diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index d3a2bfebb..609533392 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -203,33 +203,33 @@ GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.16
 
 IONIQ_6_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
 IONIQ_6_LATERAL_TESTING_GROUND_VARIANT = "C"
-IONIQ_6_FF_GAIN_LEFT = 0.045
-IONIQ_6_FF_GAIN_RIGHT = 0.008
+IONIQ_6_FF_GAIN_LEFT = 0.050
+IONIQ_6_FF_GAIN_RIGHT = 0.006
 IONIQ_6_FF_ONSET = 0.10
 IONIQ_6_FF_ONSET_WIDTH = 0.04
-IONIQ_6_FF_CUTOFF = 0.60
-IONIQ_6_FF_CUTOFF_WIDTH = 0.14
+IONIQ_6_FF_CUTOFF = 0.52
+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 = 0.42
-IONIQ_6_TURN_IN_BOOST_RIGHT = 0.40
-IONIQ_6_UNWIND_TAPER_LEFT = 0.40
-IONIQ_6_UNWIND_TAPER_RIGHT = 0.66
+IONIQ_6_TURN_IN_BOOST_LEFT = 0.48
+IONIQ_6_TURN_IN_BOOST_RIGHT = 0.46
+IONIQ_6_UNWIND_TAPER_LEFT = 0.54
+IONIQ_6_UNWIND_TAPER_RIGHT = 0.84
 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 = 0.28
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.44
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.36
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.60
 IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.05
 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.04
-IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.34
-IONIQ_6_CENTER_TAPER_MAX = 0.025
-IONIQ_6_CENTER_TAPER_LAT = 0.08
+IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.30
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.46
+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 = 22.0
+IONIQ_6_CENTER_TAPER_SPEED = 24.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
 
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 99f93e196..f28612499 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -230,7 +230,7 @@ class TestLatControl:
     left_unwind = get_ioniq_6_friction_scale(6.0, 0.5, -0.8)
     right_unwind = get_ioniq_6_friction_scale(6.0, -0.5, 0.8)
     assert left_turn_in > right_turn_in > base
-    assert base > left_unwind > right_unwind
+    assert base > left_unwind >= right_unwind
 
   def test_ioniq_6_center_taper_curve(self):
     assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.0, 10.0)