diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 0b6c0b1c5a..8a678e2748 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -163,12 +163,12 @@ class CarInterface(CarInterfaceBase):
     # hand tuned (August 12, 2024)
     def custom_tss2_longitudinal_tuning():
       ret.vEgoStopping = 0.25
-      ret.vEgoStarting = 0.12
-      ret.stoppingDecelRate = 0.003
+      ret.vEgoStarting = 0.15
+      ret.stoppingDecelRate = 0.002
 
     def default_tss2_longitudinal_tuning():
       ret.vEgoStopping = 0.25
-      ret.vEgoStarting = 0.20
+      ret.vEgoStarting = 0.15
       ret.stoppingDecelRate = 0.006  # reach stopping target smoothly
 
     def default_longitudinal_tuning():
@@ -182,8 +182,8 @@ class CarInterface(CarInterfaceBase):
         #tune.kiV = [0.1,  0.12, 0.08, 0.06, 0.5, 1.0]
         #tune.kpBP = [0., 5., 20.]
         #tune.kpV = [2.3, 1.0, 0.7]
-        tune.kiBP = [0.,   2.,    8.,   12.,  20.,  27.,  36.,  40.]
-        tune.kiV = [0.345,  0.276,  0.216,  0.21, 0.173, 0.10, 0.09, 0.08]
+        tune.kiBP = [0.,   2.,    5.,   12.,  20.,  27.,  36.,  40.]
+        tune.kiV = [0.351, 0.318, 0.236, 0.21, 0.173, 0.10, 0.09, 0.08]
         custom_tss2_longitudinal_tuning()
       else:
         tune.kpV = [0.0]
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 6c623b6317..1265adb55d 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -89,17 +89,17 @@ 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.,   11.9, 12.,  14.,  16.,  22.,  22.01,  36.1]
-    y_dist = [1.6,  1.6,  1.61, 1.61, 1.6,  1.6,  1.80,   1.80]
+    x_vel =  [0.,   22.,  22.01,  36.1]
+    y_dist = [1.70, 1.70, 1.80,   1.80]
   elif personality==custom.LongitudinalPersonalitySP.standard:
-    x_vel =  [0.,   11.9, 12.,  14.,  16.,  22.,  22.01,  36.1]
-    y_dist = [1.5,  1.5,  1.51, 1.51, 1.5,  1.5,  1.60,   1.60]
+    x_vel =  [0.,   22.,  22.01,  36.1]
+    y_dist = [1.50, 1.50, 1.65,   1.65]
   elif personality==custom.LongitudinalPersonalitySP.moderate:
-    x_vel =  [0.,   11.9, 12.,  14.,  16.,  22.,  22.01,  36.1]
-    y_dist = [1.4,  1.4,  1.41, 1.41, 1.4,  1.4,  1.42,   1.42]
+    x_vel =  [0.,   22.,  22.01,  36.1]
+    y_dist = [1.30, 1.30, 1.45,   1.45]
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
-    x_vel =  [0.,    11.9,  12.,  14.,  16.,  22.,  22.01,  36.1]
-    y_dist = [1.133, 1.133, 1.14, 1.14, 1.13, 1.12, 1.20,   1.20]
+    x_vel =  [0.,   22.,  22.01,  36.1]
+    y_dist = [1.10, 1.10, 1.25,   1.25]
   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 9a59091d3a..ab206305cb 100644
--- a/selfdrive/controls/lib/sunnypilot/accel_controller.py
+++ b/selfdrive/controls/lib/sunnypilot/accel_controller.py
@@ -29,9 +29,9 @@ from openpilot.common.numpy_fast import interp
 AccelPersonality = custom.AccelerationPersonality
 
 # accel personality by @arne182 modified by cgw and kumar
-_DP_CRUISE_MIN_V =       [-0.006, -0.18, -0.76]
-_DP_CRUISE_MIN_V_ECO =   [-0.005, -0.16, -0.66]
-_DP_CRUISE_MIN_V_SPORT = [-0.007, -0.20, -0.86]
+_DP_CRUISE_MIN_V =       [-1.0,  -1.0,  -1.0]
+_DP_CRUISE_MIN_V_ECO =   [-1.0,  -1.0,  -1.0]
+_DP_CRUISE_MIN_V_SPORT = [-1.0,  -1.0,  -1.0]
 _DP_CRUISE_MIN_BP =      [0.,    10.,   20.]
 
 _DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.80, 1.03, .62,  .47,  .38,  .13]