diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 5174017da..edbb7c12d 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -147,31 +147,31 @@ BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_LEFT = 0.21
 BOLT_2022_2023_UNWIND_FRICTION_REDUCTION_RIGHT = 0.17
 
 VOLT_STANDARD_LATERAL_TESTING_GROUND_ID = testing_ground.id_3
-VOLT_STANDARD_FF_GAIN_LEFT = 0.07
-VOLT_STANDARD_FF_GAIN_RIGHT = 0.10
+VOLT_STANDARD_FF_GAIN_LEFT = 0.08
+VOLT_STANDARD_FF_GAIN_RIGHT = 0.09
 VOLT_STANDARD_FF_ONSET = 0.10
 VOLT_STANDARD_FF_ONSET_WIDTH = 0.05
 VOLT_STANDARD_FF_CUTOFF = 1.30
 VOLT_STANDARD_FF_CUTOFF_WIDTH = 0.24
 VOLT_STANDARD_TRANSITION_SPEED = 10.0
 VOLT_STANDARD_PHASE_SCALE = 0.10
-VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.12
-VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.40
-VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.18
-VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.34
+VOLT_STANDARD_TURN_IN_BOOST_LEFT = 0.14
+VOLT_STANDARD_TURN_IN_BOOST_RIGHT = 0.46
+VOLT_STANDARD_UNWIND_TAPER_LEFT = 0.20
+VOLT_STANDARD_UNWIND_TAPER_RIGHT = 0.42
 VOLT_STANDARD_FRICTION_MULT = 1.04
 VOLT_STANDARD_FRICTION_LAT_RISE = 0.20
 VOLT_STANDARD_FRICTION_JERK_RISE = 0.24
-VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.06
-VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.22
-VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.08
-VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.28
-VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.03
-VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.12
-VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.08
-VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.22
-VOLT_STANDARD_CENTER_TAPER_MAX = 0.09
-VOLT_STANDARD_CENTER_TAPER_LAT = 0.11
+VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.08
+VOLT_STANDARD_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.26
+VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_LEFT = 0.10
+VOLT_STANDARD_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.36
+VOLT_STANDARD_TURN_IN_FRICTION_BOOST_LEFT = 0.04
+VOLT_STANDARD_TURN_IN_FRICTION_BOOST_RIGHT = 0.14
+VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_LEFT = 0.10
+VOLT_STANDARD_UNWIND_FRICTION_REDUCTION_RIGHT = 0.30
+VOLT_STANDARD_CENTER_TAPER_MAX = 0.11
+VOLT_STANDARD_CENTER_TAPER_LAT = 0.12
 VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.02
 VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0
 VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 202e19f50..66c64e817 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -213,7 +213,7 @@ class TestLatControl:
     assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(-0.4, 0.0, 20.0)
     assert get_ioniq_6_ff_scale(0.4, 0.7, 8.0) > get_ioniq_6_ff_scale(0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(0.4, -0.7, 8.0)
     assert get_ioniq_6_ff_scale(-0.4, -0.7, 8.0) >= get_ioniq_6_ff_scale(-0.4, 0.0, 8.0) > get_ioniq_6_ff_scale(-0.4, 0.7, 8.0)
-    assert get_ioniq_6_ff_scale(1.2, 0.0, 20.0) < get_ioniq_6_ff_scale(0.4, 0.0, 20.0)
+    assert get_ioniq_6_ff_scale(0.4, 0.0, 20.0) < get_ioniq_6_ff_scale(1.2, 0.0, 20.0) < 1.0
 
   def test_ioniq_6_directional_taper_curve(self):
     assert get_ioniq_6_directional_taper_scale(0.0, 0.0) == 1.0