@@ -385,6 +391,10 @@ class CarController(CarControllerBase):
       self.auto_hold_brake = estimate_auto_hold_brake(CS.out.brake, stock_hold_apply_brake)
 
     if self.frame % 25 == 0:
+      try:
+        self.gm_auto_hold_enabled = self.params_.get_bool("GMAutoHold")
+      except UnknownKeyName:
+        self.gm_auto_hold_enabled = False
       try:
         mode = self.params_.get("LongitudinalManeuverPaddleMode")
       except UnknownKeyName:
@@ -469,6 +479,7 @@ class CarController(CarControllerBase):
       CS.auto_hold_armed,
       CS.auto_hold_engaged,
       CS.out.brakePressed,
+      CS.out.standstill,
       CC.longActive,
       CS.out.regenBraking,
       CS.out.vEgo,
diff --git a/opendbc_repo/opendbc/car/honda/carcontroller.py b/opendbc_repo/opendbc/car/honda/carcontroller.py
index 493c413a21..609e57db96 100644
--- a/opendbc_repo/opendbc/car/honda/carcontroller.py
+++ b/opendbc_repo/opendbc/car/honda/carcontroller.py
@@ -31,12 +31,19 @@ def get_civic_bosch_modified_torque_lpf_tau(torque_cmd: float, prev_torque_cmd:
   low_speed = v_ego < (30.0 * 0.44704)
 
   if highway:
+    if torque_cmd_abs < 0.12:
+      return 0.18 if sign_change else 0.16
     if sign_change and torque_delta > 0.15:
       return 0.10
     return 0.12
 
   if sign_change and torque_cmd_abs < 0.25:
-    return 0.22 if low_speed else 0.18
+    return 0.28 if low_speed else 0.22
+
+  # Extra damping for the tiny near-center commands where both modified EPS
+  # firmwares still show hunting and escalating sway.
+  if torque_cmd_abs < 0.12:
+    return 0.28 if low_speed else 0.20
 
   if low_speed:
     if torque_delta > 0.50:
diff --git a/opendbc_repo/opendbc/car/honda/tests/test_honda.py b/opendbc_repo/opendbc/car/honda/tests/test_honda.py
index 456200e124..c174c7bafe 100644
--- a/opendbc_repo/opendbc/car/honda/tests/test_honda.py
+++ b/opendbc_repo/opendbc/car/honda/tests/test_honda.py
@@ -41,8 +41,10 @@ class TestHondaFingerprint:
 
   def test_modified_civic_torque_lpf_tau_reacts_to_sign_change(self):
     assert get_civic_bosch_modified_torque_lpf_tau(0.7, -0.1, 25.0) == 0.10
-    assert get_civic_bosch_modified_torque_lpf_tau(0.02, -0.01, 8.0) == 0.22
-    assert get_civic_bosch_modified_torque_lpf_tau(0.02, 0.01, 12.0) == 0.22
+    assert get_civic_bosch_modified_torque_lpf_tau(0.02, -0.01, 8.0) == 0.28
+    assert get_civic_bosch_modified_torque_lpf_tau(0.02, 0.01, 12.0) == 0.28
+    assert get_civic_bosch_modified_torque_lpf_tau(0.02, 0.01, 20.0) == 0.20
+    assert get_civic_bosch_modified_torque_lpf_tau(0.02, 0.01, 25.0) == 0.16
     assert get_civic_bosch_modified_torque_lpf_tau(0.30, 0.0, 12.0) == 0.16
     assert get_civic_bosch_modified_torque_lpf_tau(0.30, 0.0, 20.0) == 0.13
 
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index adf2f4c804..0789dcd354 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -226,24 +226,24 @@ IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.12
 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.19
 IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.22
 IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 2.70
-IONIQ_6_CENTER_TAPER_MAX = 0.042
+IONIQ_6_CENTER_TAPER_MAX = 0.046
 IONIQ_6_CENTER_TAPER_LAT = 0.18
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
 IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
-IONIQ_6_LOW_MID_CENTER_TAPER_MAX = 0.080
+IONIQ_6_LOW_MID_CENTER_TAPER_MAX = 0.088
 IONIQ_6_LOW_MID_CENTER_TAPER_LAT = 0.28
 IONIQ_6_LOW_MID_CENTER_TAPER_LAT_WIDTH = 0.06
-IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MIN = 7.0
+IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MIN = 8.5
 IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MAX = 16.5
 IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH = 1.5
 IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.15
 IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
 IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08
 IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.05
-IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.44
+IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.47
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.72
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 1.64
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 1.74
 IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
 IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
 IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90