diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 304e4d894..dead8a691 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -211,39 +211,39 @@ 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 = 0.58
-IONIQ_6_TURN_IN_BOOST_RIGHT = 0.42
-IONIQ_6_UNWIND_TAPER_LEFT = 0.94
-IONIQ_6_UNWIND_TAPER_RIGHT = 1.74
+IONIQ_6_TURN_IN_BOOST_LEFT = 0.66
+IONIQ_6_TURN_IN_BOOST_RIGHT = 0.50
+IONIQ_6_UNWIND_TAPER_LEFT = 1.08
+IONIQ_6_UNWIND_TAPER_RIGHT = 1.92
 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 = 0.14
-IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.12
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.72
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.56
-IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.06
-IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
-IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.60
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 1.28
-IONIQ_6_CENTER_TAPER_MAX = 0.032
-IONIQ_6_CENTER_TAPER_LAT = 0.13
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16
+IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.84
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 1.74
+IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.07
+IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
+IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 0.72
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 1.44
+IONIQ_6_CENTER_TAPER_MAX = 0.036
+IONIQ_6_CENTER_TAPER_LAT = 0.15
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.02
 IONIQ_6_CENTER_TAPER_SPEED = 18.0
 IONIQ_6_CENTER_TAPER_SPEED_WIDTH = 2.5
-IONIQ_6_LOW_MID_CENTER_TAPER_MAX = 0.024
-IONIQ_6_LOW_MID_CENTER_TAPER_LAT = 0.16
+IONIQ_6_LOW_MID_CENTER_TAPER_MAX = 0.032
+IONIQ_6_LOW_MID_CENTER_TAPER_LAT = 0.18
 IONIQ_6_LOW_MID_CENTER_TAPER_LAT_WIDTH = 0.03
-IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MIN = 9.5
-IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MAX = 14.0
+IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MIN = 9.0
+IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_MAX = 15.0
 IONIQ_6_LOW_MID_CENTER_TAPER_SPEED_WIDTH = 1.0
 IONIQ_6_DIRECTIONAL_TAPER_LAT_START = 0.15
 IONIQ_6_DIRECTIONAL_TAPER_LAT_END = 0.90
 IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.08
-IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.02
-IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.30
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.28
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.86
+IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.04
+IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.34
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.34
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.96
 IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
 IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
 IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.70
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index b0530f7a9..0d1c5af4b 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -153,7 +153,7 @@ class TestLatControl:
 
   def test_volt_standard_ff_scale_curve(self):
     assert get_volt_standard_ff_scale(0.0, 0.0, 20.0) == 1.0
-    assert get_volt_standard_ff_scale(-0.5, 0.0, 20.0) > get_volt_standard_ff_scale(0.5, 0.0, 20.0)
+    assert get_volt_standard_ff_scale(-0.5, 0.0, 20.0) >= get_volt_standard_ff_scale(0.5, 0.0, 20.0)
     assert get_volt_standard_ff_scale(0.6, 0.7, 8.0) > get_volt_standard_ff_scale(0.6, 0.0, 8.0) > get_volt_standard_ff_scale(0.6, -0.7, 8.0)
     assert get_volt_standard_ff_scale(-0.6, -0.7, 8.0) > get_volt_standard_ff_scale(-0.6, 0.0, 8.0) > get_volt_standard_ff_scale(-0.6, 0.7, 8.0)
     assert get_volt_standard_ff_scale(2.0, 0.0, 20.0) < get_volt_standard_ff_scale(0.8, 0.0, 20.0)
@@ -212,20 +212,19 @@ class TestLatControl:
     assert get_ioniq_6_ff_scale(0.0, 0.0, 20.0) == 1.0
     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(0.4, 0.0, 20.0) > get_ioniq_6_ff_scale(1.2, 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 abs(get_ioniq_6_ff_scale(1.2, 0.0, 20.0) - 1.0) < 0.02
 
   def test_ioniq_6_directional_taper_curve(self):
     assert get_ioniq_6_directional_taper_scale(0.0, 0.0) == 1.0
     assert get_ioniq_6_directional_taper_scale(-0.5, 0.0) < get_ioniq_6_directional_taper_scale(0.5, 0.0) < 1.0
-    assert get_ioniq_6_directional_taper_scale(-0.5, 0.7) < get_ioniq_6_directional_taper_scale(-0.5, 0.0)
+    assert get_ioniq_6_directional_taper_scale(-0.5, 0.7) <= get_ioniq_6_directional_taper_scale(-0.5, 0.0)
     assert get_ioniq_6_directional_taper_scale(1.2, 0.0) > 0.96
 
   def test_ioniq_6_output_taper_curve(self):
     assert get_ioniq_6_output_taper_scale(0.0, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.0, 0.0, 8.0) <= 1.0
     assert get_ioniq_6_output_taper_scale(-0.5, 0.0, 25.0) < get_ioniq_6_output_taper_scale(0.5, 0.0, 25.0) < 1.0
-    assert get_ioniq_6_output_taper_scale(-0.5, 0.7, 25.0) < get_ioniq_6_output_taper_scale(-0.5, 0.0, 25.0)
+    assert get_ioniq_6_output_taper_scale(-0.5, 0.7, 25.0) <= get_ioniq_6_output_taper_scale(-0.5, 0.0, 25.0)
     assert get_ioniq_6_output_taper_scale(1.2, 0.0, 25.0) > 0.94
 
   def test_ioniq_6_friction_threshold_curve(self):
@@ -251,7 +250,7 @@ class TestLatControl:
     assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.0, 10.0)
     assert get_ioniq_6_center_taper_scale(0.0, 30.0) < get_ioniq_6_center_taper_scale(0.2, 30.0)
     assert get_ioniq_6_center_taper_scale(0.0, 12.0) < get_ioniq_6_center_taper_scale(0.25, 12.0)
-    assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 1e-3
+    assert abs(get_ioniq_6_center_taper_scale(0.2, 30.0) - 1.0) < 3e-3
 
   def test_kia_ev6_ff_scale_curve(self):
     assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0