diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index b418179e0e..623bf4688d 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -2,7 +2,7 @@ from opendbc.can.packer import CANPacker
 from common.realtime import DT_CTRL
 from selfdrive.car import apply_meas_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
-from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
+from selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControllerParams, ChryslerFlags
 
 
 class CarController:
@@ -49,7 +49,12 @@ class CarController:
 
       # TODO: can we make this more sane? why is it different for all the cars?
       lkas_control_bit = self.lkas_control_bit_prev
-      if CS.out.vEgo > self.CP.minSteerSpeed:
+      if self.CP.carFingerprint in RAM_DT:
+        if CS.out.vEgo >= self.CP.minEnableSpeed and CS.out.vEgo <= self.CP.minEnableSpeed + 0.5:
+          lkas_control_bit = True
+        if (self.CP.minEnableSpeed >= 14.5) and (CS.out.gearShifter != 2) :
+          lkas_control_bit = False
+      elif CS.out.vEgo > self.CP.minSteerSpeed:
         lkas_control_bit = True
       elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
         if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 22b2073883..cbd498fb7e 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -62,10 +62,11 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 3.88
       ret.steerRatio = 16.3
       ret.mass = 2493. + STD_CARGO_KG
-      ret.minSteerSpeed = 14.5
-      # Older EPS FW allow steer to zero
-      if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
-        ret.minSteerSpeed = 0.
+      ret.minSteerSpeed = 0.5
+      ret.minEnableSpeed = 14.5
+      # Certain EPS FW allow steer to zero
+      if any(fw.ecu == 'eps' and (fw.fwVersion[:4] <= b"6831" or fw.fwVersion[:4] <= b"6827") for fw in car_fw):
+        ret.minEnableSpeed = 0.
 
     elif candidate == CAR.RAM_HD:
       ret.steerActuatorDelay = 0.2
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 17ba59f964..e6ba8fe0ce 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -43,7 +43,7 @@ class CarControllerParams:
     elif CP.carFingerprint in RAM_DT:
       self.STEER_DELTA_UP = 6
       self.STEER_DELTA_DOWN = 6
-      self.STEER_MAX = 261  # EPS allows more, up to 350?
+      self.STEER_MAX = 350  # EPS allows more, up to 350?
     else:
       self.STEER_DELTA_UP = 3
       self.STEER_DELTA_DOWN = 3