diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 6a1262852..e3536c43f 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -284,28 +284,28 @@ KIA_FORTE_CENTER_TAPER_SPEED = 24.0
 KIA_FORTE_CENTER_TAPER_SPEED_WIDTH = 2.5
 
 GENESIS_G90_LATERAL_TESTING_GROUND_ID = testing_ground.id_4
-GENESIS_G90_FF_GAIN_LEFT = 0.20
-GENESIS_G90_FF_GAIN_RIGHT = 0.10
+GENESIS_G90_FF_GAIN_LEFT = 0.28
+GENESIS_G90_FF_GAIN_RIGHT = 0.12
 GENESIS_G90_FF_ONSET = 0.10
 GENESIS_G90_FF_ONSET_WIDTH = 0.05
-GENESIS_G90_FF_CUTOFF = 2.10
-GENESIS_G90_FF_CUTOFF_WIDTH = 0.42
+GENESIS_G90_FF_CUTOFF = 2.35
+GENESIS_G90_FF_CUTOFF_WIDTH = 0.48
 GENESIS_G90_TRANSITION_SPEED = 8.5
 GENESIS_G90_PHASE_SCALE = 0.12
-GENESIS_G90_TURN_IN_BOOST_LEFT = 0.42
-GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.34
-GENESIS_G90_UNWIND_TAPER_LEFT = 0.18
-GENESIS_G90_UNWIND_TAPER_RIGHT = 0.48
+GENESIS_G90_TURN_IN_BOOST_LEFT = 0.56
+GENESIS_G90_TURN_IN_BOOST_RIGHT = 0.42
+GENESIS_G90_UNWIND_TAPER_LEFT = 0.10
+GENESIS_G90_UNWIND_TAPER_RIGHT = 0.55
 GENESIS_G90_FRICTION_MULT = 1.02
 GENESIS_G90_FRICTION_LAT_RISE = 0.22
 GENESIS_G90_FRICTION_JERK_RISE = 0.24
-GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.18
-GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.15
-GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT = 0.10
+GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.24
+GENESIS_G90_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.18
+GENESIS_G90_UNWIND_THRESHOLD_INCREASE_LEFT = 0.06
 GENESIS_G90_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.32
-GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.11
-GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.10
-GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.10
+GENESIS_G90_TURN_IN_FRICTION_BOOST_LEFT = 0.14
+GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.12
+GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.04
 GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.30
 
 IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT = 1.18