diff --git a/.github/PULL_REQUEST_TEMPLATE/tuning.md b/.github/PULL_REQUEST_TEMPLATE/tuning.md
index ea2c8207c6..05e4312699 100644
--- a/.github/PULL_REQUEST_TEMPLATE/tuning.md
+++ b/.github/PULL_REQUEST_TEMPLATE/tuning.md
@@ -8,15 +8,16 @@ assignees: ''
 
 **Description**
 
-<!-- A description of what is wrong with the current tuning and how the PR adresses this. -->
+<!-- A description of what is wrong with the current tuning and how the PR addresses this. -->
 
 **Verification**
 
-<!-- To verify a longitudinal tuning PRs we need the plotjuggler plots of several scenarios of the desired speed/accel (first value from longitudinalPlan message)
-vs measured speed/accel (from carState message), we need these plots for before and after the changes in the PR. For lateral tuning PRs we need plots of the 
-desired steeringAngle vs actual steeringAngle. These scenarios don't need to be exactly followed, but do need to be broadly captured.
+<!-- To verify tuning, capture the following scenarios (broadly, not exactly), with current tune and this tune.
+Use the PlotJuggler tuning layout to compare planned versus actual behavior.
 
-For longitudinal we need plots of before and after for all of the following scenarios:
+Run ./juggle.py <route> --layout layouts/tuning.xml , screenshot the full tab of interest, and paste into this PR.
+
+Longitudinal:
 * Maintaining speed at 25, 40, 65mph
 * Driving up and down hills
 * Accelerating from a stop
@@ -24,10 +25,8 @@ For longitudinal we need plots of before and after for all of the following scen
 * Following large changes in set speed
 * Coming to a stop behind a lead car
 
-For lateral we need plots of before and after for all of the following scenarios:
+Lateral:
 * Straight driving at ~25, ~45 and ~65mph
 * Turns driving at ~25, ~45 and ~65mph
 
-
-
 -->
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index f78ae27178..f462cadece 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -47,7 +47,13 @@ If streaming to PlotJuggler from a replay on your PC, simply run: `./juggle.py -
 
 For a quick demo, go through the installation step and run this command:
 
-`./juggle.py "https://commadataci.blob.core.windows.net/openpilotci/d83f36766f8012a5/2020-02-05--18-42-21/0/rlog.bz2" --layout=demo_layout.xml`
+`./juggle.py "https://commadataci.blob.core.windows.net/openpilotci/d83f36766f8012a5/2020-02-05--18-42-21/0/rlog.bz2" --layout=layouts/demo.xml`
+
+## Tuning
+
+Use this layout to generate plots for tuning PRs. Also see tuning wiki and tuning PR template.
+
+`--layout layouts/tuning.xml`
 
 
 ![screenshot](https://i.imgur.com/cizHCH3.png)
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 75c3c0e260..3157ff2880 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -114,6 +114,6 @@ if __name__ == "__main__":
   args = arg_parser.parse_args(sys.argv[1:])
 
   if args.stream:
-    start_juggler()
+    start_juggler(layout=args.layout)
   else:
     juggle_route(args.route_name, args.segment_number, args.segment_count, args.qlog, args.can, args.layout)
diff --git a/tools/plotjuggler/demo_layout.xml b/tools/plotjuggler/layouts/demo.xml
similarity index 100%
rename from tools/plotjuggler/demo_layout.xml
rename to tools/plotjuggler/layouts/demo.xml
diff --git a/tools/plotjuggler/layouts/tuning.xml b/tools/plotjuggler/layouts/tuning.xml
new file mode 100644
index 0000000000..270b4a6284
--- /dev/null
+++ b/tools/plotjuggler/layouts/tuning.xml
@@ -0,0 +1,289 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root version="2.3.8">
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab tab_name="Lateral" containers="1">
+   <Container>
+    <DockSplitter sizes="0.2;0.2;0.2;0.2;0.2" orientation="-" count="5">
+     <DockArea name="Velocity [m/s]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="23.655731" right="299.969780" top="31.072848" left="0.024389"/>
+       <limitY/>
+       <curve name="/carState/vEgo" color="#0072b2"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Curvature [1/m] True [blue] Vehicle Model [purple] Plan [green]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="-0.001618" right="299.969780" top="0.001706" left="0.024389"/>
+       <limitY/>
+       <curve name="engaged curvature plan" color="#009e73"/>
+       <curve name="engaged curvature vehicle model" color="#785ef0"/>
+       <curve name="engaged curvature yaw" color="#0072b2"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Roll [rad]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="-0.086784" right="299.969780" top="0.007461" left="0.024389"/>
+       <limitY/>
+       <curve name="/liveLocationKalman/calibratedOrientationNED/value/0" color="#ffb000"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Engaged [green] Steering Pressed [blue]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
+       <limitY/>
+       <curve name="/controlsState/enabled" color="#009e73"/>
+       <curve name="/carState/steeringPressed" color="#0072b2"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Steering Limited: Rate [orange] Saturated [magenta]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
+       <limitY/>
+       <curve name="/carState/steeringRateLimited" color="#ffb000"/>
+       <curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="Longitudinal" containers="1">
+   <Container>
+    <DockSplitter sizes="0.2;0.2;0.2;0.2;0.2" orientation="-" count="5">
+     <DockArea name="Velocity [m/s] True [blue] Plan [green]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="23.655731" right="299.969780" top="31.072848" left="0.024389"/>
+       <limitY/>
+       <curve name="/longitudinalPlan/speeds/0" color="#009e73"/>
+       <curve name="/carState/vEgo" color="#0072b2"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Acceleration [m/s^2] True [blue] Actuator [purple] Plan [green]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="-0.832626" right="299.969780" top="1.070051" left="0.024389"/>
+       <limitY/>
+       <curve name="engaged_accel_plan" color="#009e73"/>
+       <curve name="engaged_accel_actuator" color="#785ef0"/>
+       <curve name="engaged_accel_actual" color="#0072b2"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Pitch [rad]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="-0.073326" right="299.969780" top="0.008998" left="0.024389"/>
+       <limitY/>
+       <curve name="/liveLocationKalman/calibratedOrientationNED/value/1" color="#ffb000"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Engaged [green] Gas [orange] Brake [magenta]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
+       <limitY/>
+       <curve name="/carControl/active" color="#009e73"/>
+       <curve name="/carState/gasPressed" color="#ffb000"/>
+       <curve name="/carState/brakePressed" color="#dc267f"/>
+      </plot>
+     </DockArea>
+     <DockArea name="State [blue: off,pid,stop,start] Source [green: cruise,lead0,lead1,lead2,e2e]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="-0.050000" right="299.969780" top="2.050000" left="0.024389"/>
+       <limitY/>
+       <curve name="/carControl/actuators/longControlState" color="#0072b2"/>
+       <curve name="/longitudinalPlan/longitudinalPlanSource" color="#009e73"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="Lateral Debug" containers="1">
+   <Container>
+    <DockSplitter sizes="0.250564;0.249436;0.250564;0.249436" orientation="-" count="4">
+     <DockArea name="Controller F [magenta] P [purple] I [blue]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="-0.564869" right="299.969780" top="0.506951" left="0.024389"/>
+       <limitY/>
+       <curve name="/controlsState/lateralControlState/pidState/f" color="#f14cc1"/>
+       <curve name="/controlsState/lateralControlState/pidState/p" color="#9467bd"/>
+       <curve name="/controlsState/lateralControlState/pidState/i" color="#17becf"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Driver Torque [blue] EPS Torque [green]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="-216.025000" right="299.969780" top="205.025000" left="0.024389"/>
+       <limitY/>
+       <curve name="/carState/steeringTorqueEps" color="#009e73"/>
+       <curve name="/carState/steeringTorque" color="#0072b2"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Engaged [green] Steering Pressed [blue]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
+       <limitY/>
+       <curve name="/carState/steeringPressed" color="#0072b2"/>
+       <curve name="/carControl/active" color="#009e73"/>
+      </plot>
+     </DockArea>
+     <DockArea name="Steering Limited: Rate [orange] Saturated [magenta]">
+      <plot style="Lines" mode="TimeSeries">
+       <range bottom="-0.025000" right="299.969780" top="1.025000" left="0.024389"/>
+       <limitY/>
+       <curve name="/carState/steeringRateLimited" color="#ffb000"/>
+       <curve name="/controlsState/lateralControlState/pidState/saturated" color="#dc267f"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>t
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="engaged_accel_actuator">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>accel = value
+brake = v1
+gas = v2
+active = v3
+
+if (brake ~= 0 or gas ~= 0 or active == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linkedSource>/carControl/actuators/accel</linkedSource>
+   <additionalSources>
+    <v1>/carState/brakePressed</v1>
+    <v2>/carState/gasPressed</v2>
+    <v3>/carControl/active</v3>
+   </additionalSources>
+  </snippet>
+  <snippet name="engaged_accel_plan">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>accel = value
+brake = v1
+gas = v2
+active = v3
+
+if (brake ~= 0 or gas ~= 0 or active == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linkedSource>/longitudinalPlan/accels/0</linkedSource>
+   <additionalSources>
+    <v1>/carState/brakePressed</v1>
+    <v2>/carState/gasPressed</v2>
+    <v3>/carControl/active</v3>
+   </additionalSources>
+  </snippet>
+  <snippet name="engaged_accel_actual">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>accel = value
+brake = v1
+gas = v2
+active = v3
+
+if (brake ~= 0 or gas ~= 0 or active == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linkedSource>/carState/aEgo</linkedSource>
+   <additionalSources>
+    <v1>/carState/brakePressed</v1>
+    <v2>/carState/gasPressed</v2>
+    <v3>/carControl/active</v3>
+   </additionalSources>
+  </snippet>
+  <snippet name="engaged curvature plan">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>curvature = value
+pressed = v1
+active = v2
+
+if (pressed == 1 or active == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linkedSource>/lateralPlan/curvatures/0</linkedSource>
+   <additionalSources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/active</v2>
+   </additionalSources>
+  </snippet>
+  <snippet name="engaged curvature vehicle model">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>curvature = value
+pressed = v1
+active = v2
+
+if (pressed == 1 or active == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return value
+else
+  return 0
+end</function>
+   <linkedSource>/controlsState/curvature</linkedSource>
+   <additionalSources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/controlsState/active</v2>
+   </additionalSources>
+  </snippet>
+  <snippet name="engaged curvature yaw">
+   <global>engage_delay = 5
+last_bad_time = -engage_delay</global>
+   <function>curvature = value / v3
+pressed = v1
+active = v2
+
+if (pressed == 1 or active == 0) then
+  last_bad_time = time
+end
+
+if (time > last_bad_time + engage_delay) then
+  return curvature
+else
+  return 0
+end</function>
+   <linkedSource>/liveLocationKalman/angularVelocityCalibrated/value/2</linkedSource>
+   <additionalSources>
+    <v1>/carState/steeringPressed</v1>
+    <v2>/carControl/active</v2>
+    <v3>/carState/vEgo</v3>
+   </additionalSources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+