diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index c7da513acc543f..a6b4ec0b058ff5 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -74,11 +74,11 @@ def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False,
         ret.lateralTuning.lqr.dcGain = 0.002237852961363602
       else:
         ret.lateralTuning.init('indi')
-        ret.lateralTuning.indi.innerLoopGain = 3.98
+        ret.lateralTuning.indi.innerLoopGain = 4.0
         ret.lateralTuning.indi.outerLoopGain = 3.0
-        ret.lateralTuning.indi.timeConstant = 0.1
-        ret.lateralTuning.indi.actuatorEffectiveness = 0.99
-        ret.steerActuatorDelay = 0.488
+        ret.lateralTuning.indi.timeConstant = 1.0
+        ret.lateralTuning.indi.actuatorEffectiveness = 1.0
+        ret.steerActuatorDelay = 0.5
 
     elif candidate in [CAR.RAV4, CAR.RAV4H]:
       stop_and_go = True if (candidate in CAR.RAV4H) else False