diff --git a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
index 696d6c20b..a2a2042eb 100644
--- a/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+++ b/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
@@ -2,7 +2,7 @@ import copy
 import numpy as np
 from opendbc.car import CanBusBase, CanData
 from opendbc.car.crc import CRC16_XMODEM
-from opendbc.car.hyundai.values import CAR, HyundaiFlags
+from opendbc.car.hyundai.values import HyundaiFlags
 
 
 def _set_value(msg: bytearray, sig, ival: int) -> None:
@@ -134,15 +134,10 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
   else:
     if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
       if CP.flags & HyundaiFlags.SEND_LFA:
-        # Sportage HEV 2026 tracks more reliably and stays fault-free on the stock-style
-        # LFA angle request path. Other SEND_LFA angle cars still use ADAS_CMD.
-        if CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026:
-          ret.append(_create_angle_lfa_msg(packer, CAN, lfa_values, apply_angle, lat_active, apply_torque))
-        else:
-          # Some CAN-FD angle-steering trims still expect the stock-style LFA status/UI
-          # message to remain present even though angle actuation comes through ADAS_CMD.
-          ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
-          ret.append(_create_angle_adas_cmd_msg(packer, CAN, apply_angle, lat_active, apply_torque))
+        # Some CAN-FD angle-steering trims still expect the stock-style LFA status/UI
+        # message to remain present even though angle actuation comes through ADAS_CMD.
+        ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
+        ret.append(_create_angle_adas_cmd_msg(packer, CAN, apply_angle, lat_active, apply_torque))
       else:
         ret.append(_create_angle_lfa_msg(packer, CAN, lfa_values, apply_angle, lat_active, apply_torque))
     else:
diff --git a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
index 77f2cd448..1621346e7 100644
--- a/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+++ b/opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
@@ -811,7 +811,7 @@ class TestHyundaiFingerprint:
     assert parser.vl["FCA12"]["FCA_DrvSetState"] == 2
     assert parser.vl["FCA12"]["FCA_USM"] == 2
 
-  def test_sportage_angle_steering_uses_lfa_only_with_send_lfa(self):
+  def test_sportage_angle_steering_uses_lfa_and_adas_cmd_with_send_lfa(self):
     fingerprint = gen_empty_fingerprint()
     cam_can = CanBus(None, fingerprint).CAM
     fingerprint[cam_can][0xCB] = 24
@@ -825,6 +825,7 @@ class TestHyundaiFingerprint:
     msgs = hyundaicanfd.create_steering_messages(packer, CP, can_bus, True, True, 1.0, 12.3)
     assert [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [
       ("LFA", can_bus.ECAN),
+      ("ADAS_CMD_35_10ms", can_bus.ECAN),
     ]
 
   def test_ioniq_6_lfa_helper_preserves_stock_ui_fields(self):
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index f17e23792..0812afa79 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -289,6 +289,8 @@ 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
 IONIQ_6_DIRECTIONAL_TAPER_UNWIND_FLOOR_RIGHT = 0.04
+IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET = 0.35
+IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH = 0.08
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START = 0.82
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH = 0.12
 IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT = 0.10
@@ -947,7 +949,8 @@ def get_ioniq_6_directional_taper_scale(desired_lateral_accel: float, desired_la
   band_weight = onset * cutoff
   heavy_band_weight = _ioniq_6_sigmoid((abs_lateral_accel - IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_START) / IONIQ_6_HEAVY_DIRECTIONAL_TAPER_LAT_WIDTH)
   phase = _ioniq_6_transition_phase(desired_lateral_accel, desired_lateral_jerk)
-  unwind_weight = max(-phase, 0.0)
+  unwind_weight = max(-phase, 0.0) * _ioniq_6_sigmoid((abs(desired_lateral_jerk) - IONIQ_6_DIRECTIONAL_TAPER_JERK_ONSET) /
+                                                       IONIQ_6_DIRECTIONAL_TAPER_JERK_WIDTH)
   base_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_DIRECTIONAL_TAPER_BASE_RIGHT)
   unwind_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_LEFT, IONIQ_6_DIRECTIONAL_TAPER_UNWIND_RIGHT)
   heavy_base_reduction = _ioniq_6_side_value(desired_lateral_accel, IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_LEFT, IONIQ_6_HEAVY_DIRECTIONAL_TAPER_BASE_RIGHT)
diff --git a/selfdrive/controls/tests/test_latcontrol.py b/selfdrive/controls/tests/test_latcontrol.py
index 6379c8374..4293ae874 100644
--- a/selfdrive/controls/tests/test_latcontrol.py
+++ b/selfdrive/controls/tests/test_latcontrol.py
@@ -254,6 +254,8 @@ class TestLatControl:
     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) < get_ioniq_6_directional_taper_scale(1.2, 0.0) < 1.0
     assert get_ioniq_6_directional_taper_scale(-1.2, 0.7) <= get_ioniq_6_directional_taper_scale(-1.2, 0.0)
+    assert get_ioniq_6_directional_taper_scale(-1.2, 0.25) > get_ioniq_6_directional_taper_scale(-1.2, 0.7)
+    assert get_ioniq_6_directional_taper_scale(1.2, -0.25) > get_ioniq_6_directional_taper_scale(1.2, -0.7)
 
   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