diff --git a/frogpilot/common/frogpilot_variables.py b/frogpilot/common/frogpilot_variables.py
index 18ac585cf..1570fae32 100644
--- a/frogpilot/common/frogpilot_variables.py
+++ b/frogpilot/common/frogpilot_variables.py
@@ -299,8 +299,10 @@ class FrogPilotVariables:
     msg_bytes = self.params.get("LiveTorqueParameters")
     if msg_bytes:
       LTP = messaging.log_from_bytes(msg_bytes, log.LiveTorqueParametersData)
+      has_auto_tune = LTP.useParams
       toggle.liveValid = LTP.liveValid
     else:
+      has_auto_tune = False
       toggle.liveValid = False
 
     toggle.debug_mode = self.params.get_bool("DebugMode")
@@ -319,16 +321,17 @@ class FrogPilotVariables:
     toggle.use_wheel_speed = self.get_value("WheelSpeed", condition=advanced_custom_ui)
 
     advanced_lateral_tuning = self.get_value("AdvancedLateralTune")
+    toggle.force_auto_tune = self.get_value("ForceAutoTune", condition=advanced_lateral_tuning and not has_auto_tune and is_torque_car and not is_angle_car)
     toggle.force_auto_tune_off = self.get_value("ForceAutoTuneOff", condition=advanced_lateral_tuning and has_auto_tune and is_torque_car and not is_angle_car)
     toggle.steerActuatorDelay = self.get_value("SteerDelay", cast=float, condition=advanced_lateral_tuning, default=steerActuatorDelay, min=0.01, max=1.0)
     toggle.use_custom_steerActuatorDelay = bool(round(toggle.steerActuatorDelay, 2) != round(steerActuatorDelay, 2))
     toggle.friction = self.get_value("SteerFriction", cast=float, condition=advanced_lateral_tuning, default=friction, min=0, max=1)
-    toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car or toggle.force_auto_tune_off
+    toggle.use_custom_friction = bool(round(toggle.friction, 2) != round(friction, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
     toggle.steerKp = [[0], [self.get_value("SteerKP", cast=float, condition=advanced_lateral_tuning and is_torque_car and not is_angle_car, default=steerKp, min=steerKp * 0.5, max=steerKp * 1.5)]]
     toggle.latAccelFactor = self.get_value("SteerLatAccel", cast=float, condition=advanced_lateral_tuning, default=latAccelFactor, min=latAccelFactor * 0.5, max=latAccelFactor * 1.5)
-    toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car or toggle.force_auto_tune_off
+    toggle.use_custom_latAccelFactor = bool(round(toggle.latAccelFactor, 2) != round(latAccelFactor, 2)) and is_torque_car and not toggle.force_auto_tune or toggle.force_auto_tune_off
     toggle.steerRatio = self.get_value("SteerRatio", cast=float, condition=advanced_lateral_tuning, default=steerRatio, min=steerRatio * 0.5, max=steerRatio * 1.5)
-    toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) or toggle.force_auto_tune_off
+    toggle.use_custom_steerRatio = bool(round(toggle.steerRatio, 2) != round(steerRatio, 2)) and not toggle.force_auto_tune or toggle.force_auto_tune_off
 
     advanced_longitudinal_tuning = toggle.openpilot_longitudinal and self.get_value("AdvancedLongitudinalTune")
     toggle.longitudinalActuatorDelay = self.get_value("LongitudinalActuatorDelay", cast=float, condition=advanced_longitudinal_tuning, default=longitudinalActuatorDelay, min=0, max=1)
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 8a4d98565..10be8188f 100644
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -95,7 +95,7 @@ class Controls:
     # Update Torque Params
     if self.CP.lateralTuning.which() == 'torque':
       torque_params = self.sm['liveTorqueParameters']
-      if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
+      if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune):
         self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
                                            torque_params.frictionCoefficientFiltered)