diff --git a/opendbc_repo/opendbc/car/gm/carcontroller.py b/opendbc_repo/opendbc/car/gm/carcontroller.py
index c8c0c79d7..9dd3724aa 100644
--- a/opendbc_repo/opendbc/car/gm/carcontroller.py
+++ b/opendbc_repo/opendbc/car/gm/carcontroller.py
@@ -69,6 +69,8 @@ TRUCK_LONG_SMOOTH_CARS = {
 TRUCK_FRICTION_BRAKE_ENGAGE = 40
 TRUCK_FRICTION_BRAKE_RELEASE = 8
 TRUCK_FRICTION_BRAKE_IMMEDIATE_ACCEL = -0.85
+TRUCK_FOLLOW_MICRO_ACCEL_MAX = 0.30
+TRUCK_FOLLOW_MICRO_ACCEL_SLEW = 1.5
 ACC_DASHBOARD_ZERO_RESERVED_CARS = {
   CAR.CHEVROLET_BLAZER,
   CAR.CHEVROLET_EQUINOX,
@@ -215,11 +217,11 @@ def shape_truck_positive_accel(accel: float, v_ego: float, enabled: bool,
   if not enabled or accel <= 0.0 or v_ego < 12.0:
     return accel
 
-  low_scale = float(np.interp(v_ego, [12.0, 18.0, 25.0, 35.0], [0.93, 0.84, 0.76, 0.70]))
-  mid_scale = float(np.interp(v_ego, [12.0, 18.0, 25.0, 35.0], [0.97, 0.91, 0.85, 0.79]))
+  low_scale = float(np.interp(v_ego, [12.0, 18.0, 25.0, 35.0], [0.93, 0.84, 0.76, 0.76]))
+  mid_scale = float(np.interp(v_ego, [12.0, 18.0, 25.0, 35.0], [0.97, 0.91, 0.85, 0.85]))
 
   if lead_visible and set_speed_error > 0.0:
-    follow_relief = float(np.interp(set_speed_error, [0.0, 1.0, 2.5, 4.0, 6.0], [0.0, 0.04, 0.10, 0.18, 0.30]))
+    follow_relief = float(np.interp(set_speed_error, [0.0, 1.0, 2.5, 4.0, 6.0], [0.0, 0.04, 0.10, 0.24, 0.42]))
     low_scale += (1.0 - low_scale) * follow_relief
     mid_scale += (1.0 - mid_scale) * follow_relief
 
@@ -232,6 +234,19 @@ def shape_truck_positive_accel(accel: float, v_ego: float, enabled: bool,
   return accel
 
 
+def smooth_truck_follow_accel(accel: float, previous_accel: float, v_ego: float,
+                              enabled: bool, lead_visible: bool, stopping: bool) -> float:
+  if (
+    not enabled or not lead_visible or stopping or v_ego < 25.0 or
+    abs(accel) > TRUCK_FOLLOW_MICRO_ACCEL_MAX or accel <= TRUCK_FRICTION_BRAKE_IMMEDIATE_ACCEL or
+    abs(previous_accel) > TRUCK_FOLLOW_MICRO_ACCEL_MAX or previous_accel <= TRUCK_FRICTION_BRAKE_IMMEDIATE_ACCEL
+  ):
+    return accel
+
+  max_delta = TRUCK_FOLLOW_MICRO_ACCEL_SLEW * DT_CTRL * 4
+  return previous_accel + float(np.clip(accel - previous_accel, -max_delta, max_delta))
+
+
 def shape_truck_pitch_accel(pitch_accel: float, v_ego: float, enabled: bool) -> float:
   if not enabled:
     return pitch_accel
@@ -557,6 +572,7 @@ class CarController(CarControllerBase):
     self.bolt_acc_pedal_friction_release_frames = 0
     self.bolt_acc_pedal_friction_low_speed_active = False
     self.truck_friction_brake_active = False
+    self.truck_follow_accel = 0.0
 
   def _reset_volt_one_pedal(self):
     self.volt_one_pedal_pid.reset()
@@ -978,10 +994,12 @@ class CarController(CarControllerBase):
           self.regen_release_counter = 0
           self.regen_min_on_frames = 0
           self.regen_min_off_frames = 0
+          self.truck_follow_accel = 0.0
         elif should_use_fixed_stopping_brake(self.CP, near_stop, stopping, CC.cruiseControl.resume):
           stop_accel = getattr(starpilot_toggles, "stopAccel", self.CP.stopAccel)
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = int(min(-100 * stop_accel, self.params.MAX_BRAKE))
+          self.truck_follow_accel = 0.0
         else:
           long_pitch_enabled = bool(getattr(starpilot_toggles, "long_pitch", True))
           pedal_long_path = bool(self.CP.enableGasInterceptorDEPRECATED and (self.CP.flags & GMFlags.PEDAL_LONG.value))
@@ -1040,6 +1058,16 @@ class CarController(CarControllerBase):
               )
 
             accel_cmd = float(np.clip(accel_input, self.params.ACCEL_MIN, accel_max))
+            if truck_long_smoothing:
+              accel_cmd = smooth_truck_follow_accel(
+                accel_cmd,
+                self.truck_follow_accel,
+                CS.out.vEgo,
+                True,
+                CC.hudControl.leadVisible,
+                stopping,
+              )
+            self.truck_follow_accel = accel_cmd
             torque = self.tireRadius * ((self.mass * accel_cmd) + (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2))
             scaled_torque = torque + self.params.ZERO_GAS
             apply_gas_torque = np.clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)
diff --git a/opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py b/opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py
index b97fed0c2..aae318968 100644
--- a/opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py
+++ b/opendbc_repo/opendbc/car/gm/tests/test_carcontroller.py
@@ -57,6 +57,7 @@ from opendbc.car.gm.carcontroller import (
   shape_truck_friction_brake,
   shape_truck_pitch_accel,
   shape_truck_positive_accel,
+  smooth_truck_follow_accel,
   should_use_fixed_stopping_brake,
   should_activate_auto_hold,
   should_activate_volt_one_pedal,
@@ -862,6 +863,27 @@ def test_shape_truck_positive_accel_does_not_relax_without_speed_error():
   assert no_error == base
 
 
+def test_shape_truck_positive_accel_keeps_more_highway_follow_authority():
+  city = shape_truck_positive_accel(0.28, 26.0, True)
+  highway = shape_truck_positive_accel(0.28, 34.0, True)
+
+  assert highway >= city
+
+
+def test_smooth_truck_follow_accel_slews_small_highway_commands():
+  shaped = smooth_truck_follow_accel(0.20, -0.20, 30.0, True, True, False)
+
+  assert shaped == pytest.approx(-0.14)
+
+
+def test_smooth_truck_follow_accel_does_not_delay_safety_requests():
+  assert smooth_truck_follow_accel(-0.40, 0.20, 30.0, True, True, False) == -0.40
+  assert smooth_truck_follow_accel(0.20, -0.40, 30.0, True, True, False) == 0.20
+  assert smooth_truck_follow_accel(-0.20, 0.20, 30.0, True, True, True) == -0.20
+  assert smooth_truck_follow_accel(-0.20, 0.20, 20.0, True, True, False) == -0.20
+  assert smooth_truck_follow_accel(-0.20, 0.20, 30.0, True, False, False) == -0.20
+
+
 def test_shape_truck_pitch_accel_attenuates_highway_grade_feedforward():
   assert shape_truck_pitch_accel(-0.30, 30.0, True) == pytest.approx(-0.0825)
   assert shape_truck_pitch_accel(0.30, 30.0, True) == pytest.approx(0.0825)
diff --git a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
index be65d996d..4b3f1f4ff 100644
--- a/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+++ b/selfdrive/controls/lib/latcontrol_vehicle_tunes.py
@@ -809,10 +809,10 @@ PRIUS_CENTER_FRICTION_THRESHOLD_LAT_WIDTH = 0.07
 PRIUS_CENTER_FRICTION_THRESHOLD_SPEED = 18.0
 PRIUS_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH = 2.2
 
-CAMRY_CENTER_FRICTION_THRESHOLD_GAIN = 0.06
+CAMRY_CENTER_FRICTION_THRESHOLD_GAIN = 0.09
 CAMRY_CENTER_FRICTION_THRESHOLD_LAT = 0.22
 CAMRY_CENTER_FRICTION_THRESHOLD_LAT_WIDTH = 0.06
-CAMRY_CENTER_FRICTION_THRESHOLD_SPEED = 25.0
+CAMRY_CENTER_FRICTION_THRESHOLD_SPEED = 18.0
 CAMRY_CENTER_FRICTION_THRESHOLD_SPEED_WIDTH = 3.0
 
 RAV4_PRIME_PHASE_SCALE = 0.12