diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index e1ed15812f..6cd345a2ae 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -162,9 +162,9 @@ class CarInterface(CarInterfaceBase):
 
     # hand tuned (August 12, 2024)
     def custom_tss2_longitudinal_tuning():
-      ret.vEgoStopping = 0.10
+      ret.vEgoStopping = 0.01
       ret.vEgoStarting = 0.01
-      ret.stoppingDecelRate = 0.2
+      ret.stoppingDecelRate = 0.1
 
     def default_tss2_longitudinal_tuning():
       ret.vEgoStopping = 0.25
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index c3d5376ab5..d714c7c720 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -55,7 +55,7 @@ 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 = 5.0
+STOP_DISTANCE = 6.0
 
 def get_jerk_factor(personality=custom.LongitudinalPersonalitySP.standard):
   if personality==custom.LongitudinalPersonalitySP.relaxed:
diff --git a/selfdrive/controls/lib/sunnypilot/accel_controller.py b/selfdrive/controls/lib/sunnypilot/accel_controller.py
index c1fde85557..b5f721ed8f 100644
--- a/selfdrive/controls/lib/sunnypilot/accel_controller.py
+++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py
@@ -29,16 +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 =       [-0.45, -0.45, -0.25, -0.25, -0.38, -0.38, -1.00]
-_DP_CRUISE_MIN_V_ECO =   [-0.40, -0.40, -0.20, -0.20, -0.36, -0.36, -1.00]
-_DP_CRUISE_MIN_V_SPORT = [-0.50, -0.50, -0.30, -0.30, -0.42, -0.42, -1.00]
-_DP_CRUISE_MIN_BP =      [0.,    0.05,   3.12,  10.,  10.01, 20.,   30.,   55.]
+_DP_CRUISE_MIN_V =       [-0.020, -0.020, -0.23, -0.23, -0.38, -0.38, -1.00]
+_DP_CRUISE_MIN_V_ECO =   [-0.019, -0.019, -0.21, -0.21, -0.36, -0.36, -1.00]
+_DP_CRUISE_MIN_V_SPORT = [-0.022, -0.022, -0.25, -0.25, -0.40, -0.40, -1.00]
+_DP_CRUISE_MIN_BP =      [0.,     0.05,   3.12,  10.,   10.01, 20.,   30.]
 
 #_DP_CRUISE_MIN_V =       [-0.09, -0.09, -0.09, -0.09, -0.20, -0.20, -0.35, -0.35, -0.54, -0.54, -0.79, -0.79, -1.0,  -1.0]
 #_DP_CRUISE_MIN_V_ECO =   [-0.08, -0.08, -0.08, -0.08, -0.19, -0.19, -0.34, -0.34, -0.52, -0.52, -0.78, -0.78, -1.0,  -1.0]
 #_DP_CRUISE_MIN_V_SPORT = [-0.10, -0.10, -0.10, -0.10, -0.21, -0.21, -0.36, -0.36, -0.56, -0.56, -0.80, -0.80, -1.0,  -1.0]
 #_DP_CRUISE_MIN_BP =      [0.,     4.0,  4.01,  7.0,   7.01,  12.,   12.01, 16.,   16.01, 20.,   20.01,  25.,  25.01, 30.]
-
 _DP_CRUISE_MAX_V =       [2.0, 2.0, 1.75, 0.96, .64,  .54,  .38,  .17]
 _DP_CRUISE_MAX_V_ECO =   [2.0, 1.9, 1.60, 0.89, .55,  .45,  .32,  .09]
 _DP_CRUISE_MAX_V_SPORT = [2.0, 2.0, 1.95, 1.15, .84,  .70,  .50,  .30]