diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 04cddf2b5..fe97511c5 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -212,24 +212,24 @@ 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 = 0.52
-IONIQ_6_TURN_IN_BOOST_RIGHT = 0.44
+IONIQ_6_TURN_IN_BOOST_RIGHT = 0.40
 IONIQ_6_UNWIND_TAPER_LEFT = 0.60
-IONIQ_6_UNWIND_TAPER_RIGHT = 1.12
+IONIQ_6_UNWIND_TAPER_RIGHT = 1.18
 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 = 0.12
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.10
 IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.42
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.96
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.02
 IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
 IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.36
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.76
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.82
 IONIQ_6_CENTER_TAPER_MAX = 0.015
 IONIQ_6_CENTER_TAPER_LAT = 0.06
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
-IONIQ_6_CENTER_TAPER_SPEED = 24.0
+IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
 
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6