diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index edbb7c12d..df59cb4ea 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -213,35 +213,35 @@ IONIQ_6_TRANSITION_SPEED = 10.0
 IONIQ_6_PHASE_SCALE = 0.10
 IONIQ_6_TURN_IN_BOOST_LEFT = 0.52
 IONIQ_6_TURN_IN_BOOST_RIGHT = 0.36
-IONIQ_6_UNWIND_TAPER_LEFT = 0.68
-IONIQ_6_UNWIND_TAPER_RIGHT = 1.30
+IONIQ_6_UNWIND_TAPER_LEFT = 0.82
+IONIQ_6_UNWIND_TAPER_RIGHT = 1.52
 IONIQ_6_FRICTION_MULT = 0.995
 IONIQ_6_FRICTION_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.12
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.48
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.16
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.60
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.34
 IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
-IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.42
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.96
-IONIQ_6_CENTER_TAPER_MAX = 0.026
-IONIQ_6_CENTER_TAPER_LAT = 0.11
+IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.50
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 1.10
+IONIQ_6_CENTER_TAPER_MAX = 0.030
+IONIQ_6_CENTER_TAPER_LAT = 0.12
 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_DIRECTIONAL_TAPER_LAT_START = 0.18
+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 = 0.18
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.18
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.52
+IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.03
+IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.26
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.24
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.72
 IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
 IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
-IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.62
-IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.78
+IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.68
+IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.86
 
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"