diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index 533e52cdc3..e0cb101ae9 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -860,13 +860,13 @@ class CarController(CarControllerBase):
     can_sends = []
 
     lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
-    longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
-    lfa_status_cars = (
+    persistent_lfa_status_cars = (
       CAR.HYUNDAI_IONIQ_6,
+      CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
       CAR.KIA_EV6,
     )
     lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
-      if self.CP.carFingerprint in lfa_status_cars else longitudinal_active
+      if self.CP.carFingerprint in persistent_lfa_status_cars else self.long_active_ecu
     lka_steering_long = lka_steering and lfa_longitudinal_active
     ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
     use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
diff --git a/opendbc_repo/opendbc/car/hyundai/interface.py b/opendbc_repo/opendbc/car/hyundai/interface.py
index 470bb339e8..a17b841f6b 100644
--- a/opendbc_repo/opendbc/car/hyundai/interface.py
+++ b/opendbc_repo/opendbc/car/hyundai/interface.py
@@ -29,7 +29,7 @@ Ecu = structs.CarParams.Ecu
 
 
 def get_communication_control_request(car_fingerprint):
-  if car_fingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR and car_fingerprint != CAR.HYUNDAI_IONIQ_5:
+  if car_fingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR:
     return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
                   uds.MESSAGE_TYPE.NORMAL])
 
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index aa075c6546..85fcd065a7 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -139,9 +139,13 @@ class TestHyundaiFingerprint:
     assert get_communication_control_request(CAR.KIA_EV6) == stock_request
 
     assert CAR.HYUNDAI_IONIQ_5 in CANFD_RADAR_LIVE_LONGITUDINAL_CAR
-    assert CAR.HYUNDAI_IONIQ_5 in CANFD_RADAR_ECU_KEEPALIVE_CAR
+    assert CAR.HYUNDAI_IONIQ_5 not in CANFD_RADAR_ECU_KEEPALIVE_CAR
     assert get_communication_control_request(CAR.HYUNDAI_IONIQ_5) == stock_request
 
+    assert CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN in CANFD_RADAR_LIVE_LONGITUDINAL_CAR
+    assert CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN not in CANFD_RADAR_ECU_KEEPALIVE_CAR
+    assert get_communication_control_request(CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN) == stock_request
+
     assert get_communication_control_request(CAR.HYUNDAI_IONIQ_6) == radar_keepalive_request
 
   def test_carnival_hev_low_speed_torque_rate_limits(self):
@@ -2594,7 +2598,7 @@ class TestHyundaiFingerprint:
                                                  cc.hudControl, cs, cc, get_test_toggles(), lka_icon=2, lfa_icon=2)
     steering_names = [(controller.packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in inactive_msgs
                       if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
-    assert steering_names == [("LKAS", can_bus.ACAN)]
+    assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
 
     controller.frame = 1
     cc.longActive = True
@@ -2604,11 +2608,18 @@ class TestHyundaiFingerprint:
                       if controller.packer.dbc.addr_to_msg[addr].name in ("LFA", "LKAS")]
     assert steering_names == [("LFA", can_bus.ECAN), ("LKAS", can_bus.ACAN)]
 
-  @pytest.mark.parametrize("car", [CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6])
-  def test_egmp_keeps_lfa_status_when_longitudinal_is_inactive(self, car):
+  @pytest.mark.parametrize(("car", "powertrain_flag"), [
+    (CAR.HYUNDAI_IONIQ_5, HyundaiFlags.EV),
+    (CAR.HYUNDAI_IONIQ_6, HyundaiFlags.EV),
+    (CAR.KIA_EV6, HyundaiFlags.EV),
+    (CAR.KIA_CARNIVAL_2025, 0),
+    (CAR.KIA_CARNIVAL_HEV_4TH_GEN, HyundaiFlags.HYBRID),
+    (CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN, HyundaiFlags.EV),
+  ])
+  def test_hda2_keeps_lfa_status_when_longitudinal_is_inactive(self, car, powertrain_flag):
     CP = CarParams.new_message()
     CP.carFingerprint = car
-    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING | powertrain_flag)
     CP.openpilotLongitudinalControl = True
 
     controller = CarController(DBC[CP.carFingerprint], CP)
@@ -2624,10 +2635,39 @@ class TestHyundaiFingerprint:
     )
 
     controller.frame = 1
-    for controller.long_active_ecu in (False, True):
-      msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
-                                          cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
-      assert any(addr == 0x12A for addr, _, _ in msgs)
+    controller.long_active_ecu = True
+    msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
+                                        cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
+    assert any(addr == 0x12A for addr, _, _ in msgs)
+
+  @pytest.mark.parametrize("car", [
+    CAR.HYUNDAI_IONIQ_6,
+    CAR.KIA_EV6,
+    CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+  ])
+  def test_egmp_persistent_lfa_status_survives_ecu_fallback_state(self, car):
+    CP = CarParams.new_message()
+    CP.carFingerprint = car
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CANFD_LKA_STEERING)
+    CP.openpilotLongitudinalControl = True
+
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 1
+    controller.long_active_ecu = False
+    cc = SimpleNamespace(
+      enabled=False, latActive=False, longActive=False,
+      actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+      leftBlinker=False, rightBlinker=False, hudControl=SimpleNamespace(),
+    )
+    cs = SimpleNamespace(
+      stock_lfa_msg=None, stock_lkas_msg=None,
+      left_blindspot_from_radar=False, right_blindspot_from_radar=False,
+      out=SimpleNamespace(gearShifter=structs.CarState.GearShifter.park),
+    )
+
+    msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
+                                        cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
+    assert any(addr == 0x12A for addr, _, _ in msgs)
 
   def test_gv70_electrified_longitudinal_uses_hda2_scc_contract(self):
     CP = CarParams.new_message()
diff --git a/opendbc_repo/opendbc/car/hyundai/values.py b/opendbc_repo/opendbc/car/hyundai/values.py
index b85531477f..d7cfa094c7 100644
--- a/opendbc_repo/opendbc/car/hyundai/values.py
+++ b/opendbc_repo/opendbc/car/hyundai/values.py
@@ -1220,7 +1220,12 @@ CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {
   CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_5_PE, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.KIA_EV9, CAR.GENESIS_GV60_EV_1ST_GEN,
   CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
 }
-CANFD_RADAR_ECU_KEEPALIVE_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR - {CAR.KIA_EV6}
+CANFD_RADAR_ECU_KEEPALIVE_CAR = {
+  CAR.HYUNDAI_IONIQ_5_PE,
+  CAR.HYUNDAI_IONIQ_6,
+  CAR.KIA_EV9,
+  CAR.GENESIS_GV60_EV_1ST_GEN,
+}
 RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
   CAR.HYUNDAI_IONIQ,
   CAR.HYUNDAI_KONA_EV_2022,
diff --git a/opendbc_repo/opendbc/car/subaru/carcontroller.py b/opendbc_repo/opendbc/car/subaru/carcontroller.py
index abee950955..f721b0e9a6 100644
--- a/opendbc_repo/opendbc/car/subaru/carcontroller.py
+++ b/opendbc_repo/opendbc/car/subaru/carcontroller.py
@@ -20,6 +20,7 @@ _ANGLE_OVERRIDE_CONFIRM_FRAMES = 2
 _ANGLE_REENGAGE_MAX_STEER_RATE = 2.0
 _ANGLE_MADS_MIN_SPEED = 0.44704
 _ANGLE_MADS_MAX_STEER_ANGLE = 120.0
+_ASCENT_AOL_ARM_FRAMES = 30
 _STOP_START_STARTUP_DELAY_FRAMES = 100
 # StarPilot's first populated toggle message can arrive several seconds after
 # the car controller starts while fingerprinting and settings settle.
@@ -44,6 +45,7 @@ class CarController(CarControllerBase):
     self.angle_override_confirm_frames = 0
     self.angle_lkas_active = False
     self.angle_handoff_active = False
+    self.ascent_aol_arm_frames = 0
 
     self.cruise_button_prev = 0
     self.steer_rate_counter = 0
@@ -170,6 +172,14 @@ class CarController(CarControllerBase):
 
     return self.driver_override
 
+  def _ascent_aol_ready(self, ready):
+    if not ready:
+      self.ascent_aol_arm_frames = 0
+      return False
+
+    self.ascent_aol_arm_frames = min(self.ascent_aol_arm_frames + 1, _ASCENT_AOL_ARM_FRAMES)
+    return self.ascent_aol_arm_frames >= _ASCENT_AOL_ARM_FRAMES
+
   def lateral_angle(self, CC, CS):
     if self.CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
       mads_only = CC.latActive and not CC.enabled
@@ -199,6 +209,12 @@ class CarController(CarControllerBase):
         abs(CS.out.steeringAngleDeg) < _ANGLE_MADS_MAX_STEER_ANGLE
       lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
         CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
+      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
+        if mads_only:
+          cruise_available = getattr(getattr(CS.out, "cruiseState", None), "available", True)
+          lkas_available = self._ascent_aol_ready(lkas_available and cruise_available)
+        else:
+          self.ascent_aol_arm_frames = _ASCENT_AOL_ARM_FRAMES if lkas_available else 0
 
       manual_handoff = self._angle_manual_handoff(
         CS, lkas_available, use_steering_pressed=self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023,
@@ -284,7 +300,7 @@ class CarController(CarControllerBase):
     return subarucan.create_steering_control(self.packer, apply_torque, apply_steer_req)
 
   def _lkas_status_active(self, CC):
-    if self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023:
+    if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
       return self.angle_lkas_active
     return CC.latActive
 
diff --git a/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py b/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
index 1865c6b446..b9ccce9c95 100644
--- a/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
+++ b/opendbc_repo/opendbc/car/subaru/tests/test_subaru.py
@@ -8,7 +8,7 @@ from opendbc.can import CANPacker, CANParser
 from opendbc.car import Bus, fw_versions, gen_empty_fingerprint, structs
 from opendbc.car.fw_query_definitions import StdQueries
 from opendbc.car.subaru import subarucan
-from opendbc.car.subaru.carcontroller import CarController
+from opendbc.car.subaru.carcontroller import CarController, _ASCENT_AOL_ARM_FRAMES
 from opendbc.car.subaru.carstate import CarState
 from opendbc.car.subaru.fingerprints import FW_VERSIONS
 from opendbc.car.fw_versions import match_fw_to_car
@@ -692,6 +692,7 @@ def test_ascent_angle_controller_waits_for_parking_lot_safety_envelope():
     steeringRateDeg=96.0,
     steeringTorque=7.0,
     steeringPressed=False,
+    cruiseState=SimpleNamespace(available=True),
     gearShifter=structs.CarState.GearShifter.drive,
     standstill=False,
   ))
@@ -704,18 +705,74 @@ def test_ascent_angle_controller_waits_for_parking_lot_safety_envelope():
 
   CS.out.steeringAngleDeg = -100.0
   CS.out.steeringRateDeg = 0.0
+  for frame in range(2, _ASCENT_AOL_ARM_FRAMES + 1):
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(frame, [msg])])
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(2, [msg])])
+  parser.update([(_ASCENT_AOL_ARM_FRAMES + 1, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
 
   CS.out.gearShifter = structs.CarState.GearShifter.reverse
   msg = controller.lateral_angle(CC, CS)
-  parser.update([(12, [msg])])
+  parser.update([(_ASCENT_AOL_ARM_FRAMES + 2, [msg])])
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
   assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
 
 
-def test_lkas_hud_state_uses_outback_angle_request_state():
+def test_ascent_aol_does_not_arm_before_cruise_main_is_available():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=5.0))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=10.0,
+    steeringAngleDeg=0.0,
+    steeringRateDeg=0.0,
+    steeringTorque=0.0,
+    steeringPressed=False,
+    cruiseState=SimpleNamespace(available=False),
+    gearShifter=structs.CarState.GearShifter.drive,
+    standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  for frame in range(_ASCENT_AOL_ARM_FRAMES):
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(frame + 1, [msg])])
+
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert controller.ascent_aol_arm_frames == 0
+
+  CS.out.cruiseState.available = True
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(_ASCENT_AOL_ARM_FRAMES + 1, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert controller.ascent_aol_arm_frames == 1
+
+
+def test_ascent_angle_controller_does_not_delay_normal_engagement():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=5.0))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=10.0,
+    steeringAngleDeg=0.0,
+    steeringRateDeg=0.0,
+    steeringTorque=0.0,
+    steeringPressed=False,
+    gearShifter=structs.CarState.GearShifter.drive,
+    standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(1, [msg])])
+
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
+
+
+def test_lkas_hud_state_uses_angle_request_state():
   update_source = inspect.getsource(CarController.update)
 
   assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, self._lkas_status_active(CC)" in update_source
@@ -765,6 +822,16 @@ def test_outback_manual_steering_releases_angle_request_before_lkas_fault():
   assert not controller._lkas_status_active(CC)
 
 
+def test_ascent_hud_waits_for_angle_request():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(latActive=True)
+
+  assert not controller._lkas_status_active(CC)
+  controller.angle_lkas_active = True
+  assert controller._lkas_status_active(CC)
+
+
 def test_other_angle_cars_keep_lateral_status_behavior():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
   controller = CarController({}, CP)
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 3174fac494..5bb3d2b4a5 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -404,7 +404,6 @@ class Controls:
     self.turn_blinker_swept = 0.0
     self.twitch_guard_remaining = 0.0
     self.kona_non_scc_lateral_active = False
-    self.kona_non_scc_lateral_faulted = False
     self.elantra_hev_2024_lateral_faulted = False
     self.elantra_hev_2024_previous_cruise_enabled = False
 
@@ -504,11 +503,6 @@ class Controls:
     standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
     if self.CP.carFingerprint == HYUNDAI_CAR.HYUNDAI_KONA_NON_SCC:
       always_on_lateral_enabled = self.sm['starpilotCarState'].alwaysOnLateralEnabled
-      lateral_requested = (CC.enabled and self.sm['selfdriveState'].active) or always_on_lateral_enabled
-      if not lateral_requested:
-        self.kona_non_scc_lateral_faulted = False
-      elif CS.steerFaultTemporary:
-        self.kona_non_scc_lateral_faulted = True
       CC.latActive = get_kona_non_scc_lateral_active(
         CC.enabled, self.sm['selfdriveState'].active,
         always_on_lateral_enabled,
@@ -516,7 +510,6 @@ class Controls:
         standstill, self.CP.steerAtStandstill,
         self.sm['starpilotPlan'].lateralCheck,
         CS.steeringPressed, self.kona_non_scc_lateral_active,
-        self.kona_non_scc_lateral_faulted,
       )
       self.kona_non_scc_lateral_active = CC.latActive
     elif self.CP.carFingerprint == HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024:
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 7a6d5b8550..8a2a1881f8 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -89,13 +89,12 @@ def update_lateral_fault_latch(previous_latched: bool, lateral_requested: bool,
 def get_kona_non_scc_lateral_active(enabled: bool, active: bool, always_on_lateral_enabled: bool,
                                     steer_fault_temporary: bool, steer_fault_permanent: bool,
                                     standstill: bool, steer_at_standstill: bool, lateral_check: bool,
-                                    steering_pressed: bool, previous_lateral_active: bool,
-                                    steer_fault_latched: bool = False) -> bool:
+                                    steering_pressed: bool, previous_lateral_active: bool) -> bool:
   """Avoid the Kona EPS torque fault when AOL is enabled over driver steering input."""
   lateral_active = get_lateral_active(enabled, active, always_on_lateral_enabled,
                                       steer_fault_temporary, steer_fault_permanent,
                                       standstill, steer_at_standstill, lateral_check)
-  if not lateral_active or steer_fault_latched:
+  if not lateral_active:
     return False
 
   aol_rising_edge = always_on_lateral_enabled and not enabled and not previous_lateral_active
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 6062b4780d..ffd7d3d122 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -9,26 +9,54 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 _ASCENT_ANGLE_TRACKING_GAIN = 0.25
 _ASCENT_ANGLE_TRACKING_MAX_CORRECTION = 8.0
-_ASCENT_ANGLE_TRACKING_MIN_SPEED = 5.0
+_ASCENT_ANGLE_TRACKING_MIN_SPEED = 9.0
+_ASCENT_ANGLE_TRACKING_FULL_SPEED = 15.0
+_ASCENT_ANGLE_TRACKING_TURN_START = 15.0
+_ASCENT_ANGLE_TRACKING_TURN_FULL = 35.0
+_ASCENT_LOW_SPEED_FILTER_MAX_SPEED = 10.0
+_ASCENT_LOW_SPEED_FILTER_CENTER_ANGLE = 35.0
+_ASCENT_LOW_SPEED_FILTER_TIME_CONSTANT = 0.18
+
+
+def _clipped_weight(value: float, start: float, end: float) -> float:
+  return max(0.0, min(1.0, (value - start) / (end - start)))
 
 
 def _ascent_angle_tracking_target(target_angle: float, steering_angle: float,
                                   v_ego: float, steering_pressed: bool) -> float:
-  if steering_pressed or v_ego < _ASCENT_ANGLE_TRACKING_MIN_SPEED:
+  if steering_pressed:
     return target_angle
 
-  correction = (target_angle - steering_angle) * _ASCENT_ANGLE_TRACKING_GAIN
+  speed_weight = _clipped_weight(v_ego, _ASCENT_ANGLE_TRACKING_MIN_SPEED, _ASCENT_ANGLE_TRACKING_FULL_SPEED)
+  turn_weight = _clipped_weight(abs(target_angle), _ASCENT_ANGLE_TRACKING_TURN_START, _ASCENT_ANGLE_TRACKING_TURN_FULL)
+  correction = (target_angle - steering_angle) * _ASCENT_ANGLE_TRACKING_GAIN * max(speed_weight, turn_weight)
   correction = max(-_ASCENT_ANGLE_TRACKING_MAX_CORRECTION,
                    min(_ASCENT_ANGLE_TRACKING_MAX_CORRECTION, correction))
   return target_angle + correction
 
 
+def _ascent_low_speed_angle_target(target_angle: float, previous_target: float,
+                                   v_ego: float, steering_pressed: bool, dt: float) -> float:
+  if steering_pressed:
+    return target_angle
+
+  speed_weight = 1.0 - _clipped_weight(v_ego, 0.0, _ASCENT_LOW_SPEED_FILTER_MAX_SPEED)
+  center_weight = 1.0 - _clipped_weight(abs(target_angle), 0.0, _ASCENT_LOW_SPEED_FILTER_CENTER_ANGLE)
+  time_constant = _ASCENT_LOW_SPEED_FILTER_TIME_CONSTANT * speed_weight * center_weight
+  if time_constant <= 0.0:
+    return target_angle
+
+  alpha = dt / (time_constant + dt)
+  return previous_target + alpha * (target_angle - previous_target)
+
+
 class LatControlAngle(LatControl):
   def __init__(self, CP, CI, dt):
     super().__init__(CP, CI, dt)
     self.sat_check_min_speed = 5.
     self.use_steer_limited_by_safety = CP.brand in ("tesla", "hyundai")
     self.is_ascent = CP.carFingerprint == SUBARU_CAR.SUBARU_ASCENT_2023
+    self.ascent_angle_target = None
 
   def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, calibrated_pose, model_data, starpilot_toggles):
     angle_log = log.ControlsState.LateralAngleState.new_message()
@@ -36,14 +64,24 @@ class LatControlAngle(LatControl):
     if not active:
       angle_log.active = False
       angle_steers_des = float(CS.steeringAngleDeg)
+      self.ascent_angle_target = angle_steers_des
     else:
       angle_log.active = True
       angle_steers_des = math.degrees(VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll))
       angle_steers_des += params.angleOffsetDeg
 
       if self.is_ascent:
-        angle_steers_des = _ascent_angle_tracking_target(
+        if self.ascent_angle_target is None:
+          self.ascent_angle_target = float(CS.steeringAngleDeg)
+        self.ascent_angle_target = _ascent_low_speed_angle_target(
           angle_steers_des,
+          self.ascent_angle_target,
+          CS.vEgo,
+          bool(getattr(CS, "steeringPressed", False)),
+          self.dt,
+        )
+        angle_steers_des = _ascent_angle_tracking_target(
+          self.ascent_angle_target,
           CS.steeringAngleDeg,
           CS.vEgo,
           bool(getattr(CS, "steeringPressed", False)),
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 8a98b7b7d9..e8f58002b7 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -667,6 +667,10 @@ class LatControlTorque(LatControl):
         output_torque *= get_genesis_gv70_reversal_output_scale(
           setpoint, measurement, desired_lateral_jerk, CS.vEgo,
         )
+        if not CS.steeringPressed:
+          output_torque = get_genesis_gv70_stabilized_output(
+            output_torque, self.prev_output_torque, setpoint, desired_lateral_jerk, CS.vEgo, self.dt,
+          )
       elif sonata_hybrid_active:
         output_torque *= sonata_hybrid_center_taper
         output_torque *= sonata_hybrid_center_output_taper
diff --git a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
index 8029dfe2af..5c53209854 100644
--- a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+++ b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
@@ -260,6 +260,17 @@ GENESIS_GV70_LOW_SPEED_CENTER_OVERSHOOT_CENTER_LAT_WIDTH = 0.08
 GENESIS_GV70_LOW_SPEED_CENTER_OVERSHOOT_MIN = 0.06
 GENESIS_GV70_LOW_SPEED_CENTER_OVERSHOOT_LAT = 0.12
 GENESIS_GV70_LOW_SPEED_CENTER_OVERSHOOT_LAT_WIDTH = 0.10
+GENESIS_GV70_OUTPUT_SMOOTHING_SPEED = 38.0 * CV.MPH_TO_MS
+GENESIS_GV70_OUTPUT_SMOOTHING_SPEED_WIDTH = 6.0 * CV.MPH_TO_MS
+GENESIS_GV70_OUTPUT_SMOOTHING_CENTER_LAT = 0.48
+GENESIS_GV70_OUTPUT_SMOOTHING_CENTER_LAT_WIDTH = 0.16
+GENESIS_GV70_OUTPUT_SMOOTHING_CENTER_RC = 0.42
+GENESIS_GV70_OUTPUT_SMOOTHING_CURVE_RC = 0.14
+GENESIS_GV70_OUTPUT_SMOOTHING_UNWIND_RC = 0.12
+GENESIS_GV70_OUTPUT_SMOOTHING_UNWIND_PHASE = 0.04
+GENESIS_GV70_OUTPUT_SMOOTHING_UNWIND_PHASE_WIDTH = 0.08
+GENESIS_GV70_OUTPUT_SMOOTHING_DIRECTION_CHANGE_LAT = 0.55
+GENESIS_GV70_OUTPUT_SMOOTHING_DIRECTION_CHANGE_RC = 0.065
 
 GENESIS_G70_FRICTION_THRESHOLD_GAIN = 0.10
 GENESIS_G70_FRICTION_SPEED_ONSET = 10.0
@@ -3230,6 +3241,32 @@ def get_genesis_gv70_low_speed_center_overshoot_scale(setpoint: float, measured_
                 speed_weight * speed_cutoff)
 
 
+def get_genesis_gv70_stabilized_output(output_torque: float, prev_output_torque: float,
+                                        desired_lateral_accel: float, desired_lateral_jerk: float,
+                                        v_ego: float, dt: float) -> float:
+  speed_weight = _sigmoid((max(v_ego, 0.0) - GENESIS_GV70_OUTPUT_SMOOTHING_SPEED) /
+                          GENESIS_GV70_OUTPUT_SMOOTHING_SPEED_WIDTH)
+  center_weight = _sigmoid((GENESIS_GV70_OUTPUT_SMOOTHING_CENTER_LAT - abs(desired_lateral_accel)) /
+                           GENESIS_GV70_OUTPUT_SMOOTHING_CENTER_LAT_WIDTH)
+  curve_weight = 1.0 - center_weight
+  response_time = (GENESIS_GV70_OUTPUT_SMOOTHING_CURVE_RC * curve_weight +
+                   GENESIS_GV70_OUTPUT_SMOOTHING_CENTER_RC * center_weight)
+
+  unwind_phase = -desired_lateral_accel * desired_lateral_jerk
+  unwind_weight = _sigmoid((unwind_phase - GENESIS_GV70_OUTPUT_SMOOTHING_UNWIND_PHASE) /
+                           GENESIS_GV70_OUTPUT_SMOOTHING_UNWIND_PHASE_WIDTH)
+  response_time += GENESIS_GV70_OUTPUT_SMOOTHING_UNWIND_RC * curve_weight * unwind_weight
+
+  changing_direction = (abs(desired_lateral_accel) >= GENESIS_GV70_OUTPUT_SMOOTHING_DIRECTION_CHANGE_LAT and
+                        prev_output_torque * desired_lateral_accel <= 0.0)
+  if changing_direction:
+    response_time = min(response_time, GENESIS_GV70_OUTPUT_SMOOTHING_DIRECTION_CHANGE_RC)
+
+  output_alpha = dt / (max(response_time, 0.0) + dt)
+  smoothed_output = prev_output_torque + output_alpha * (output_torque - prev_output_torque)
+  return float(output_torque + speed_weight * (smoothed_output - output_torque))
+
+
 def get_genesis_g70_friction_threshold(v_ego: float, desired_lateral_accel: float = 0.0,
                                        desired_lateral_jerk: float = 0.0) -> float:
   base_threshold = get_standard_friction_threshold(v_ego)
diff --git a/selfdrive/controls/tests/test_drive_helpers.py b/selfdrive/controls/tests/test_drive_helpers.py
index 02eaf96239..8ec54a9bdb 100644
--- a/selfdrive/controls/tests/test_drive_helpers.py
+++ b/selfdrive/controls/tests/test_drive_helpers.py
@@ -35,9 +35,15 @@ def test_kona_non_scc_aol_gate_does_not_change_fault_or_normal_lateral_gates():
   )
 
 
-def test_kona_non_scc_does_not_retry_after_a_latched_temporary_fault():
+def test_kona_non_scc_recovers_after_temporary_fault_clears():
   assert not get_kona_non_scc_lateral_active(
-    False, False, True, False, False, False, False, True, False, False, True,
+    False, False, True, True, False, False, False, True, False, True,
+  )
+  assert not get_kona_non_scc_lateral_active(
+    False, False, True, False, False, False, False, True, True, False,
+  )
+  assert get_kona_non_scc_lateral_active(
+    False, False, True, False, False, False, False, True, False, False,
   )
 
 
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 9372470fc6..7edb0efc93 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -20,6 +20,7 @@ from openpilot.common.realtime import DT_CTRL
 from openpilot.selfdrive.controls.lib.latcontrol_angle import (
   LatControlAngle,
   _ascent_angle_tracking_target,
+  _ascent_low_speed_angle_target,
 )
 from openpilot.selfdrive.controls.lib.latcontrol_pid import (
   LatControlPID,
@@ -54,6 +55,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_vehicle_tunes import (
   get_rav4_tss2_pid_output,
   get_subaru_impreza_pid_output_scale,
   get_genesis_gv70_low_speed_center_overshoot_scale,
+  get_genesis_gv70_stabilized_output,
   get_genesis_g70_high_speed_transition_scale,
   get_genesis_g70_stabilized_output,
   normalize_flm_overrides,
@@ -203,9 +205,19 @@ class TestLatControl:
   def test_ascent_angle_tracking_correction_is_bounded_and_handoff_safe(self):
     assert _ascent_angle_tracking_target(10.0, 0.0, 20.0, False) == pytest.approx(12.5)
     assert _ascent_angle_tracking_target(40.0, 0.0, 20.0, False) == pytest.approx(48.0)
-    assert _ascent_angle_tracking_target(10.0, 0.0, 4.0, False) == pytest.approx(10.0)
+    assert _ascent_angle_tracking_target(10.0, 0.0, 9.0, False) == pytest.approx(10.0)
+    assert 10.0 < _ascent_angle_tracking_target(10.0, 0.0, 12.0, False) < 12.5
+    assert _ascent_angle_tracking_target(40.0, 0.0, 4.0, False) == pytest.approx(48.0)
     assert _ascent_angle_tracking_target(10.0, 0.0, 20.0, True) == pytest.approx(10.0)
 
+  def test_ascent_low_speed_filter_is_center_gated_and_handoff_safe(self):
+    filtered = _ascent_low_speed_angle_target(10.0, 0.0, 4.0, False, DT_CTRL)
+
+    assert 0.0 < filtered < 10.0
+    assert _ascent_low_speed_angle_target(10.0, 0.0, 10.0, False, DT_CTRL) == pytest.approx(10.0)
+    assert _ascent_low_speed_angle_target(40.0, 0.0, 4.0, False, DT_CTRL) == pytest.approx(40.0)
+    assert _ascent_low_speed_angle_target(10.0, 0.0, 4.0, True, DT_CTRL) == pytest.approx(10.0)
+
   def test_torque_log_exposes_friction_controller_state(self):
     controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_BOLT_ACC_2022_2023)
 
@@ -1724,6 +1736,45 @@ class TestLatControl:
     assert base_output != 0.0
     assert tapered_output == pytest.approx(base_output * 0.5)
 
+  def test_genesis_gv70_output_stabilizer_is_speed_and_phase_aware(self):
+    low_speed = get_genesis_gv70_stabilized_output(-0.2, 0.2, 0.1, -0.4, 5.0, DT_CTRL)
+    high_speed_center = get_genesis_gv70_stabilized_output(-0.2, 0.2, 0.1, -0.4, 30.0, DT_CTRL)
+    high_speed_wind = get_genesis_gv70_stabilized_output(0.1, 0.3, 0.8, 0.5, 30.0, DT_CTRL)
+    high_speed_unwind = get_genesis_gv70_stabilized_output(0.1, 0.3, 0.8, -0.5, 30.0, DT_CTRL)
+    high_speed_direction_change = get_genesis_gv70_stabilized_output(-0.3, 0.3, -0.8, -0.5, 30.0, DT_CTRL)
+
+    assert low_speed == pytest.approx(-0.2, abs=0.005)
+    assert abs(high_speed_center - 0.2) < abs(low_speed - 0.2)
+    assert high_speed_unwind > high_speed_wind > 0.1
+    assert abs(high_speed_direction_change - 0.3) > abs(high_speed_center - 0.2)
+
+  def test_genesis_gv70_output_stabilizer_update_path(self, monkeypatch):
+    calls = []
+
+    def stabilized_output(output_torque, prev_output_torque, desired_lateral_accel,
+                          desired_lateral_jerk, v_ego, dt):
+      calls.append((output_torque, prev_output_torque, desired_lateral_accel,
+                    desired_lateral_jerk, v_ego, dt))
+      return 0.123
+
+    monkeypatch.setattr(latcontrol_torque, "get_genesis_gv70_stabilized_output", stabilized_output)
+    controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.GENESIS_GV70_ELECTRIFIED_1ST_GEN)
+    CS.vEgo = 25.0
+    output, _, lac_log = controller.update(
+      True, CS, VM, params, False, 0.0002, False, 0.2, None, None, starpilot_toggles,
+    )
+
+    assert calls
+    assert lac_log.active
+    assert output == pytest.approx(-0.123)
+
+    call_count = len(calls)
+    CS.steeringPressed = True
+    controller.update(
+      True, CS, VM, params, False, 0.0002, False, 0.2, None, None, starpilot_toggles,
+    )
+    assert len(calls) == call_count
+
   def test_genesis_g70_low_speed_output_guard_update_path(self):
     controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.GENESIS_G70_2020)
     CS.vEgo = 2.0
diff --git a/starpilot/car/ford/lateral.py b/starpilot/car/ford/lateral.py
index 5416d31ace..ac7f0f505f 100644
--- a/starpilot/car/ford/lateral.py
+++ b/starpilot/car/ford/lateral.py
@@ -34,9 +34,9 @@ MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - ACCELERATION_DUE_TO_GRAVITY * 0.06
 STEER_DT = CarControllerParams.STEER_STEP * DT_CTRL
 CURVATURE_LOOKAHEAD_MIN = 0.20
 CURVATURE_LOOKAHEAD_MAX = 0.40
-MACH_E_TURN_IN_LOOKAHEAD_EXTRA = 0.40
-MACH_E_TURN_IN_MIN_CURVATURE = 0.006
-MACH_E_TURN_IN_FULL_CURVATURE = 0.009
+MACH_E_TURN_IN_LOOKAHEAD_EXTRA = 0.80
+MACH_E_TURN_IN_MIN_CURVATURE = 0.002
+MACH_E_TURN_IN_FULL_CURVATURE = 0.008
 MACH_E_TURN_IN_LAG_CURVATURE = 0.006
 FORD_CURVATURE_LOOKAHEAD = {
   CAR.FORD_EXPLORER_MK6: 0.20,
@@ -184,21 +184,23 @@ class FordLateralController:
         precision = 0
     return requested, precision
 
-  def _turn_in_preview_weight(self, desired: float, predicted: float, current: float) -> float:
+  def _turn_in_preview_weight(self, desired: float, preview: float, current: float) -> float:
     if self.CP.carFingerprint not in FORD_CONSERVATIVE_PREVIEW_CARS:
       return 0.0
-    if desired * predicted <= 0.0 or desired * self.desired_curvature_last < 0.0:
+    if desired * preview <= 0.0 or desired * self.desired_curvature_last < 0.0:
       return 0.0
-    if abs(desired) <= abs(self.desired_curvature_last) or abs(current) >= abs(desired):
+    if abs(desired) <= abs(self.desired_curvature_last):
       return 0.0
 
+    target = max(abs(desired), abs(preview))
     curvature_weight = float(np.interp(
-      abs(desired),
+      target,
       [MACH_E_TURN_IN_MIN_CURVATURE, MACH_E_TURN_IN_FULL_CURVATURE],
       [0.0, 1.0],
     ))
+    direction = float(np.sign(desired))
     lag_weight = float(np.clip(
-      (abs(desired) - abs(current)) / MACH_E_TURN_IN_LAG_CURVATURE,
+      (target - direction * current) / MACH_E_TURN_IN_LAG_CURVATURE,
       0.0, 1.0,
     ))
     return curvature_weight * lag_weight
@@ -263,13 +265,15 @@ class FordLateralController:
         manual_turn and self.CP.carFingerprint in FORD_MANUAL_TURN_LATCH_CARS))
 
     v_ego = float(CS.out.vEgoRaw)
-    predicted = self._predicted_curvature(v_ego, self._curvature_lookahead())
+    lookahead = self._curvature_lookahead()
+    predicted = self._predicted_curvature(v_ego, lookahead)
     desired = float(actuators.curvature)
-    turn_in_weight = self._turn_in_preview_weight(desired, predicted, current)
-    if turn_in_weight > 0.0:
-      turn_in_predicted = self._predicted_curvature(
-        v_ego, self._curvature_lookahead() + MACH_E_TURN_IN_LOOKAHEAD_EXTRA)
-      predicted = float(np.interp(turn_in_weight, [0.0, 1.0], [predicted, turn_in_predicted]))
+    if self.CP.carFingerprint in FORD_CONSERVATIVE_PREVIEW_CARS:
+      turn_in_predicted = self._predicted_curvature(v_ego, lookahead + MACH_E_TURN_IN_LOOKAHEAD_EXTRA)
+      turn_in_weight = self._turn_in_preview_weight(desired, turn_in_predicted, current)
+      if turn_in_weight > 0.0:
+        turn_in_target = float(np.copysign(max(abs(desired), abs(turn_in_predicted)), desired))
+        predicted = float(np.interp(turn_in_weight, [0.0, 1.0], [predicted, turn_in_target]))
     requested, precision = self._blend_and_scale(desired, predicted, v_ego, current)
     self.desired_curvature_last = desired
 
diff --git a/starpilot/car/ford/tests/test_lateral.py b/starpilot/car/ford/tests/test_lateral.py
index 2132cfac56..a583b0ba5e 100644
--- a/starpilot/car/ford/tests/test_lateral.py
+++ b/starpilot/car/ford/tests/test_lateral.py
@@ -144,12 +144,22 @@ def test_mach_e_preview_remains_available_on_curve_entry(controller):
 
 def test_mach_e_turn_in_preview_leads_when_path_lags(controller):
   controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
-  controller.desired_curvature_last = 0.007
+  controller.desired_curvature_last = 0.004
 
   weight = controller._turn_in_preview_weight(
-    desired=0.009, predicted=0.007, current=0.006)
+    desired=0.005, preview=0.005, current=0.002)
 
-  assert weight == pytest.approx(0.5)
+  assert weight == pytest.approx(0.25)
+
+
+def test_mach_e_turn_in_preview_leads_opposite_measured_curvature(controller):
+  controller.CP.carFingerprint = CAR.FORD_MUSTANG_MACH_E_MK1
+  controller.desired_curvature_last = 0.001
+
+  weight = controller._turn_in_preview_weight(
+    desired=0.003, preview=0.009, current=-0.003)
+
+  assert weight == pytest.approx(1.0)
 
 
 def test_mach_e_turn_in_preview_is_not_carried_into_unwind(controller):
@@ -157,7 +167,7 @@ def test_mach_e_turn_in_preview_is_not_carried_into_unwind(controller):
   controller.desired_curvature_last = 0.010
 
   assert controller._turn_in_preview_weight(
-    desired=0.008, predicted=0.009, current=0.004) == 0.0
+    desired=0.008, preview=0.009, current=0.004) == 0.0
 
 
 def test_mach_e_turn_in_preview_uses_extra_model_horizon(controller, monkeypatch):
@@ -165,6 +175,20 @@ def test_mach_e_turn_in_preview_uses_extra_model_horizon(controller, monkeypatch
   controller.sm["liveDelay"].lateralDelay = 0.4
   controller.desired_curvature_last = 0.007
   lookaheads = []
+  monkeypatch.setattr(controller, "_predicted_curvature",
+                      lambda _v_ego, lookahead: lookaheads.append(lookahead) or 0.012)
+
+  controller.update(
+    SimpleNamespace(latActive=True), car_state(speed=8.0, curvature=0.002),
+    SimpleNamespace(curvature=0.010),
+  )
+
+  assert lookaheads == [pytest.approx(0.4), pytest.approx(1.2)]
+
+
+def test_non_mach_e_does_not_request_extra_model_horizon(controller, monkeypatch):
+  controller.sm["liveDelay"].lateralDelay = 0.4
+  lookaheads = []
   monkeypatch.setattr(controller, "_predicted_curvature",
                       lambda _v_ego, lookahead: lookaheads.append(lookahead) or 0.007)
 
@@ -173,14 +197,14 @@ def test_mach_e_turn_in_preview_uses_extra_model_horizon(controller, monkeypatch
     SimpleNamespace(curvature=0.010),
   )
 
-  assert lookaheads == [pytest.approx(0.4), pytest.approx(0.8)]
+  assert lookaheads == [pytest.approx(0.4)]
 
 
 def test_non_mach_e_turn_in_preview_is_unchanged(controller):
   controller.desired_curvature_last = 0.007
 
   assert controller._turn_in_preview_weight(
-    desired=0.010, predicted=0.007, current=0.004) == 0.0
+    desired=0.010, preview=0.007, current=0.004) == 0.0
 
 
 def test_non_mach_e_preview_blend_is_unchanged(controller):
diff --git a/starpilot/system/the_galaxy/assets/mobile/js/components/GalaxyModal.js b/starpilot/system/the_galaxy/assets/mobile/js/components/GalaxyModal.js
index c0d7f3488c..81687dac96 100644
--- a/starpilot/system/the_galaxy/assets/mobile/js/components/GalaxyModal.js
+++ b/starpilot/system/the_galaxy/assets/mobile/js/components/GalaxyModal.js
@@ -8,12 +8,25 @@ export const GalaxyModal = {
     cancelLabel: { type: String, default: "Cancel" },
     danger: { type: Boolean, default: false },
     sheet: { type: Boolean, default: true },
+    input: { type: Boolean, default: false },
+    inputValue: { type: String, default: "" },
+    inputPlaceholder: { type: String, default: "" },
+    inputRequired: { type: Boolean, default: false },
   },
   emits: ["update:modelValue", "confirm", "cancel"],
+  data() { return { value: this.inputValue } },
+  mounted() { this.focusInput() },
   methods: {
+    focusInput() {
+      if (this.input) this.$nextTick(() => this.$refs.input?.focus())
+    },
     close() { this.$emit("update:modelValue", false) },
     cancel() { this.close(); this.$emit("cancel") },
-    confirm() { this.$emit("confirm"); this.close() },
+    confirm() {
+      if (this.inputRequired && !String(this.value || "").trim()) return
+      this.$emit("confirm", this.input ? this.value : undefined)
+      this.close()
+    },
   },
   template: `
     <transition name="gx-fade">
@@ -22,9 +35,11 @@ export const GalaxyModal = {
           <div class="gx-sheet" role="dialog" :aria-label="title">
             <h3 class="gx-sheet__title">{{ title }}</h3>
             <p v-if="message" style="color: var(--text-muted); line-height: 1.5;">{{ message }}</p>
+            <input v-if="input" ref="input" v-model="value" class="gx-field gx-field--full" type="text"
+              :placeholder="inputPlaceholder" @keyup.enter="confirm" />
             <div class="gx-dialog__actions">
               <button type="button" class="gx-btn gx-btn--text" @click="cancel">{{ cancelLabel }}</button>
-              <button type="button" class="gx-btn" :style="danger ? 'background: var(--error); color: var(--on-error);' : ''" @click="confirm">{{ confirmLabel }}</button>
+              <button type="button" class="gx-btn" :disabled="input && inputRequired && !String(value || '').trim()" :style="danger ? 'background: var(--error); color: var(--on-error);' : ''" @click="confirm">{{ confirmLabel }}</button>
             </div>
           </div>
         </transition>
@@ -64,3 +79,38 @@ export function GalaxyConfirm({ title, message, confirmLabel = "Confirm", danger
     app.mount(host)
   })
 }
+
+export function GalaxyPrompt({ title, message, initialValue = "", placeholder = "", confirmLabel = "Confirm" } = {}) {
+  return new Promise((resolve) => {
+    const host = document.createElement("div")
+    document.body.appendChild(host)
+    const { createApp, h } = window.__galaxyVue
+    let app
+    let settled = false
+    const finish = (value) => {
+      if (settled) return
+      settled = true
+      resolve(value)
+      try { app?.unmount?.() } catch (e) {}
+      host.remove()
+    }
+    app = createApp({
+      render() {
+        return h(GalaxyModal, {
+          modelValue: true,
+          title,
+          message,
+          input: true,
+          inputValue: String(initialValue || ""),
+          inputPlaceholder: placeholder,
+          inputRequired: true,
+          confirmLabel,
+          "onUpdate:modelValue": (v) => { if (!v) finish(null) },
+          onConfirm: (value) => finish(String(value || "").trim()),
+          onCancel: () => finish(null),
+        })
+      },
+    })
+    app.mount(host)
+  })
+}
diff --git a/starpilot/system/the_galaxy/assets/mobile/js/components/LateralTuningPanel.js b/starpilot/system/the_galaxy/assets/mobile/js/components/LateralTuningPanel.js
index ff5cd1ae7e..e6e7391e5c 100644
--- a/starpilot/system/the_galaxy/assets/mobile/js/components/LateralTuningPanel.js
+++ b/starpilot/system/the_galaxy/assets/mobile/js/components/LateralTuningPanel.js
@@ -1,6 +1,6 @@
 import { api, showSnackbar } from "../api.js"
 import { usePolling } from "../composables.js"
-import { GalaxyConfirm } from "./GalaxyModal.js"
+import { GalaxyConfirm, GalaxyPrompt } from "./GalaxyModal.js"
 import { GxNotice } from "./GxNotice.js"
 
 const MAX_ROUTES = 250
@@ -479,6 +479,11 @@ export const LateralTuningPanel = {
     startPending(kind, opts = {}) {
       this.pending = { kind, tuneId: opts.tuneId || "" }
       this.pendingName = opts.name || ""
+      this.$nextTick(() => {
+        const editor = this.$refs.pendingEditor
+        editor?.scrollIntoView({ behavior: "smooth", block: "center" })
+        editor?.querySelector("input")?.focus()
+      })
     },
     cancelPending() { this.pending = null; this.pendingName = "" },
     async confirmPending() {
@@ -520,6 +525,18 @@ export const LateralTuningPanel = {
     async applySavedTune(tune) {
       await this.runWith(() => api.flmApplySavedTune(tune.tuneId), "Saved tune applied.")
     },
+    async renameSavedTune(tune) {
+      if (!tune?.tuneId || this.busy) return
+      const name = await GalaxyPrompt({
+        title: "Rename Saved Tune",
+        message: `Choose a new name for “${tune.name || "Saved Tune"}”.`,
+        initialValue: tune.name || "",
+        placeholder: "Name this tune...",
+        confirmLabel: "Rename",
+      })
+      if (name === null) return
+      await this.runWith(() => api.flmRenameSavedTune(tune.tuneId, name), "Tune renamed.")
+    },
     async submitTune(tune) {
       const ok = await GalaxyConfirm({
         title: "Send to Firestar",
@@ -582,7 +599,7 @@ export const LateralTuningPanel = {
         </div>
       </section>
 
-      <div v-if="pending" class="gx-card" style="margin-top: var(--sp-3);">
+      <div v-if="pending" ref="pendingEditor" class="gx-card" style="margin-top: var(--sp-3);">
         <div style="padding: var(--sp-4); display:grid; gap:10px;">
           <div class="gx-section__header" style="padding:0 0 6px;">
             <i class="bi bi-pencil-square"></i>
@@ -786,7 +803,7 @@ export const LateralTuningPanel = {
               </div>
               <div style="display:flex; gap:6px; flex-wrap:wrap; justify-content:flex-end;">
                 <button type="button" class="gx-btn gx-btn--tonal" :disabled="busy || tune.active" @click="applySavedTune(tune)">{{ tune.active ? 'Active' : 'Apply' }}</button>
-                <button type="button" class="gx-btn gx-btn--text" :disabled="busy" @click="startPending('rename', { tuneId: tune.tuneId, name: tune.name })">Rename</button>
+                <button type="button" class="gx-btn gx-btn--text" :disabled="busy" @click="renameSavedTune(tune)">Rename</button>
                 <button type="button" class="gx-btn gx-btn--text" :disabled="busy || tune.active" style="color:var(--error);" @click="deleteSavedTune(tune)">Delete</button>
                 <button type="button" class="gx-btn gx-btn--text" :disabled="busy" @click="submitTune(tune)">Firestar</button>
               </div>
diff --git a/starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py b/starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py
index d01bdefe5b..56bd872cad 100644
--- a/starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py
+++ b/starpilot/system/the_galaxy/tests/test_ui_vue_frontend.py
@@ -495,10 +495,16 @@ def test_ui_all_remaining_classic_tools_native_no_embed():
     assert "fetch(" not in _read(rel), f"{rel} should not use raw fetch()"
 
   lateral = _read("js/components/LateralTuningPanel.js")
+  modal = _read("js/components/GalaxyModal.js")
   assert "MAX_SEGMENTS = 5" in lateral
   assert "segmentRanges" in lateral and "selectedSegmentRanges" in lateral
   assert "flmAnalyze(this.selectedRoutes, this.selectedSegmentRanges())" in lateral
   assert "routeSelectedSegmentCount" in lateral
+  assert "GalaxyPrompt" in lateral
+  assert "renameSavedTune(tune)" in lateral
+  assert "initialValue: tune.name" in lateral
+  assert "export function GalaxyPrompt" in modal
+  assert "inputRequired" in modal
 
 
 def test_ui_cameras_hub_vasm_and_pip_native_no_embed():