diff --git a/panda b/panda
index 06d405f295..3857d014c9 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 06d405f295237fe020cc45d14c73031230d0087c
+Subproject commit 3857d014c94187fc1fc1c62b2ec16ababd501050
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 03cbbcc3dc..ad9d47fff4 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -23,8 +23,8 @@ class CarControllerParams:
 
   # stock LTA is 0 to 0.05 going straight
   # and 0.1 to 0.4 when turning (max seen is 0.6303)
-  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[2., 2., 2.])
-  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[2., 2., 2.])
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[3.5, 0.8, .15])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[3.5, 3.5, 0.4])
 
   # needs to be within +-3 degrees of current angle to avoid windup
   ANGLE_DELTA_MAX = 3.0