diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 40b891639..3018a9518 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -277,22 +277,22 @@ 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 = 1.50
-IONIQ_6_TURN_IN_BOOST_RIGHT = 1.70
-IONIQ_6_UNWIND_TAPER_LEFT = 2.62
-IONIQ_6_UNWIND_TAPER_RIGHT = 6.05
-IONIQ_6_FRICTION_MULT = 0.948
+IONIQ_6_TURN_IN_BOOST_LEFT = 1.58
+IONIQ_6_TURN_IN_BOOST_RIGHT = 1.82
+IONIQ_6_UNWIND_TAPER_LEFT = 2.84
+IONIQ_6_UNWIND_TAPER_RIGHT = 6.35
+IONIQ_6_FRICTION_MULT = 0.942
 IONIQ_6_FRICTION_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.66
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 1.05
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 3.10
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 7.40
-IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.36
-IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.64
-IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 2.85
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 6.90
-IONIQ_6_CENTER_TAPER_MAX = 0.070
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.74
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 1.18
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 3.35
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 7.85
+IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.40
+IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.72
+IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 3.10
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 7.30
+IONIQ_6_CENTER_TAPER_MAX = 0.074
 IONIQ_6_CENTER_TAPER_LAT = 0.215
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
 IONIQ_6_CENTER_TAPER_SPEED = 18.0