diff --git a/opendbc_repo/opendbc/car/gm/interface.py b/opendbc_repo/opendbc/car/gm/interface.py
index c8b71028..c7312fcd 100755
--- a/opendbc_repo/opendbc/car/gm/interface.py
+++ b/opendbc_repo/opendbc/car/gm/interface.py
@@ -574,12 +574,13 @@ class CarInterface(CarInterfaceBase):
     )
     if volt_test_tune_active:
       # Volt interceptor-long currently falls back to an all-I tune on this path.
-      # The test-ground tune adds a modest P term, reduces I memory, and uses a
-      # dedicated starting state so stop-and-go launches do not wind up the PID.
+      # The test-ground tune adds a modest P term, trims mid/high-speed I memory,
+      # and uses a dedicated starting state so stop-and-go launches do not wind
+      # up the PID.
       ret.longitudinalTuning.kpBP = [0.0, 4.0, 12.0, 35.0]
-      ret.longitudinalTuning.kpV = [0.10, 0.08, 0.06, 0.045]
+      ret.longitudinalTuning.kpV = [0.10, 0.072, 0.050, 0.040]
       ret.longitudinalTuning.kiBP = [0.0, 4.0, 12.0, 35.0]
-      ret.longitudinalTuning.kiV = [0.025, 0.035, 0.055, 0.080]
+      ret.longitudinalTuning.kiV = [0.025, 0.030, 0.040, 0.055]
       ret.startingState = True
       ret.startAccel = 1.15
       ret.vEgoStarting = max(ret.vEgoStarting, 0.35)
diff --git a/opendbc_repo/opendbc/car/gm/tests/test_gm.py b/opendbc_repo/opendbc/car/gm/tests/test_gm.py
index 828c08a2..1e71a4b5 100644
--- a/opendbc_repo/opendbc/car/gm/tests/test_gm.py
+++ b/opendbc_repo/opendbc/car/gm/tests/test_gm.py
@@ -68,8 +68,8 @@ class TestGMInterface:
     car_params = CarInterface.get_params(CAR.CHEVROLET_VOLT_ASCM, fingerprint, [], alpha_long=False, is_release=False, docs=False,
                                          starpilot_toggles=_test_starpilot_toggles())
 
-    assert list(car_params.longitudinalTuning.kpV) == [0.10, 0.08, 0.06, 0.045]
-    assert list(car_params.longitudinalTuning.kiV) == [0.025, 0.035, 0.055, 0.08]
+    assert list(car_params.longitudinalTuning.kpV) == [0.10, 0.072, 0.05, 0.04]
+    assert list(car_params.longitudinalTuning.kiV) == [0.025, 0.03, 0.04, 0.055]
     assert car_params.startingState
     assert car_params.startAccel == pytest.approx(1.15)
 
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 34137e03..72a6dff3 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -86,19 +86,19 @@ BOLT_2018_2021_TRANSITION_SPEED = 8.5
 BOLT_2018_2021_PHASE_SCALE = 0.10
 BOLT_2018_2021_TURN_IN_BOOST_LEFT = 0.22
 BOLT_2018_2021_TURN_IN_BOOST_RIGHT = 0.12
-BOLT_2018_2021_UNWIND_TAPER_GAIN_LEFT = 0.72
-BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT = 0.84
+BOLT_2018_2021_UNWIND_TAPER_GAIN_LEFT = 0.80
+BOLT_2018_2021_UNWIND_TAPER_GAIN_RIGHT = 0.96
 BOLT_2018_2021_FRICTION_MULT = 1.01
 BOLT_2018_2021_FRICTION_LAT_RISE = 0.24
 BOLT_2018_2021_FRICTION_JERK_RISE = 0.28
 BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.16
 BOLT_2018_2021_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.13
-BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_LEFT = 0.12
-BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.17
+BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_LEFT = 0.15
+BOLT_2018_2021_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.21
 BOLT_2018_2021_TURN_IN_FRICTION_BOOST_LEFT = 0.08
 BOLT_2018_2021_TURN_IN_FRICTION_BOOST_RIGHT = 0.06
-BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT = 0.14
-BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT = 0.19
+BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_LEFT = 0.17
+BOLT_2018_2021_UNWIND_FRICTION_REDUCTION_RIGHT = 0.23
 
 BOLT_2022_2023_LATERAL_TESTING_GROUND_ID = testing_ground.id_5
 BOLT_2022_2023_FF_GAIN_LEFT = 0.13
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 90eb5aa6..dec1939e 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -155,14 +155,21 @@ class LongControl:
     self.integrator_hold_frames = 0
 
   def _get_pedal_long_freeze(self, a_target, error, v_ego, accel_limits):
-    if not self.is_gm_pedal_long:
+    volt_test_tune_handoff = self.is_volt_interceptor and testing_ground.use_2
+
+    if not self.is_gm_pedal_long and not volt_test_tune_handoff:
       self.last_a_target = a_target
       self.integrator_hold_frames = 0
       return False
 
-    handoff_threshold = interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.35, 0.45, 0.55, 0.70])
-    if abs(a_target - self.last_a_target) > handoff_threshold:
+    if self.is_gm_pedal_long:
+      handoff_threshold = interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.35, 0.45, 0.55, 0.70])
       hold_frames = int(round(interp(v_ego, [0.0, 4.0, 12.0, 25.0], [25.0, 20.0, 14.0, 10.0])))
+    else:
+      handoff_threshold = interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.24, 0.30, 0.38, 0.48])
+      hold_frames = int(round(interp(v_ego, [0.0, 4.0, 12.0, 25.0], [12.0, 10.0, 8.0, 6.0])))
+
+    if abs(a_target - self.last_a_target) > handoff_threshold:
       self.integrator_hold_frames = max(self.integrator_hold_frames, hold_frames)
     self.last_a_target = a_target
 
@@ -183,7 +190,7 @@ class LongControl:
 
     # Bleed stale I quickly when the target reverses against stored integrator.
     if self.pid.i * error < 0.0 and abs(error) > 0.05:
-      bleed = interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.86, 0.90, 0.94, 0.97])
+      bleed = interp(v_ego, [0.0, 4.0, 12.0, 25.0], [0.82, 0.86, 0.90, 0.94])
       self.pid.i *= bleed
 
   def update(self, active, CS, a_target, should_stop, accel_limits, starpilot_toggles):
diff --git a/selfdrive/controls/tests/test_longcontrol.py b/selfdrive/controls/tests/test_longcontrol.py
index ab50810d..f61986ae 100644
--- a/selfdrive/controls/tests/test_longcontrol.py
+++ b/selfdrive/controls/tests/test_longcontrol.py
@@ -1,5 +1,7 @@
 from cereal import car
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState, long_control_state_trans
+import openpilot.selfdrive.controls.lib.longcontrol as longcontrol
+from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 
 
 
@@ -54,3 +56,22 @@ def test_starting():
   next_state = long_control_state_trans(CP, active, current_state, v_ego=1.0,
                              should_stop=False, brake_pressed=False, cruise_standstill=False)
   assert next_state == LongCtrlState.pid
+
+
+def test_volt_testing_ground_handoff_freezes_integrator(monkeypatch):
+  CP = car.CarParams.new_message()
+  CP.brand = "gm"
+  CP.enableGasInterceptorDEPRECATED = True
+  CP.carFingerprint = "CHEVROLET_VOLT_ASCM"
+  CP.longitudinalTuning.kpBP = [0.0]
+  CP.longitudinalTuning.kpV = [0.1]
+  CP.longitudinalTuning.kiBP = [0.0]
+  CP.longitudinalTuning.kiV = [0.03]
+
+  monkeypatch.setattr(longcontrol.testing_ground, "use_2", True, raising=False)
+
+  lc = LongControl(CP)
+  freeze = lc._get_pedal_long_freeze(a_target=0.7, error=0.7, v_ego=8.0, accel_limits=(-3.0, 2.0))
+
+  assert freeze
+  assert lc.integrator_hold_frames > 0