diff --git a/opendbc/car/toyota/carcontroller.py b/opendbc/car/toyota/carcontroller.py
index 4c241996e2..db26f7c47f 100644
--- a/opendbc/car/toyota/carcontroller.py
+++ b/opendbc/car/toyota/carcontroller.py
@@ -39,10 +39,9 @@
 
 
 def get_long_tune(CP, params):
-  kiBP = [0.]
   if CP.carFingerprint in TSS2_CAR:
-    kiV = [0.25]
-
+    kiBP = [2., 5.]
+    kiV = [0.5, 0.25]
   else:
     kiBP = [0., 5., 35.]
     kiV = [3.6, 2.4, 1.5]
@@ -218,7 +217,9 @@ def update(self, CC, CS, now_nanos):
         prev_aego = self.aego.x
         self.aego.update(a_ego_blended)
         j_ego = (self.aego.x - prev_aego) / (DT_CTRL * 3)
-        a_ego_future = a_ego_blended + j_ego * 0.5
+
+        future_t = float(np.interp(CS.out.vEgo, [2., 5.], [0.25, 0.5]))
+        a_ego_future = a_ego_blended + j_ego * future_t
 
         if CC.longActive:
           # constantly slowly unwind integral to recover from large temporary errors