diff --git a/openpilot/selfdrive/assets/sounds/critical.wav b/openpilot/selfdrive/assets/sounds/critical.wav
new file mode 100644
index 000000000..f36aa1bac
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/critical.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca29ff46fbd6d00cc02596de8c9abfbf1cacdc6a7b2f98b27a74d24c790da004
+size 52374
diff --git a/openpilot/selfdrive/assets/sounds/disengage.wav b/openpilot/selfdrive/assets/sounds/disengage.wav
index 7bfd97ad7..7db1d3191 100644
--- a/openpilot/selfdrive/assets/sounds/disengage.wav
+++ b/openpilot/selfdrive/assets/sounds/disengage.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:42bd04a57b527c787a0555503e02a203f7d672c12d448769a3f41f17befbf013
-size 48044
+oid sha256:6f47633b5082b911e79dd13fc2d1f4c2a9d44d2fe0860f3d390ffc4e3d772f7d
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/dm_critical.wav b/openpilot/selfdrive/assets/sounds/dm_critical.wav
new file mode 100644
index 000000000..9a4171444
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/dm_critical.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538271820d618046009bb456e930598f2736dd1a6174c11925ec3912581b05c1
+size 52374
diff --git a/openpilot/selfdrive/assets/sounds/dm_warning.wav b/openpilot/selfdrive/assets/sounds/dm_warning.wav
new file mode 100644
index 000000000..52124b080
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/dm_warning.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:634fad6590295ef2e73d5f7e5aecbb5dd245a0f7692f1e300c2ebac95aabb8e3
+size 73026
diff --git a/openpilot/selfdrive/assets/sounds/engage.wav b/openpilot/selfdrive/assets/sounds/engage.wav
index 8633b5ac2..a984e2f3d 100644
--- a/openpilot/selfdrive/assets/sounds/engage.wav
+++ b/openpilot/selfdrive/assets/sounds/engage.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:b1e177499d9439367179cc57a6301b6162393972e3a136cc35c5fdac026bf10a
-size 48044
+oid sha256:a380fe0a022856b302841a0dd19b71eab318c6b08ec851f128942758a7f1631a
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/pre_alert.wav b/openpilot/selfdrive/assets/sounds/pre_alert.wav
index 4443bf7d2..d8240a171 100644
--- a/openpilot/selfdrive/assets/sounds/pre_alert.wav
+++ b/openpilot/selfdrive/assets/sounds/pre_alert.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:2c0af7f5fe57bb36ab96fae868e20feca763541c97a61b3a3a84a0e7fcb81163
-size 83350
+oid sha256:cc9e67cfaba77e8e4f4049f0add9238660e4cf8f886c6915600d8f47a30c98db
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/prompt.wav b/openpilot/selfdrive/assets/sounds/prompt.wav
deleted file mode 100644
index e482c85a6..000000000
--- a/openpilot/selfdrive/assets/sounds/prompt.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ad19268e4aaaeac8dd21f6b26c16a121e7b3f50bba867748e7226727643ae682
-size 144642
diff --git a/openpilot/selfdrive/assets/sounds/prompt_distracted.wav b/openpilot/selfdrive/assets/sounds/prompt_distracted.wav
deleted file mode 100644
index c11993f20..000000000
--- a/openpilot/selfdrive/assets/sounds/prompt_distracted.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:412ef25d2fb103c1ebd55c667313a5921493305fb4e1f4e1dafc08d3b95d86ab
-size 73026
diff --git a/openpilot/selfdrive/assets/sounds/refuse.wav b/openpilot/selfdrive/assets/sounds/refuse.wav
index 1e0c47697..10026d7be 100644
--- a/openpilot/selfdrive/assets/sounds/refuse.wav
+++ b/openpilot/selfdrive/assets/sounds/refuse.wav
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4af81cbf1d96a42cc351878b015298aee82874b46baaf1a615ca91ec36c0ced6
-size 83228
+oid sha256:081d64ca28a84a59ff5e6aea4732865b8687585938b8a287bc7e6a49d0646508
+size 97120
diff --git a/openpilot/selfdrive/assets/sounds/warning.wav b/openpilot/selfdrive/assets/sounds/warning.wav
new file mode 100644
index 000000000..bb71a0176
--- /dev/null
+++ b/openpilot/selfdrive/assets/sounds/warning.wav
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bb440f424c989c06e203bfba0b32d39aede8f6c78a9b335e5e778460202b601
+size 73026
diff --git a/openpilot/selfdrive/assets/sounds/warning_immediate.wav b/openpilot/selfdrive/assets/sounds/warning_immediate.wav
deleted file mode 100644
index fcbfed79e..000000000
--- a/openpilot/selfdrive/assets/sounds/warning_immediate.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:5a390831afca3bfc6ea3c2739b872ebf866e70df8ae30653f8587e5cd3993959
-size 68306
diff --git a/openpilot/selfdrive/assets/sounds/warning_soft.wav b/openpilot/selfdrive/assets/sounds/warning_soft.wav
deleted file mode 100644
index 7db30303d..000000000
--- a/openpilot/selfdrive/assets/sounds/warning_soft.wav
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:67e636d072703e6b1233a12344c0a6304fd43d64dbb31c66b71c2c8870a339c1
-size 153764
diff --git a/openpilot/selfdrive/ui/soundd.py b/openpilot/selfdrive/ui/soundd.py
index 151c49b0e..5cbb1298f 100644
--- a/openpilot/selfdrive/ui/soundd.py
+++ b/openpilot/selfdrive/ui/soundd.py
@@ -22,7 +22,7 @@ ALERT_RAMP_TIME = 4 # seconds to ramp to max volume for warningImmediate
 SELFDRIVE_STATE_TIMEOUT = 5 # 5 seconds
 FILTER_DT = 1. / (micd.SAMPLE_RATE / micd.FFT_SAMPLES)
 
-AMBIENT_DB = 24 # DB where MIN_VOLUME is applied
+AMBIENT_DB = 26 # DB where MIN_VOLUME is applied
 DB_SCALE = 30 # AMBIENT_DB + DB_SCALE is where MAX_VOLUME is applied
 
 VOLUME_BASE = 20
@@ -39,16 +39,15 @@ sound_list: dict[int, tuple[str, int | None, float]] = {
   AudibleAlert.disengage: ("disengage.wav", 1, MAX_VOLUME),
   AudibleAlert.refuse: ("refuse.wav", 1, MAX_VOLUME),
 
-  AudibleAlert.prompt: ("prompt.wav", 1, MAX_VOLUME),
-  AudibleAlert.promptRepeat: ("prompt.wav", None, MAX_VOLUME),
-  AudibleAlert.promptDistracted: ("prompt_distracted.wav", None, MAX_VOLUME),
+  AudibleAlert.prompt: ("warning.wav", 1, MAX_VOLUME),
+  AudibleAlert.promptRepeat: ("warning.wav", None, MAX_VOLUME),
+  AudibleAlert.promptDistracted: ("dm_warning.wav", None, MAX_VOLUME),
 
   AudibleAlert.preAlert: ("pre_alert.wav", 1, MAX_VOLUME),
-
   AudibleAlert.complete: ("complete.wav", 1, MAX_VOLUME),
 
-  AudibleAlert.warningSoft: ("warning_soft.wav", None, MAX_VOLUME),
-  AudibleAlert.warningImmediate: ("warning_immediate.wav", None, MAX_VOLUME),
+  AudibleAlert.warningSoft: ("critical.wav", None, MAX_VOLUME),
+  AudibleAlert.warningImmediate: ("dm_critical.wav", None, MAX_VOLUME),
 }
 if HARDWARE.get_device_type() == "tizi":
   sound_list.update({
@@ -78,6 +77,7 @@ class Soundd:
     self.ramp_start_time = 0.
 
     self.selfdrive_timeout_alert = False
+    self.pending_stop = False
 
     self.spl_filter_weighted = FirstOrderFilter(0, 2.5, FILTER_DT, initialized=False)
 
@@ -116,6 +116,10 @@ class Soundd:
         self.current_sound_frame += frames_to_write
         current_sound_frame = self.current_sound_frame % len(sound_data)
         loops = self.current_sound_frame // len(sound_data)
+        if self.pending_stop and current_sound_frame == 0:
+          self.current_alert = AudibleAlert.none
+          self.pending_stop = False
+          break
 
     return ret * self.current_volume
 
@@ -126,6 +130,15 @@ class Soundd:
 
   def update_alert(self, new_alert):
     current_alert_played_once = self.current_alert == AudibleAlert.none or self.current_sound_frame >= len(self.loaded_sounds[self.current_alert])
+    # let looping sounds finish the current loop instead of cutting off mid tone
+    if new_alert == AudibleAlert.none and self.current_alert != AudibleAlert.none and sound_list[self.current_alert][1] is None:
+      if current_alert_played_once:
+        self.pending_stop = True
+      else:
+        self.current_alert = AudibleAlert.none
+        self.current_sound_frame = 0
+      return
+    self.pending_stop = False
     if self.current_alert != new_alert and (new_alert != AudibleAlert.none or current_alert_played_once):
       if new_alert == AudibleAlert.warningImmediate:
         self.ramp_start_volume = self.current_volume