diff --git a/opendbc_repo/opendbc/car/gm/interface.py b/opendbc_repo/opendbc/car/gm/interface.py
index 72db19511..b8155bf8d 100755
--- a/opendbc_repo/opendbc/car/gm/interface.py
+++ b/opendbc_repo/opendbc/car/gm/interface.py
@@ -520,6 +520,10 @@ class CarInterface(CarInterfaceBase):
         ret.minEnableSpeed = -1.
       if candidate == CAR.CHEVROLET_BLAZER:
         ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+        ret.stoppingDecelRate = 1.2
+        ret.vEgoStopping = 0.35
+        ret.vEgoStarting = 0.35
+        ret.stopAccel = -0.40
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.BUICK_BABYENCLAVE:
diff --git a/opendbc_repo/opendbc/car/gm/tests/test_gm.py b/opendbc_repo/opendbc/car/gm/tests/test_gm.py
index 1fe367ef8..743f14e56 100644
--- a/opendbc_repo/opendbc/car/gm/tests/test_gm.py
+++ b/opendbc_repo/opendbc/car/gm/tests/test_gm.py
@@ -88,12 +88,15 @@ class TestGMInterface:
 
     old_testing_ground = gm_interface.testing_ground
     gm_interface.testing_ground = SimpleNamespace(use_2=True)
+    params = Params()
+    params.put_bool("GMPedalLongitudinal", True)
 
     try:
       car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=False, is_release=False, docs=False,
                                            starpilot_toggles=_test_starpilot_toggles())
     finally:
       gm_interface.testing_ground = old_testing_ground
+      params.remove("GMPedalLongitudinal")
 
     if pedal_present:
       assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.10, 0.072, 0.05, 0.04])
@@ -136,6 +139,22 @@ class TestGMInterface:
     assert list(car_params.longitudinalTuning.kiBP) == pytest.approx([0.0, 5.0, 15.0, 35.0])
     assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.28, 0.26, 0.20, 0.16])
 
+  def test_blazer_uses_earlier_stronger_low_speed_stop_tune(self):
+    CarInterface = interfaces[CAR.CHEVROLET_BLAZER]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_BLAZER][0].copy()
+    fingerprint[0][0x2FF] = 8  # SASCM present so alpha-long can enable on this platform
+
+    car_params = CarInterface.get_params(CAR.CHEVROLET_BLAZER, fingerprint, [], alpha_long=True, is_release=False,
+                                         docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.openpilotLongitudinalControl
+    assert car_params.minEnableSpeed == pytest.approx(5 * CV.KPH_TO_MS)
+    assert car_params.stoppingDecelRate == pytest.approx(1.2)
+    assert car_params.vEgoStopping == pytest.approx(0.35)
+    assert car_params.vEgoStarting == pytest.approx(0.35)
+    assert car_params.stopAccel == pytest.approx(-0.40)
+
   def test_volt_gateway_without_accel_pos_uses_brake_pedal_message(self):
     CarInterface = interfaces[CAR.CHEVROLET_VOLT]
     fingerprint = _empty_fingerprint()
@@ -213,10 +232,12 @@ class TestGMInterface:
     params = Params()
     toggles = _test_starpilot_toggles()
     try:
+      params.put_bool("GMPedalLongitudinal", True)
       params.put_bool("RemapCancelToDistance", True)
       car_params = CarInterface.get_params(CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL, fingerprint, [], alpha_long=False,
                                            is_release=False, docs=False, starpilot_toggles=toggles)
     finally:
+      params.remove("GMPedalLongitudinal")
       params.remove("RemapCancelToDistance")
 
     assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE
diff --git a/opendbc_repo/opendbc/car/hyundai/carcontroller.py b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
index 621d0a0e8..cc294f6f1 100644
--- a/opendbc_repo/opendbc/car/hyundai/carcontroller.py
+++ b/opendbc_repo/opendbc/car/hyundai/carcontroller.py
@@ -571,7 +571,7 @@ class CarController(CarControllerBase):
     use_ioniq_6_smoothed_accel = use_ioniq_6_dynamic_long_tuning and CC.actuators.accel >= self._ioniq_6_long_tuning.actual_accel
 
     # steering control
-    preserve_stock_lkas = self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not self.long_active_ecu
+    preserve_stock_lkas = bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING) and not self.long_active_ecu
     can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled,
                                                            apply_steer_req, apply_torque, apply_angle,
                                                            CS.stock_lfa_msg,
diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
index f1fec6c37..b7c8c1520 100644
--- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
@@ -132,8 +132,8 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
   ret = []
   if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
     lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
-    if CP.openpilotLongitudinalControl:
-      ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
+    # Keep the direct LFA packet shape aligned across stock-long and OP-long paths.
+    ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
     ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, lkas_values))
   else:
     if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index 1edc70705..e324f16d3 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -1386,6 +1386,100 @@ class TestHyundaiFingerprint:
     assert parser.can_valid
     assert parser.vl["LFA"]["LKA_ICON"] == 3
 
+  def test_kia_ev6_lfa_helper_preserves_stock_ui_fields_with_stock_long(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.KIA_EV6
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING)
+    CP.openpilotLongitudinalControl = False
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LFA", 0)], can_bus.ECAN)
+
+    stock_lfa = {
+      "CHECKSUM": 1234,
+      "COUNTER": 42,
+      "LKA_MODE": 6,
+      "NEW_SIGNAL_1": 3,
+      "LKA_WARNING": 1,
+      "LKA_ICON": 1,
+      "TORQUE_REQUEST": 17,
+      "STEER_REQ": 0,
+      "LFA_BUTTON": 1,
+      "LKA_ASSIST": 1,
+      "STEER_MODE": 5,
+      "NEW_SIGNAL_2": 2,
+      "NEW_SIGNAL_4": 7,
+      "HAS_LANE_SAFETY": 1,
+      "DAMP_FACTOR": 0x77,
+    }
+
+    msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, 123, 0.0, stock_lfa)
+    assert [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [
+      ("LFA", can_bus.ECAN),
+      ("LKAS", can_bus.ACAN),
+    ]
+
+    lfa_msgs = [msg for msg in msgs if msg[0] == 0x12A]
+    assert len(lfa_msgs) == 1
+
+    parser.update([(1, lfa_msgs)])
+
+    assert parser.can_valid
+    assert parser.vl["LFA"]["NEW_SIGNAL_1"] == 3
+    assert parser.vl["LFA"]["NEW_SIGNAL_2"] == 2
+    assert parser.vl["LFA"]["HAS_LANE_SAFETY"] == 1
+    assert parser.vl["LFA"]["DAMP_FACTOR"] == 0x77
+    assert parser.vl["LFA"]["TORQUE_REQUEST"] == 123
+    assert parser.vl["LFA"]["STEER_REQ"] == 1
+    assert parser.vl["LFA"]["LKA_ICON"] == 2
+
+  def test_kia_ev6_lkas_helper_preserves_stock_camera_fields_with_stock_long(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.KIA_EV6
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CANFD_LKA_STEERING)
+    CP.openpilotLongitudinalControl = False
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS", 0)], can_bus.ACAN)
+
+    stock_lkas = {
+      "CHECKSUM": 1234,
+      "COUNTER": 42,
+      "LKA_MODE": 6,
+      "LKA_AVAILABLE": 3,
+      "LKA_WARNING": 1,
+      "LKA_ICON": 1,
+      "FCA_SYSWARN": 1,
+      "TORQUE_REQUEST": 17,
+      "STEER_REQ": 0,
+      "LFA_BUTTON": 1,
+      "LKA_ASSIST": 1,
+      "STEER_MODE": 5,
+      "NEW_SIGNAL_2": 2,
+      "HAS_LANE_SAFETY": 1,
+      "DAMP_FACTOR": 0x70,
+    }
+
+    msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, 123, 0.0,
+                                                 lkas_base_values=stock_lkas)
+    lkas_msgs = [msg for msg in msgs if msg[0] == 0x50]
+    assert len(lkas_msgs) == 1
+
+    parser.update([(1, lkas_msgs)])
+
+    assert parser.can_valid
+    assert parser.vl["LKAS"]["LKA_AVAILABLE"] == 3
+    assert parser.vl["LKAS"]["LKA_WARNING"] == 1
+    assert parser.vl["LKAS"]["FCA_SYSWARN"] == 1
+    assert parser.vl["LKAS"]["LFA_BUTTON"] == 1
+    assert parser.vl["LKAS"]["HAS_LANE_SAFETY"] == 1
+    assert parser.vl["LKAS"]["DAMP_FACTOR"] == 0x70
+    assert parser.vl["LKAS"]["TORQUE_REQUEST"] == 123
+    assert parser.vl["LKAS"]["STEER_REQ"] == 1
+    assert parser.vl["LKAS"]["LKA_ICON"] == 2
+
   def test_ioniq_6_lkas_alt_helper_preserves_stock_camera_fields(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.HYUNDAI_IONIQ_6
diff --git a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
index f589cbf5a..4380f9e09 100644
--- a/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
+++ b/opendbc_repo/opendbc/safety/modes/hyundai_canfd.h
@@ -8,11 +8,13 @@
 
 #define HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(a_can, e_can) \
   HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can)                        \
+  {0x12A, e_can, 16, .check_relay = (e_can) == 0},  /* LFA */       \
   {0x50,  a_can, 16, .check_relay = (a_can) == 0},  /* LKAS */      \
   {0x2A4, a_can, 24, .check_relay = (a_can) == 0},  /* CAM_0x2A4 */ \
 
 #define HYUNDAI_CANFD_LKA_STEERING_ALT_COMMON_TX_MSGS(a_can, e_can) \
   HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(e_can)                        \
+  {0x12A, e_can, 16, .check_relay = (e_can) == 0},  /* LFA */       \
   {0x110, a_can, 32, .check_relay = (a_can) == 0},  /* LKAS_ALT */  \
   {0x362, a_can, 32, .check_relay = (a_can) == 0},  /* CAM_0x362 */ \
 
@@ -221,8 +223,9 @@ static bool hyundai_canfd_tx_hook(const CANPacket_t *msg) {
   }
 
   // steering
-  const unsigned int steer_addr = (hyundai_canfd_lka_steering && !hyundai_longitudinal) ? hyundai_canfd_get_lka_addr() : 0x12aU;
-  if (msg->addr == steer_addr) {
+  const bool stock_lka_steering = hyundai_canfd_lka_steering && !hyundai_longitudinal;
+  const bool steer_msg = (msg->addr == 0x12aU) || (stock_lka_steering && (msg->addr == hyundai_canfd_get_lka_addr()));
+  if (steer_msg) {
     if (hyundai_canfd_angle_steering) {
       const int lkas_angle_active = (msg->data[9] >> 4U) & 0x3U;
       const bool steer_angle_req = lkas_angle_active != 1;
diff --git a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
index 77d367d0a..1d8f90785 100755
--- a/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
+++ b/opendbc_repo/opendbc/safety/tests/test_hyundai_canfd.py
@@ -470,7 +470,7 @@ class TestHyundaiCanfdCCNCSupportFrames(common.SafetyTestBase):
 
 class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
 
-  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
+  TX_MSGS = [[0x50, 0], [0x12A, 1], [0x1CF, 1], [0x2A4, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x50, 0x2a4)}  # LKAS, CAM_0x2A4
   FWD_BLACKLISTED_ADDRS = {2: [0x50, 0x2a4]}
 
@@ -507,7 +507,7 @@ class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):
 # TODO: Handle ICE and HEV configurations once we see cars that use the new messages
 class TestHyundaiCanfdLKASteeringAltEV(TestHyundaiCanfdBase):
 
-  TX_MSGS = [[0x110, 0], [0x1CF, 1], [0x362, 0]]
+  TX_MSGS = [[0x110, 0], [0x12A, 1], [0x1CF, 1], [0x362, 0]]
   RELAY_MALFUNCTION_ADDRS = {0: (0x110, 0x362)}  # LKAS_ALT, CAM_0x362
   FWD_BLACKLISTED_ADDRS = {2: [0x110, 0x362]}
 
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index bef9e3e31..69ac8986a 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -495,18 +495,18 @@ IONIQ_6_PHASE_SCALE = 0.10
 IONIQ_6_TURN_IN_BOOST_LEFT = 1.64
 IONIQ_6_TURN_IN_BOOST_RIGHT = 1.88
 IONIQ_6_UNWIND_TAPER_LEFT = 3.18
-IONIQ_6_UNWIND_TAPER_RIGHT = 6.55
+IONIQ_6_UNWIND_TAPER_RIGHT = 8.20
 IONIQ_6_FRICTION_MULT = 0.928
 IONIQ_6_FRICTION_LAT_RISE = 0.20
 IONIQ_6_FRICTION_JERK_RISE = 0.24
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.78
 IONIQ_6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 1.24
 IONIQ_6_UNWIND_THRESHOLD_INCREASE_LEFT = 3.90
-IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 8.10
+IONIQ_6_UNWIND_THRESHOLD_INCREASE_RIGHT = 10.20
 IONIQ_6_TURN_IN_FRICTION_BOOST_LEFT = 0.44
 IONIQ_6_TURN_IN_FRICTION_BOOST_RIGHT = 0.78
 IONIQ_6_UNWIND_FRICTION_REDUCTION_LEFT = 3.55
-IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 7.65
+IONIQ_6_UNWIND_FRICTION_REDUCTION_RIGHT = 9.10
 IONIQ_6_CENTER_TAPER_MAX = 0.082
 IONIQ_6_CENTER_TAPER_LAT = 0.24
 IONIQ_6_CENTER_TAPER_LAT_WIDTH = 0.025
@@ -529,7 +529,7 @@ IONIQ_6_DIRECTIONAL_TAPER_LAT_WIDTH = 0.06
 IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT = 0.13
 IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT = 0.45
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT = 1.82
-IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 3.28
+IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT = 4.25
 IONIQ_6_DIRECTIONAL_TAPER_FLOOR_LEFT = 0.48
 IONIQ_6_DIRECTIONAL_TAPER_FLOOR_RIGHT = 0.52
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_LEFT = 0.10
@@ -552,7 +552,7 @@ IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.12
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT = 0.17
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_LEFT = 0.62
-IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 0.94
+IONIQ_6_HEAVY_DIRECTIONAL_TAPER_UNWIND_RIGHT = 1.18
 IONIQ_6_OUTPUT_TAPER_SPEED = 8.5
 IONIQ_6_OUTPUT_TAPER_SPEED_WIDTH = 2.5
 IONIQ_6_OUTPUT_CENTER_TAPER_BLEND = 0.90