diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 37b4f2a0f4..3d0ca96ef1 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -162,8 +162,8 @@ class CarInterface(CarInterfaceBase):
 
     # hand tuned (July 1, 2024)
     def custom_tss2_longitudinal_tuning():
-      ret.vEgoStopping = 0.001
-      ret.vEgoStarting = 0.001
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
       ret.stoppingDecelRate = 0.0074
 
     def default_tss2_longitudinal_tuning():
@@ -182,7 +182,7 @@ class CarInterface(CarInterfaceBase):
         #tune.kiV = [0.34, 0.35, 0.2896, 0.2237, 0.174, 0.10, 0.08, 0.06]
         #smooth
         tune.kiBP = [0.,  5.,   12.,  20.,  27.,  36.,  50]
-        tune.kiV = [0.33, 0.205, 0.20, 0.17, 0.12, 0.08, 0.06]
+        tune.kiV = [0.35, 0.23, 0.20, 0.17, 0.12, 0.08, 0.06]
         #tune.kiBP = [0.,  2.,   5.,  12.,  16,   20.,  27.,  36.,  50]
         #tune.kiV = [0.27, 0.24, 0.2205, 0.20, 0.18, 0.17, 0.12, 0.08, 0.06]
         custom_tss2_longitudinal_tuning()
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index c288ac6654..a08c66bb6a 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -56,7 +56,7 @@ T_IDXS = np.array(T_IDXS_LST)
 FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
 COMFORT_BRAKE = 2.5
-STOP_DISTANCE = 3.0
+STOP_DISTANCE = 6.0
 
 def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
@@ -66,7 +66,7 @@ def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   elif personality==custom.LongitudinalPersonalitySP.moderate:
     return 0.8
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    return 0.6
+    return 0.65
   else:
     raise NotImplementedError("Longitudinal personality not supported")
 
@@ -86,17 +86,17 @@ def get_T_FOLLOW(personality=custom.LongitudinalPersonalitySP.standard):
 
 def get_dynamic_personality(v_ego, personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
-    x_vel =  [0,    11,   14.5, 15,   20,   20.01,  25,    25.01,  36,  36.01]
-    y_dist = [1.5,  1.5,  1.5,  1.6,  1.76, 1.76,   1.78,  1.78,   1.8, 1.8]
+    x_vel =  [0,    20.,   27.7]
+    y_dist = [1.75, 1.75,  2.00]
   elif personality==custom.LongitudinalPersonalitySP.standard:
-    x_vel =  [0,     5,     5.01,  8.33,  8.34,  11.1, 11.11,  19.99, 20,    36]
-    y_dist = [0.65,  0.65,  0.87,  0.87,  1.09,  1.09, 1.25,   1.25,  1.65,  1.65]
+    x_vel =  [0,    20.,   27.7]
+    y_dist = [1.75, 1.75,  2.00]
   elif personality==custom.LongitudinalPersonalitySP.moderate:
-    x_vel =  [0,     5,     5.01,  8.33,  8.34,  11.1, 11.11,  20,    20.01,  36]
-    y_dist = [0.64,  0.64,  0.85,  0.85,  1.04,  1.04, 1.20,   1.20,  1.40,   1.40]
+    x_vel =  [0,    20.,   27.7]
+    y_dist = [1.45, 1.45,  1.60]
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    x_vel =  [0,     5,     5.01,  8.33,  8.34,  11.1, 11.11, 15,   17,    20,    20.01,  25, 25.01, 36,   36.01]
-    y_dist = [0.63,  0.53,  0.83,  0.83,  1.00,  1.00, 1.15,  1.15, 1.16,  1.24,  1.25, 1.25, 1.25, 1.25,  1.25]
+    x_vel =  [0,    20.,   27.7]
+    y_dist = [1.28, 1.28,  1.35]
   else:
     raise NotImplementedError("Dynamic personality not supported")
   return np.interp(v_ego, x_vel, y_dist)
diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py
index c44439e9d9..df3eb3b45f 100644
--- a/selfdrive/controls/lib/sunnypilot/accel_controller.py
+++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py
@@ -29,10 +29,15 @@ from openpilot.common.numpy_fast import interp
 AccelPersonality = custom.AccelerationPersonality
 
 # accel personality by @arne182 modified by cgw and kumar
-_DP_CRUISE_MIN_V =       [-0.045, -0.045, -0.201,  -0.201,  -0.430,  -0.430,  -0.66,  -0.66,  -0.82]
-_DP_CRUISE_MIN_V_ECO =   [-0.04,  -0.04,  -0.200,  -0.200,  -0.425,  -0.425,  -0.64,  -0.64,  -0.80]
-_DP_CRUISE_MIN_V_SPORT = [-0.05,  -0.05,  -0.204,  -0.204,  -0.445,  -0.445,  -0.68,  -0.68,  -0.84]
-_DP_CRUISE_MIN_BP =      [0.,     5.00,   5.01,    17.,     17.01,   27.77,   27.78,  33.,    33.01]
+_DP_CRUISE_MIN_V =       [-1.0, -1.0,  -0.76]
+_DP_CRUISE_MIN_V_ECO =   [-1.0, -1.0,  -0.74]
+_DP_CRUISE_MIN_V_SPORT = [-1.0, -1.0,  -0.78]
+_DP_CRUISE_MIN_BP =      [0.,   11.1,  20.]
+
+#_DP_CRUISE_MIN_V =       [-0.045, -0.045, -0.201,  -0.201,  -0.430,  -0.430,  -0.66,  -0.66,  -0.82]
+#_DP_CRUISE_MIN_V_ECO =   [-0.04,  -0.04,  -0.200,  -0.200,  -0.425,  -0.425,  -0.64,  -0.64,  -0.80]
+#_DP_CRUISE_MIN_V_SPORT = [-0.05,  -0.05,  -0.204,  -0.204,  -0.445,  -0.445,  -0.68,  -0.68,  -0.84]
+#_DP_CRUISE_MIN_BP =      [0.,     5.00,   5.01,    17.,     17.01,   27.77,   27.78,  33.,    33.01]
 _DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.68, 1.07, .72,  .53,  .42,  .13]
 _DP_CRUISE_MAX_V_ECO =   [2.0, 2.0, 2.0, 1.38, 0.91, .53,  .42,  .31,  .085]
 _DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 2.0, 2.00, 1.34, .96,  .78,  .60,  .4]