diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 8e180e2301..9124d576b1 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -220,14 +220,14 @@ class CarInterface(CarInterfaceBase):
     tune.deadzoneBP = [0., 9.]
     tune.deadzoneV = [.0, .15]
     if candidate in TSS2_CAR or ret.enableGasInterceptor:
-      tune.kpBP = [0., 5., 20.]
-      tune.kpV = [1.3, 1.0, 0.7]
-      tune.kiBP = [0., 5., 12., 20., 27.]
-      tune.kiV = [.35, .23, .20, .17, .1]
+      tune.kpBP = [0., 5., 20., 30.]
+      tune.kpV = [1.3, 1.0, 0.7, 0.1]
+      tune.kiBP = [0., 8.3, 11.9, 13.8, 19.7, 30., 33., 40.]
+      tune.kiV = [.02, .03, .14, .18, .18, .06, .01, .001]
       if candidate in TSS2_CAR:
         ret.vEgoStopping = 0.25
         ret.vEgoStarting = 0.25
-        ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
+        ret.stoppingDecelRate = 0.009  # reach stopping target smoothly
     else:
       tune.kpBP = [0., 5., 35.]
       tune.kiBP = [0., 35.]