diff --git a/opendbc_repo/opendbc/car/honda/interface.py b/opendbc_repo/opendbc/car/honda/interface.py
index 53a3e41f1..97779893d 100644
--- a/opendbc_repo/opendbc/car/honda/interface.py
+++ b/opendbc_repo/opendbc/car/honda/interface.py
@@ -195,6 +195,9 @@ class CarInterface(CarInterfaceBase):
         ret.wheelSpeedFactor = 1.025
       else:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning
+        # The 3G HR-V settles more cleanly in lead follow when planner delay
+        # better matches its stronger immediate longitudinal response.
+        ret.longitudinalActuatorDelay = 0.4
 
     elif candidate == CAR.HONDA_CLARITY:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
diff --git a/opendbc_repo/opendbc/car/honda/tests/test_honda.py b/opendbc_repo/opendbc/car/honda/tests/test_honda.py
index fd875dc22..86e62eb32 100644
--- a/opendbc_repo/opendbc/car/honda/tests/test_honda.py
+++ b/opendbc_repo/opendbc/car/honda/tests/test_honda.py
@@ -266,3 +266,12 @@ class TestHondaFingerprint:
 
     new_actuators, _ = controller.update(CC.as_reader(), CS, 0, toggles)
     assert new_actuators.accel == pytest.approx(-0.3)
+
+  def test_honda_hrv_3g_uses_matched_longitudinal_delay(self):
+    toggles = get_test_toggles()
+
+    hrv3g_cp = CarInterface.get_params(CAR.HONDA_HRV_3G, gen_empty_fingerprint(), [], True, False, False, toggles)
+    accord_cp = CarInterface.get_params(CAR.HONDA_ACCORD, gen_empty_fingerprint(), [], True, False, False, toggles)
+
+    assert hrv3g_cp.longitudinalActuatorDelay == pytest.approx(0.4)
+    assert accord_cp.longitudinalActuatorDelay == pytest.approx(0.5)