diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index bb045cfe5..376385aa8 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -281,7 +281,7 @@ IONIQ_6_TURN_IN_BOOST_LEFT = 1.58
 IONIQ_6_TURN_IN_BOOST_RIGHT = 1.82
 IONIQ_6_UNWIND_TAPER_LEFT = 2.84
 IONIQ_6_UNWIND_TAPER_RIGHT = 6.35
-IONIQ_6_FRICTION_MULT = 0.942
+IONIQ_6_FRICTION_MULT = 0.928
 IONIQ_6_FRICTION_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.74
@@ -292,9 +292,9 @@ IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.40
 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.72
 IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 3.10
 IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 7.30
-IONIQ_6_CENTER_TAPER_MAX = 0.074
-IONIQ_6_CENTER_TAPER_LAT = 0.215
-IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
+IONIQ_6_CENTER_TAPER_MAX = 0.082
+IONIQ_6_CENTER_TAPER_LAT = 0.24
+IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.025
 IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
 IONIQ_6_LOW_MID_CENTER_TAPER_MAX = 0.088
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index b17c6b701..2ef822375 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -327,7 +327,7 @@ class TestLatControl:
     assert get_ioniq_6_center_taper_scale(0.0, 10.0) > get_ioniq_6_center_taper_scale(0.0, 30.0)
     assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.2, 30.0)
     assert get_ioniq_6_center_taper_scale(0.0, 12.0) < get_ioniq_6_center_taper_scale(0.25, 12.0)
-    assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 5.5e-2
+    assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 7.0e-2
 
   def test_kia_ev6_ff_scale_curve(self):
     assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0