diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index 84520892cd..6e4b8e8856 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -41,7 +41,9 @@ IONIQ_6_DYNAMIC_LOWER_JERK_V = [3.3, 1.5, 1.0, 0.8, 0.7, 0.65, 0.55, 0.5]
 IONIQ_6_LAUNCH_HOLD_SPEED_BP = [0.0, 0.6, 1.25, 2.5]
 IONIQ_6_LAUNCH_HOLD_SPEED_V = [0.75, 0.6, 0.4, 0.0]
 IONIQ_6_STOP_HOLD_SPEED_BP = [0.0, 0.25, 0.6, 1.2]
-IONIQ_6_STOP_HOLD_SPEED_V = [-0.18, -0.15, -0.08, 0.0]
+IONIQ_6_STOP_HOLD_SPEED_V = [-0.12, -0.10, -0.05, 0.0]
+IONIQ_6_STOP_RELEASE_JERK_BP = [0.0, 0.15, 0.5]
+IONIQ_6_STOP_RELEASE_JERK_V = [3.6, 4.2, 4.8]
 
 
 @dataclass
@@ -80,6 +82,8 @@ def update_ioniq_6_longitudinal_tuning(state: Ioniq6LongitudinalTuningState, acc
                                        long_control_state: LongCtrlState, long_active: bool) -> Ioniq6LongitudinalTuningState:
   starting = long_control_state == LongCtrlState.starting
   stopping = long_control_state == LongCtrlState.stopping
+  restart_from_stop = state.long_control_state_last in (LongCtrlState.stopping, LongCtrlState.starting) and \
+                      long_control_state in (LongCtrlState.starting, LongCtrlState.pid) and accel_cmd > 0.0 and v_ego < 0.5
 
   if not long_active or not stopping:
     state.stopping = False
@@ -125,13 +129,15 @@ def update_ioniq_6_longitudinal_tuning(state: Ioniq6LongitudinalTuningState, acc
 
   if state.stopping:
     state.desired_accel = float(np.interp(v_ego, IONIQ_6_STOP_HOLD_SPEED_BP, IONIQ_6_STOP_HOLD_SPEED_V))
-    state.jerk_upper = min(state.jerk_upper, float(np.interp(v_ego, [0.0, 1.2], [0.25, 0.5])))
+    state.jerk_upper = min(state.jerk_upper, float(np.interp(v_ego, [0.0, 1.2], [0.45, 0.65])))
   else:
     state.desired_accel = float(np.clip(accel_cmd, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
     if state.launch_active:
       state.desired_accel = max(state.desired_accel, float(np.interp(v_ego, IONIQ_6_LAUNCH_HOLD_SPEED_BP, IONIQ_6_LAUNCH_HOLD_SPEED_V)))
       state.jerk_upper = max(state.jerk_upper, float(np.interp(v_ego, [0.0, 2.5], [4.8, 3.2])))
       state.jerk_lower = max(state.jerk_lower, 1.0)
+    if restart_from_stop:
+      state.jerk_upper = min(state.jerk_upper, float(np.interp(v_ego, IONIQ_6_STOP_RELEASE_JERK_BP, IONIQ_6_STOP_RELEASE_JERK_V)))
 
   state.actual_accel = _jerk_limited_integrator(state.desired_accel, state.accel_last, state.jerk_upper, state.jerk_lower)
   state.accel_last = state.actual_accel
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index 0b9dfd0d52..d31c7eb78f 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -292,6 +292,19 @@ class TestHyundaiFingerprint:
     assert state.desired_accel > 0.3
     assert state.actual_accel > 0.24
 
+  def test_ioniq_6_longitudinal_tuning_helper_softens_stop_release_handoff(self):
+    state = Ioniq6LongitudinalTuningState(actual_accel=-0.12, accel_last=-0.12,
+                                          stopping=True, stopping_count=25,
+                                          long_control_state_last=LongCtrlState.stopping)
+
+    state = update_ioniq_6_longitudinal_tuning(state, accel_cmd=1.0, v_ego=0.0, a_ego=0.0,
+                                               long_control_state=LongCtrlState.starting, long_active=True)
+    assert state.actual_accel == pytest.approx(0.06)
+
+    state = update_ioniq_6_longitudinal_tuning(state, accel_cmd=1.0, v_ego=0.0, a_ego=0.0,
+                                               long_control_state=LongCtrlState.starting, long_active=True)
+    assert state.actual_accel == pytest.approx(0.24)
+
   def test_genesis_g90_longitudinal_tuning_softens_final_stop_hold(self):
     state = GenesisG90LongitudinalTuningState()
 
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 1f0919b6fe..23f7f56a93 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -211,21 +211,21 @@ IONIQ_6_FF_CUTOFF = 0.48
 IONIQ_6_FF_CUTOFF_WIDTH = 0.12
 IONIQ_6_TRANSITION_SPEED = 10.0
 IONIQ_6_PHASE_SCALE = 0.10
-IONIQ_6_TURN_IN_BOOST_LEFT = 0.82
-IONIQ_6_TURN_IN_BOOST_RIGHT = 0.84
-IONIQ_6_UNWIND_TAPER_LEFT = 1.44
-IONIQ_6_UNWIND_TAPER_RIGHT = 2.70
+IONIQ_6_TURN_IN_BOOST_LEFT = 0.88
+IONIQ_6_TURN_IN_BOOST_RIGHT = 0.92
+IONIQ_6_UNWIND_TAPER_LEFT = 1.52
+IONIQ_6_UNWIND_TAPER_RIGHT = 2.92
 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 = 0.22
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.30
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 1.30
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 2.80
-IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.10
-IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.16
-IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.12
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 2.28
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.24
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.34
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 1.40
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 3.10
+IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.11
+IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.18
+IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 1.22
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 2.58
 IONIQ_6_CENTER_TAPER_MAX = 0.042
 IONIQ_6_CENTER_TAPER_LAT = 0.18
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
@@ -242,8 +242,8 @@ 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 = 0.44
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.66
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 1.44
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.72
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 1.58
 IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
 IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
 IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90
diff --git a/selfdrive/controls/tests/test_conditional_experimental_mode.py b/selfdrive/controls/tests/test_conditional_experimental_mode.py
index 76df081dc3..3b0e65db78 100644
--- a/selfdrive/controls/tests/test_conditional_experimental_mode.py
+++ b/selfdrive/controls/tests/test_conditional_experimental_mode.py
@@ -140,7 +140,7 @@ def test_slow_lead_holds_through_tracking_flap_for_high_confidence_vision_lead()
     model_length=v_ego * 5.0,
     tracking_lead=True,
     lead_status=True,
-    lead_d_rel=v_ego * 5.0,
+    lead_d_rel=v_ego * 3.5,
     lead_v_lead=8.0 * CV.MPH_TO_MS,
     lead_model_prob=0.95,
   )
@@ -175,6 +175,46 @@ def test_slow_lead_does_not_linger_at_crawl_when_stopped_lead_disabled():
   assert not cem.slow_lead_detected
 
 
+def test_far_untracked_slow_lead_does_not_trigger_slow_lead():
+  v_ego = 50 * CV.MPH_TO_MS
+  cem = make_cem(
+    model_length=v_ego * 5.0,
+    tracking_lead=False,
+    lead_status=True,
+    lead_d_rel=v_ego * 4.8,
+    lead_v_lead=v_ego - 2.0,
+    lead_model_prob=0.97,
+  )
+  toggles = SimpleNamespace(conditional_slower_lead=True, conditional_stopped_lead=False)
+
+  cem.slow_lead_filter.x = 1.0
+  cem.slow_lead_detected = True
+  cem.starpilot_planner.starpilot_following.slower_lead = False
+  cem.slow_lead(toggles, v_ego)
+
+  assert not cem.slow_lead_detected
+
+
+def test_pace_matched_lead_clears_slow_lead_quickly():
+  v_ego = 30 * CV.MPH_TO_MS
+  cem = make_cem(
+    model_length=v_ego * 4.0,
+    tracking_lead=True,
+    lead_status=True,
+    lead_d_rel=24.0,
+    lead_v_lead=v_ego + 0.2,
+    lead_model_prob=0.99,
+  )
+  toggles = SimpleNamespace(conditional_slower_lead=True, conditional_stopped_lead=False)
+
+  cem.slow_lead_filter.x = 1.0
+  cem.slow_lead_detected = True
+  cem.starpilot_planner.starpilot_following.slower_lead = False
+  cem.slow_lead(toggles, v_ego)
+
+  assert not cem.slow_lead_detected
+
+
 class DummyThemeManager:
   def update_wheel_image(self, *args, **kwargs):
     pass
diff --git a/starpilot/controls/lib/conditional_experimental_mode.py b/starpilot/controls/lib/conditional_experimental_mode.py
index b901ef1203..15d40b713f 100644
--- a/starpilot/controls/lib/conditional_experimental_mode.py
+++ b/starpilot/controls/lib/conditional_experimental_mode.py
@@ -49,8 +49,10 @@ class ConditionalExperimentalMode:
   STOP_APPROACH_MAX_LEAD_SPEED = 4.5
   STOP_APPROACH_MIN_MODEL_PROB = 0.9
   SLOW_LEAD_CONTINUITY_MIN_MODEL_PROB = 0.85
-  SLOW_LEAD_CONTINUITY_MAX_DISTANCE_TIME = 7.0
+  SLOW_LEAD_CONTINUITY_MAX_DISTANCE_TIME = 4.0
   SLOW_LEAD_CONTINUITY_MIN_EGO = 2.5
+  SLOW_LEAD_MIN_CLOSING_SPEED = 0.75
+  SLOW_LEAD_CLEAR_FASTER_FACTOR = 0.5
 
   # ===== END TUNING PARAMETERS =====
 
@@ -166,6 +168,8 @@ class ConditionalExperimentalMode:
     lead_distance = float(getattr(lead, "dRel", float("inf")))
     lead_speed = float(getattr(lead, "vLead", float("inf")))
     lead_prob = float(getattr(lead, "modelProb", 1.0))
+    closing_speed = max(0.0, v_ego - lead_speed)
+    min_closing_speed = max(self.SLOW_LEAD_MIN_CLOSING_SPEED, 0.04 * v_ego)
 
     if not starpilot_toggles.conditional_stopped_lead and v_ego < self.SLOW_LEAD_CONTINUITY_MIN_EGO:
       self.slow_lead_filter.update(False)
@@ -179,12 +183,18 @@ class ConditionalExperimentalMode:
       lead_status and
       lead_prob >= self.SLOW_LEAD_CONTINUITY_MIN_MODEL_PROB and
       lead_distance < max(40.0, v_ego * self.SLOW_LEAD_CONTINUITY_MAX_DISTANCE_TIME) and
+      closing_speed >= min_closing_speed and
       lead_speed < max(v_ego - 0.5, 2.0)
     )
 
     lead_threshold = scale_threshold(v_ego)
     adjusted_threshold = lead_threshold * (1.0 + 0.2 * (1.0 - lead_prob))  # Higher threshold for lower confidence
 
+    if lead_status and not slower_lead and not stopped_lead and closing_speed < (min_closing_speed * self.SLOW_LEAD_CLEAR_FASTER_FACTOR):
+      self.slow_lead_filter.update(False)
+      self.slow_lead_detected = False
+      return
+
     if self.starpilot_planner.tracking_lead or raw_vision_slow_lead or stopped_lead:
       self.slow_lead_filter.update(slower_lead or raw_vision_slow_lead or stopped_lead)
       self.slow_lead_detected = bool(self.slow_lead_filter.x >= adjusted_threshold)