diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index d0c37f833..4cda3018c 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -234,24 +234,24 @@ VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0
 VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5
 
 SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT = 1.04
-SONATA_HYBRID_FF_REDUCTION_LEFT = 0.06
-SONATA_HYBRID_FF_REDUCTION_RIGHT = 0.14
+SONATA_HYBRID_FF_REDUCTION_LEFT = 0.09
+SONATA_HYBRID_FF_REDUCTION_RIGHT = 0.20
 SONATA_HYBRID_FF_ONSET = 0.22
 SONATA_HYBRID_FF_ONSET_WIDTH = 0.08
-SONATA_HYBRID_FF_CUTOFF = 1.15
-SONATA_HYBRID_FF_CUTOFF_WIDTH = 0.35
+SONATA_HYBRID_FF_CUTOFF = 1.35
+SONATA_HYBRID_FF_CUTOFF_WIDTH = 0.40
 SONATA_HYBRID_TRANSITION_SPEED = 8.0
 SONATA_HYBRID_PHASE_SCALE = 0.12
-SONATA_HYBRID_TURN_IN_BOOST_LEFT = 0.04
+SONATA_HYBRID_TURN_IN_BOOST_LEFT = 0.08
 SONATA_HYBRID_TURN_IN_BOOST_RIGHT = 0.00
-SONATA_HYBRID_UNWIND_TAPER_LEFT = 0.08
-SONATA_HYBRID_UNWIND_TAPER_RIGHT = 0.18
+SONATA_HYBRID_UNWIND_TAPER_LEFT = 0.14
+SONATA_HYBRID_UNWIND_TAPER_RIGHT = 0.12
 SONATA_HYBRID_CENTER_TAPER_MAX = 0.05
 SONATA_HYBRID_CENTER_TAPER_LAT = 0.14
 SONATA_HYBRID_CENTER_TAPER_LAT_WIDTH = 0.025
 SONATA_HYBRID_CENTER_TAPER_SPEED = 22.0
 SONATA_HYBRID_CENTER_TAPER_SPEED_WIDTH = 2.5
-SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_MAX = 0.10
+SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_MAX = 0.12
 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT = 0.09
 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.02
 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 6.0