diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 240077ed98..13bdaa0313 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -164,22 +164,19 @@ class CarInterface(CarInterfaceBase):
     def custom_tss2_longitudinal_tuning():
       ret.vEgoStopping = 0.01
       ret.vEgoStarting = 0.01
-      ret.stoppingDecelRate = 0.0074
-
+      ret.stoppingDecelRate = 0.007
     def default_tss2_longitudinal_tuning():
       ret.vEgoStopping = 0.25
       ret.vEgoStarting = 0.25
       ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
-
     def default_longitudinal_tuning():
       tune.kiBP = [0., 5., 35.]
       tune.kiV = [3.6, 2.4, 1.5]
-
     tune = ret.longitudinalTuning
     if candidate in TSS2_CAR or ret.enableGasInterceptorDEPRECATED:
       if sp_tss2_long_tune:
-        tune.kiBP = [0.,   5.,    8.,    12.,  20.,  27.,  36.,  50]
-        tune.kiV = [0.35, 0.2294, 0.2212, 0.2054, 0.172, 0.12, 0.08, 0.06]
+        tune.kiBP = [ 0.,  5.,   12.,  20., 27., 40.]
+        tune.kiV =  [.35, .228,  .205, .195, .10, .01]
         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 5cb4665382..0b4bca14e2 100755
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -91,16 +91,16 @@ 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,    5.,   5.01,  20.,   27.7]
-    y_dist = [1.0,  1.0,  1.75,  1.75,  1.83]
+    y_dist = [0.0,  1.0,  1.75,  1.75,  1.83]
   elif personality==custom.LongitudinalPersonalitySP.standard:
     x_vel =  [0,    20.,   27.7]
-    y_dist = [1.70, 1.70,  1.70]
+    y_dist = [0.0, 1.70,  1.70]
   elif personality==custom.LongitudinalPersonalitySP.moderate:
     x_vel =  [0,    27.69, 27.7]
-    y_dist = [1.40, 1.40,  1.45]
+    y_dist = [0.0, 1.40,  1.45]
   elif personality==custom.LongitudinalPersonalitySP.aggressive:
     x_vel =  [0,    5.,    20.0, 20.01, 27.69, 27.7]
-    y_dist = [0.80, 1.10, 1.10, 1.12,  1.12,  1.20]
+    y_dist = [0.0, 1.10, 1.10, 1.12,  1.12,  1.20]
   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 9203684ef7..0b20cc47a3 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 =       [-0.030, -0.030, -0.078, -0.078, -0.15, -0.15, -0.79, -0.79, -0.79, -0.79, -1.0,  -1.0]
-_DP_CRUISE_MIN_V_ECO =   [-0.030, -0.030, -0.075, -0.075, -0.14, -0.14, -0.78, -0.78, -0.88, -0.88, -1.0,  -1.0]
-_DP_CRUISE_MIN_V_SPORT = [-0.030, -0.030, -0.080, -0.080, -0.70, -0.70, -0.80, -0.80, -0.90, -0.90, -1.0,  -1.0]
+_DP_CRUISE_MIN_V =       [-0.69, -0.69, -0.69, -0.69, -0.69, -0.69, -0.79, -0.79, -0.79, -0.79, -1.0,  -1.0]
+_DP_CRUISE_MIN_V_ECO =   [-0.68, -0.68, -0.68, -0.68, -0.68, -0.68, -0.78, -0.78, -0.88, -0.88, -1.0,  -1.0]
+_DP_CRUISE_MIN_V_SPORT = [-0.70, -0.70, -0.70, -0.70, -0.70, -0.70, -0.80, -0.80, -0.90, -0.90, -1.0,  -1.0]
 _DP_CRUISE_MIN_BP =      [0.,     3.0,    3.01,   10.,    10.01, 14.,   14.01, 18.,   18.01,  22.,  22.01, 30.]
 
 _DP_CRUISE_MAX_V =       [2.0, 2.0, 2.0, 1.80, 1.11, .70,  .54,  .38,  .17]