diff --git a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
index 38590535c1..d2b65771ce 100644
--- a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+++ b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
@@ -858,7 +858,7 @@ IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 3.55
 IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 9.10
 IONIQ_6_CENTER_TAPER_MAX = 0.082
 IONIQ_6_CENTER_TAPER_LAT = 0.24
-IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.025
+IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.08
 IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
 IONIQ_6_HIGHWAY_CENTER_TAPER_MAX = 0.046
@@ -868,7 +868,7 @@ IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED = 24.5
 IONIQ_6_HIGHWAY_CENTER_TAPER_SPEED_WIDTH = 1.8
 IONIQ_6_HIGHWAY_OUTPUT_TAPER_MAX = 0.10
 IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT = 0.14
-IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT_WIDTH = 0.04
+IONIQ_6_HIGHWAY_OUTPUT_TAPER_LAT_WIDTH = 0.12
 IONIQ_6_HIGHWAY_OUTPUT_TAPER_SPEED = 23.5
 IONIQ_6_HIGHWAY_OUTPUT_TAPER_SPEED_WIDTH = 2.0
 IONIQ_6_HIGHWAY_TRANSITION_OUTPUT_TAPER_MAX = 0.18
@@ -885,8 +885,8 @@ IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH = 1.5
 IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.19
 IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
 IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.06
-IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.11
-IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.45
+IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.17
+IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.28
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.10
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 2.10
 IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.48
@@ -978,9 +978,9 @@ IONIQ_6_LOW_SPEED_PID_RESET_SPEED = 0.1 * CV.MPH_TO_MS
 # extra P/D gain right where there is no breakaway torque to overcome. Deadzone the jerk
 # feed below straight-line noise levels and fade friction near center at highway speed.
 IONIQ_6_FRICTION_JERK_DEADZONE = 0.30
-IONIQ_6_FRICTION_CENTER_FADE_MAX = 0.50
+IONIQ_6_FRICTION_CENTER_FADE_MAX = 0.20
 IONIQ_6_FRICTION_CENTER_FADE_LAT = 0.15
-IONIQ_6_FRICTION_CENTER_FADE_LAT_WIDTH = 0.06
+IONIQ_6_FRICTION_CENTER_FADE_LAT_WIDTH = 0.14
 IONIQ_6_FRICTION_CENTER_FADE_SPEED = 18.0
 IONIQ_6_FRICTION_CENTER_FADE_SPEED_WIDTH = 2.5
 # Newer Ioniq 6 highway center-chatter correction; activation is firmware-gated.