diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 87c53a822..06e92ccc8 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -40,6 +40,7 @@ RAW_LEAD_LOW_SPEED_HOLD_MAX_LATERAL_OFFSET = 1.75
 RAW_LEAD_LOW_SPEED_HOLD_MIN_CLOSING_SPEED = 0.15
 STANDSTILL_LEAD_NUDGE_ACCEL = 0.05
 STANDSTILL_LEAD_NUDGE_MIN_SPEED = 0.0
+STANDSTILL_LEAD_NUDGE_MIN_LEAD_ACCEL = 0.2
 STANDSTILL_LEAD_DEPART_MIN_ACCEL = 0.35
 STANDSTILL_LEAD_DEPART_MAX_EGO_SPEED = 1.5
 STANDSTILL_LEAD_DEPART_MIN_LEAD_SPEED = 0.6
@@ -1363,7 +1364,7 @@ class LongitudinalPlanner:
       return None
 
     lead_brake = max(0.0, -float(getattr(lead, "aLeadK", 0.0)))
-    if lead_brake > CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_LEAD_BRAKE:
+    if lead_brake > CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_LEAD_BRAKE and not tracking_lead_active:
       return None
 
     if abs(float(getattr(lead, "yRel", 0.0))) > CRUISE_TRACKED_LEAD_ACCEL_CAP_MAX_LATERAL_OFFSET:
@@ -2366,6 +2367,13 @@ class LongitudinalPlanner:
     moving_leads = [lead for lead in (self.lead_one, self.lead_two)
                     if lead.status and
                     lead.vLead > STANDSTILL_LEAD_NUDGE_MIN_SPEED and lead.dRel >= standstill_nudge_gap]
+    accelerating_nudge_lead = any(
+      lead.status and
+      float(getattr(lead, "vLead", 0.0)) > STANDSTILL_LEAD_NUDGE_MIN_SPEED and
+      float(getattr(lead, "aLeadK", 0.0)) >= STANDSTILL_LEAD_NUDGE_MIN_LEAD_ACCEL and
+      float(getattr(lead, "dRel", 0.0)) >= standstill_nudge_gap
+      for lead in (self.lead_one, self.lead_two)
+    )
     confident_depart_detected = any(self.is_confident_lead_depart(lead, float(sm['carState'].vEgo))
                                     for lead in (self.lead_one, self.lead_two))
     lead_depart_ready = any(
@@ -2396,7 +2404,8 @@ class LongitudinalPlanner:
     )
 
     standstill_stopped_lead_guard_cap = None
-    if lead_control_active and (bool(sm['carState'].standstill) or float(sm['carState'].vEgo) <= STANDSTILL_STOPPED_LEAD_GUARD_MAX_EGO_SPEED):
+    standstill_guard_lead_present = any(bool(getattr(lead, "status", False)) for lead in (self.lead_one, self.lead_two))
+    if standstill_guard_lead_present and (bool(sm['carState'].standstill) or float(sm['carState'].vEgo) <= STANDSTILL_STOPPED_LEAD_GUARD_MAX_EGO_SPEED):
       release_ready = bool(lead_depart_ready or confident_depart_ready)
       standstill_stopped_lead_guard_caps = [
         cap for cap in (
@@ -2540,12 +2549,14 @@ class LongitudinalPlanner:
     if vision_brake_cap_active:
       output_accel_min = min(output_accel_min, vision_cap_accel_min)
 
-    follow_control_lead = self.get_follow_control_lead(
-      lead_control_active,
-      scene_v_ego,
-      effective_t_follow,
-      allow_optional_far_lead_logic=allow_complex_follow_logic,
-    )
+    follow_control_lead = None
+    if allow_complex_follow_logic:
+      follow_control_lead = self.get_follow_control_lead(
+        lead_control_active,
+        scene_v_ego,
+        effective_t_follow,
+        allow_optional_far_lead_logic=True,
+      )
     if allow_complex_follow_logic and follow_control_lead is not None and not panic_bypass:
       if not output_should_stop and not vision_low_speed_stop_active:
         tracked_vision_model_brake_floor = self.get_tracked_vision_model_brake_floor(
@@ -2701,6 +2712,15 @@ class LongitudinalPlanner:
       self.a_desired = min(self.a_desired, low_speed_weak_lead_accel_cap)
       output_a_target = min(output_a_target, low_speed_weak_lead_accel_cap)
 
+    if (
+      lead_control_active and
+      (bool(sm['carState'].standstill) or float(sm['carState'].vEgo) <= STANDSTILL_STOPPED_LEAD_GUARD_MAX_EGO_SPEED) and
+      output_should_stop and
+      accelerating_nudge_lead and
+      not depart_safety_veto
+    ):
+      output_a_target = max(output_a_target, STANDSTILL_LEAD_NUDGE_ACCEL)
+
     force_stop_handoff = bool(
       getattr(sm['starpilotPlan'], 'forcingStop', False) and
       not lead_control_active and
diff --git a/selfdrive/controls/tests/test_longitudinal_planner.py b/selfdrive/controls/tests/test_longitudinal_planner.py
index 14ca2ba1a..a1c636e16 100644
--- a/selfdrive/controls/tests/test_longitudinal_planner.py
+++ b/selfdrive/controls/tests/test_longitudinal_planner.py
@@ -1149,6 +1149,78 @@ def test_standstill_moving_lead_does_not_force_resume_while_should_stop(model_ve
   assert planner.output_a_target < 0.1
 
 
+@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
+def test_standstill_accelerating_lead_keeps_small_nudge_while_stop_holds(model_version):
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=0.0)
+
+  sm = make_sm(
+    0.0,
+    desired_accel=0.0,
+    min_accel=-0.5,
+    experimental_mode=False,
+    tracking_lead=True,
+    lead_one=make_lead(status=True, d_rel=5.55, v_lead=0.02, a_lead=0.40, radar=False, model_prob=1.0),
+  )
+  sm["carState"].standstill = True
+  sm["controlsState"].longControlState = LongCtrlState.stopping
+  sm["starpilotPlan"].vCruise = 10.0
+  sm["modelV2"].action.shouldStop = False
+
+  planner.update(sm, make_toggles(model_version))
+
+  assert planner.output_should_stop
+  assert longitudinal_planner_module.STANDSTILL_LEAD_NUDGE_ACCEL <= planner.output_a_target < 0.1
+
+
+@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
+def test_near_standstill_accelerating_lead_keeps_nudge_during_creep_frame(model_version):
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=0.03)
+
+  sm = make_sm(
+    0.03,
+    desired_accel=0.0,
+    min_accel=-0.5,
+    experimental_mode=False,
+    tracking_lead=True,
+    lead_one=make_lead(status=True, d_rel=5.60, v_lead=0.06, a_lead=0.40, radar=False, model_prob=1.0),
+  )
+  sm["carState"].standstill = False
+  sm["controlsState"].longControlState = LongCtrlState.pid
+  sm["starpilotPlan"].vCruise = 10.0
+  sm["modelV2"].action.shouldStop = False
+
+  planner.update(sm, make_toggles(model_version))
+
+  assert planner.output_should_stop
+  assert longitudinal_planner_module.STANDSTILL_LEAD_NUDGE_ACCEL <= planner.output_a_target < 0.1
+
+
+@pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
+def test_standstill_tiny_opening_lead_without_accel_does_not_get_nudge_floor(model_version):
+  CP = CarInterface.get_non_essential_params(CAR.HONDA_CIVIC)
+  planner = LongitudinalPlanner(CP, init_v=0.0)
+
+  sm = make_sm(
+    0.0,
+    desired_accel=0.0,
+    min_accel=-0.5,
+    experimental_mode=False,
+    tracking_lead=True,
+    lead_one=make_lead(status=True, d_rel=5.55, v_lead=0.02, a_lead=0.0, radar=False, model_prob=1.0),
+  )
+  sm["carState"].standstill = True
+  sm["controlsState"].longControlState = LongCtrlState.stopping
+  sm["starpilotPlan"].vCruise = 10.0
+  sm["modelV2"].action.shouldStop = False
+
+  planner.update(sm, make_toggles(model_version))
+
+  assert planner.output_should_stop
+  assert planner.output_a_target <= 0.0
+
+
 @pytest.mark.parametrize("model_version", ["v11", "v12", "v13", "v14", "v15"])
 def test_standstill_moving_lead_applies_resume_floor_once_stop_clears(model_version):
   v_ego = 0.0